A vehicle lateral load transfer rate calculation method, device, equipment and medium

Abstract

The application provides a vehicle lateral load transfer rate calculation method, device, equipment and medium. The longitudinal speed and lateral speed of the wheel center are determined by acquiring vehicle driving information and wheel track; the tire side slip angle is calculated according to the longitudinal speed, lateral speed and wheel steering angle of the wheel center; the tire slip rate is calculated according to the wheel steering angle and radius; the nonlinear tire model is established through the magic formula, and the tire longitudinal force or side force is obtained according to the nonlinear tire model; the whole vehicle nonlinear dynamics model is established according to the design parameters and working condition input parameters of the automobile, and the whole vehicle lateral acceleration is obtained through the whole vehicle nonlinear dynamics model to calculate the vehicle lateral load transfer rate. As can be seen, the application calculates the lateral load transfer rate based on the tire side slip characteristic nonlinearity, has general value on common vehicle models, provides early warning basis for vehicle rollover motion through the lateral load transfer rate, and provides a theoretical basis for the stability and safety control of the automobile.

Description

Technical Field

[0001] This invention belongs to the field of automotive driving safety technology, and specifically relates to a method, device, equipment and medium for calculating the lateral load transfer rate of a vehicle. Background Technology

[0002] Currently, road conditions for automobiles are quite complex, and design parameters such as the vehicle's center of gravity height and track width affect its stability and safety. Especially during high-speed sharp turns, increased lateral acceleration and load transfer lead to uneven force distribution on the wheels, making the vehicle prone to loss of balance and even rollover. Research on vehicle roll control can offset or reduce the torque generated by the vehicle's gravity or centrifugal force, thereby reducing the lateral load transfer rate and ensuring smoothness and handling stability when cornering.

[0003] Existing technologies can calculate the lateral load transfer rate of semi-trailer trucks, and can also calculate the lateral load transfer rate based on suspension deformation. However, existing methods for calculating the lateral load transfer rate of vehicles obtain the lateral load through the vertical load of the tires, but the lateral force of the tires is difficult to measure directly. Similarly, lateral acceleration is also difficult to measure directly through sensors. Calculations based on tire side slip characteristics in the linear region are not applicable under extreme conditions or when the tire has a large side slip angle or a large slip ratio. Summary of the Invention

[0004] In view of the above problems, this invention proposes a method, device, equipment and medium for calculating the lateral load transfer rate of a vehicle. It can realize the nonlinear calculation of the lateral load transfer rate based on the tire side slip characteristics, which has universal value on common vehicle models. At the same time, the lateral load transfer rate provides an early warning of vehicle rollover motion, providing a theoretical basis for the stability and safety control of new energy vehicles.

[0005] One embodiment of the present invention provides a method for calculating the lateral load transfer rate of a vehicle, comprising:

[0006] Obtain vehicle driving information and wheel track, and determine the longitudinal velocity of the wheel center based on the vehicle driving information and wheel track;

[0007] The lateral speed of the vehicle is obtained, and the lateral speed of the wheel center is determined based on the lateral speed and the distance from the center of gravity to the wheel axle.

[0008] The slip angle of each tire is calculated based on the longitudinal velocity, lateral velocity, and wheel steering angle of the wheel center.

[0009] Calculate the slip ratio of each tire based on the wheel steering angle and radius; establish a nonlinear tire model using the magic formula, and obtain the longitudinal force or lateral force of each tire based on the nonlinear tire model.

[0010] A nonlinear dynamic model of the vehicle is established based on the vehicle's design parameters and operating condition input parameters. The lateral acceleration of the vehicle is obtained through the nonlinear dynamic model of the vehicle.

[0011] The vehicle's lateral load transfer rate is calculated using the vehicle's lateral acceleration, wheel track, wheelbase, distance from the center of gravity to the wheel axle, vehicle roll angle, and height from the center of gravity to the roll axis.

[0012] Furthermore, the vehicle driving information includes the vehicle's longitudinal speed and yaw rate; the wheel track includes the front wheel track and the rear wheel track; the longitudinal speed of the wheel center includes: the longitudinal speed of the left front wheel center, the longitudinal speed of the right front wheel center, the longitudinal speed of the left rear wheel center, and the longitudinal speed of the right rear wheel center.

[0013] Furthermore, the step of obtaining the vehicle's lateral driving speed and determining the lateral velocity of the wheel center based on the lateral driving speed and the distance from the center of gravity to the wheel axle includes:

[0014] The lateral velocities of the left and right front wheels are determined by the vehicle's lateral speed, the distance from the center of gravity to the front axle of the wheel, and the yaw rate.

[0015] The lateral velocities of the left and right rear wheel centers are determined by the vehicle's lateral speed, the distance from the center of gravity to the rear axle of the wheel, and the yaw rate.

[0016] Furthermore, the calculation of the slip angle of each tire based on the longitudinal velocity, lateral velocity, and wheel steering angle of the wheel center includes:

[0017] Obtain the steering angles of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel;

[0018] The slip angle of the left front wheel is determined by the steering angle of the left front wheel, the longitudinal velocity of the center of the left front wheel, and the lateral velocity of the center of the left front wheel.

[0019] The slip angle of the left rear wheel is determined by the steering angle of the left rear wheel, the longitudinal velocity of the center of the left rear wheel, and the lateral velocity of the center of the left rear wheel.

[0020] The slip angle of the right front wheel is determined by the steering angle of the right front wheel, the longitudinal velocity of the center of the right front wheel, and the lateral velocity of the center of the right front wheel.

[0021] The slip angle of the right rear wheel is determined by the steering angle of the right rear wheel, the longitudinal velocity of the center of the right rear wheel, and the lateral velocity of the center of the right rear wheel.

[0022] Furthermore, the calculation of the slip ratio of each tire based on the wheel steering angle and radius includes:

[0023] The slip ratio of the left front wheel is calculated using the steering angle of the left front wheel, the radius of the left front wheel tire, and the lateral velocity of the center of the left front wheel.

[0024] The slip ratio of the right front wheel is calculated using the steering angle of the right front wheel, the radius of the right front wheel tire, and the lateral velocity of the center of the right front wheel.

[0025] The slip ratio of the left rear wheel is calculated using the steering angle of the left rear wheel, the radius of the left rear wheel tire, and the lateral velocity of the center of the left rear wheel.

[0026] The slip ratio of the right rear wheel is calculated using the steering angle of the right rear wheel, the radius of the right rear wheel tire, and the lateral velocity of the center of the right rear wheel.

[0027] Furthermore, the step of establishing a nonlinear tire model using the magic formula, and obtaining the longitudinal force or lateral force of each tire based on the nonlinear tire model, includes:

[0028] A nonlinear tire model is established based on functions of tire slip angle, slip ratio, tire vertical load, and camber angle.

[0029] Furthermore, the function of tire vertical load and camber angle is obtained by fitting a tire model to the tire vertical load and tire camber angle.

[0030] Furthermore, the step of establishing a nonlinear dynamic model of the vehicle based on the vehicle's design parameters and operating condition input parameters, and obtaining the vehicle's lateral acceleration through the nonlinear dynamic model, includes:

[0031] A nonlinear dynamic model of the whole vehicle is established based on the longitudinal force and lateral force of each tire;

[0032] The vehicle dynamics differential equations are obtained through the aforementioned nonlinear dynamics model of the whole vehicle;

[0033] The lateral acceleration of the vehicle is calculated using the vehicle dynamics differential equation.

[0034] Based on the same inventive concept, another aspect of the present invention provides a vehicle lateral load transfer rate calculation device, comprising:

[0035] The first determining unit is used to acquire vehicle driving information and wheel track, and determine the longitudinal velocity of the wheel center based on the vehicle driving information and wheel track.

[0036] The second determining unit is used to obtain the lateral driving speed of the vehicle and determine the lateral speed of the wheel center based on the lateral driving speed and the distance from the center of gravity to the wheel axle.

[0037] The first calculation unit is used to calculate the slip angle of each tire based on the longitudinal velocity, lateral velocity and wheel steering angle of the wheel center.

[0038] The second calculation unit is used to calculate the slip ratio of each tire based on the wheel steering angle and radius; to establish a nonlinear tire model using the magic formula; and to obtain the longitudinal force or lateral force of each tire based on the nonlinear tire model.

[0039] The model building unit is used to build a nonlinear dynamic model of the whole vehicle based on the vehicle's design parameters and operating condition input parameters, and to obtain the vehicle's lateral acceleration through the vehicle's nonlinear dynamic model.

[0040] The third calculation unit is used to calculate the vehicle's lateral load transfer rate using the vehicle's lateral acceleration, wheel track, wheelbase, distance from the center of gravity to the wheel axle, vehicle roll angle, and height from the center of gravity to the roll axis.

[0041] Based on the same inventive concept, another aspect of the present invention provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0042] Memory, which stores computer programs;

[0043] When the processor executes the program stored in the memory, it implements the method for calculating the lateral load transfer rate of the vehicle.

[0044] Based on the same inventive concept, another aspect of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for calculating the lateral load transfer rate of a vehicle.

[0045] The beneficial effects of this invention are as follows: This invention determines the longitudinal and lateral velocities of the wheel centers by acquiring vehicle driving information and wheel track; calculates the slip angle of each tire based on the longitudinal and lateral velocities of the wheel centers and the wheel steering angle; calculates the slip ratio of each tire based on the wheel steering angle and radius; establishes a nonlinear tire model using the magic formula, and obtains the longitudinal force or slip force of each tire based on the nonlinear tire model; establishes a nonlinear dynamic model of the whole vehicle based on the vehicle's design parameters and operating condition input parameters, and calculates the vehicle's lateral load transfer rate based on the vehicle's lateral acceleration obtained from the vehicle's nonlinear dynamic model. Therefore, this invention, based on the nonlinear calculation of lateral load transfer rate using tire slip characteristics, has universal value in common vehicle models, provides an early warning basis for vehicle rollover motion through lateral load transfer rate, and provides a theoretical basis for vehicle stability and safety control.

[0046] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description and the drawings. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of the process for calculating the lateral load transfer rate of a vehicle according to the present invention;

[0049] Figure 2 This is a top view of the vehicle steering motion according to the present invention;

[0050] Figure 3 This is a schematic diagram of the vehicle's tilting motion according to the present invention;

[0051] Figure 4 This is a schematic diagram of a vehicle lateral load transfer rate calculation device according to the present invention;

[0052] Figure 5 This is a schematic diagram of an electronic device according to the present invention. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] It should be noted that the terms "first," "second," etc., used in this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," "longitudinal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings.

[0055] Existing technologies can calculate tire side slip characteristics in the linear region, but they are difficult to apply under extreme conditions or when the tire has a large side slip angle or large slip ratio. In addition, existing methods for calculating the lateral load transfer rate of vehicles are obtained through the vertical load on the tire, but tire force is difficult to measure directly, and lateral acceleration is also difficult to measure directly through sensors. The lateral load transfer rate calculation method for vehicles proposed in this invention can solve the above problems.

[0056] One embodiment of the present invention provides a method for calculating the lateral load transfer rate of a vehicle, see [link to relevant documentation]. Figure 1 ,include:

[0057] S101: Obtain vehicle driving information and wheel track, and determine the longitudinal speed of the wheel center based on the vehicle driving information and wheel track;

[0058] S102: Obtain the lateral driving speed of the vehicle, and determine the lateral speed of the wheel center based on the lateral driving speed and the distance from the center of gravity to the wheel axle;

[0059] S103: Calculate the slip angle of each tire based on the longitudinal velocity, lateral velocity and wheel steering angle of the wheel center;

[0060] S104: Calculate the slip ratio of each tire based on the wheel steering angle and radius; establish a nonlinear tire model using the magic formula, and obtain the longitudinal force or lateral force of each tire based on the nonlinear tire model;

[0061] S105: Establish a nonlinear dynamic model of the whole vehicle based on the vehicle's design parameters and operating condition input parameters, and obtain the vehicle's lateral acceleration through the vehicle's nonlinear dynamic model;

[0062] S106: Calculate the vehicle's lateral load transfer rate using the vehicle's lateral acceleration, wheel track, wheelbase, distance from center of gravity to wheel axle, vehicle roll angle, and height from center of gravity to roll axis.

[0063] It should be noted that the parameters for each tire or wheel in this invention include the parameters for each tire of the vehicle. For example, the wheel center and wheel radius refer to the wheel center and radius of each wheel. If there are specific parameters for the orientation and front and rear tires, they will be specifically named and described, such as left front wheel, right front wheel, left rear wheel, and right rear wheel. In this invention, the longitudinal direction refers to the straight direction of the vehicle, and the lateral or side direction refers to the direction perpendicular to the door or body.

[0064] Specifically, the vehicle driving information includes the vehicle's longitudinal speed and yaw rate; the wheel track includes the front wheel track and the rear wheel track; the longitudinal speed of the wheel center includes: the longitudinal speed of the left front wheel center, the longitudinal speed of the right front wheel center, the longitudinal speed of the left rear wheel center, and the longitudinal speed of the right rear wheel center.

[0065] In step S101, the longitudinal velocity of the wheel center is determined based on the vehicle driving information and the wheel track. Specifically, see [link to relevant documentation]. Figure 2 The longitudinal speed of the vehicle is collected as v. x Yaw rate γ, track width of the front wheels of the vehicle is B f The rear wheel track is B. r The vehicle travels longitudinally at a speed of v. x Yaw rate γ, track width of the front wheels of the vehicle is B f The rear wheel track is B. r The longitudinal velocity of each wheel center is calculated as follows:

[0066]

[0067] Among them, v xfl v is the longitudinal velocity at the center of the left front wheel. xfr v is the longitudinal velocity at the center of the right front wheel. xrl v is the longitudinal velocity at the center of the left rear wheel. xrr This represents the longitudinal velocity of the right rear wheel center.

[0068] In some optional embodiments, obtaining the vehicle's lateral driving speed and determining the lateral velocity of the wheel center based on the lateral driving speed and the distance from the center of gravity to the wheel axle includes:

[0069] The lateral velocities of the left and right front wheels are determined by the vehicle's lateral speed, the distance from the center of gravity to the front axle of the wheel, and the yaw rate.

[0070] The lateral velocities of the left and right rear wheel centers are determined by the vehicle's lateral speed, the distance from the center of gravity to the rear axle of the wheel, and the yaw rate.

[0071] Specifically, see Figure 2 Obtain the vehicle's lateral speed v y The distance from the center of gravity to the front axle is L. f The distance from the center of mass to the rear axle is L. r The vehicle's lateral speed v y The distance L from the center of gravity to the front axle f Distance L from the center of gravity to the rear axle r Calculate the lateral velocity of each wheel center:

[0072]

[0073] Among them, v yfl v is the lateral velocity at the center of the left front wheel. yfr v is the lateral velocity at the center of the right front wheel. yrl v is the lateral velocity at the center of the left rear wheel. yrr The lateral velocity of the right rear wheel's center.

[0074] In some optional embodiments, calculating the slip angle of each tire based on the longitudinal velocity, lateral velocity, and wheel steering angle of the wheel center includes:

[0075] Obtain the steering angles of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel;

[0076] The slip angle of the left front wheel is determined by the steering angle of the left front wheel, the longitudinal velocity of the center of the left front wheel, and the lateral velocity of the center of the left front wheel.

[0077] The slip angle of the left rear wheel is determined by the steering angle of the left rear wheel, the longitudinal velocity of the center of the left rear wheel, and the lateral velocity of the center of the left rear wheel.

[0078] The slip angle of the right front wheel is determined by the steering angle of the right front wheel, the longitudinal velocity of the center of the right front wheel, and the lateral velocity of the center of the right front wheel.

[0079] The slip angle of the right rear wheel is determined by the steering angle of the right rear wheel, the longitudinal velocity of the center of the right rear wheel, and the lateral velocity of the center of the right rear wheel.

[0080] Specifically, the steering angle δ of the vehicle's left front wheel is obtained. fl Right front wheel steering angle δ fr Left rear wheel steering angle δ rl Right rear wheel steering angle δ rr According to the longitudinal velocity v of the wheel center in steps S101 and S102 xfl v xfr v xrl v xrr and lateral velocity v yfl v yfr v yrl v yrr Calculate the slip angle of each tire:

[0081] α ij =arctan(v ij / v ij )-δ ij (i = f, r; j = l, r)

[0082] Where i = f, r represents the front and rear wheels, and j = l, r represents the left and right wheels. α ij This represents the slip angle of each tire.

[0083] In some optional embodiments, calculating the slip ratio of each tire based on the wheel steering angle and radius includes:

[0084] The slip ratio of the left front wheel is calculated using the steering angle of the left front wheel, the radius of the left front wheel tire, and the lateral velocity of the center of the left front wheel.

[0085] The slip ratio of the right front wheel is calculated using the steering angle of the right front wheel, the radius of the right front wheel tire, and the lateral velocity of the center of the right front wheel.

[0086] The slip ratio of the left rear wheel is calculated using the steering angle of the left rear wheel, the radius of the left rear wheel tire, and the lateral velocity of the center of the left rear wheel.

[0087] The slip ratio of the right rear wheel is calculated using the steering angle of the right rear wheel, the radius of the right rear wheel tire, and the lateral velocity of the center of the right rear wheel.

[0088] Specifically, the steering angle δ of the vehicle's left front wheel is obtained. fl Right front wheel steering angle δ fr Left rear wheel steering angle δ rl Right rear wheel steering angle δ rr And obtain the radius R of each tire, through the steering angle δ of the vehicle's left front wheel. fl Right front wheel steering angle δ fr Left rear wheel steering angle δ rl Right rear wheel steering angle δ rr And calculate the slip ratio of each tire based on its radius R:

[0089]

[0090] Where, λ ij Representing the slip ratio of each tire, i = f, r represents the front and rear wheels, and j = l, r represents the left and right wheels.

[0091] In some optional embodiments, the step of establishing a nonlinear tire model using the magic formula, and obtaining the longitudinal force or lateral force of each tire based on the nonlinear tire model, includes:

[0092] A nonlinear tire model is established based on functions of tire slip angle, slip ratio, tire vertical load, and camber angle.

[0093] The function of tire vertical load and camber angle is obtained by fitting a tire model to the tire vertical load and tire camber angle.

[0094] Specifically, based on the slip angle and slip ratio of each tire obtained in steps S103 and S104, a nonlinear tire model is established using the magic formula, namely:

[0095] y=Dsin{Carctan[Bx-E(Bx-arctan(Bx))]}

[0096] Calculate the longitudinal force and lateral force of each tire.

[0097] Where y represents the longitudinal force F of the tire. x Or lateral force F y x represents the slip ratio or sideslip angle, where B, C, D, and E are functions of the tire's vertical load and camber angle, which can be obtained by fitting the tire model parameters.

[0098] In some optional embodiments, the nonlinear dynamic model of the vehicle is established based on the vehicle's design parameters and operating condition input parameters, and the lateral acceleration 'a' of the vehicle is obtained through the nonlinear dynamic model. y ,include:

[0099] A nonlinear dynamic model of the whole vehicle is established based on the longitudinal force and lateral force of each tire;

[0100] The vehicle dynamics differential equations are obtained through the aforementioned nonlinear dynamics model of the whole vehicle;

[0101] The lateral acceleration of the vehicle is calculated using the vehicle dynamics differential equation.

[0102] Specifically, the nonlinear dynamic model of the whole vehicle is as follows:

[0103]

[0104] Where m is the total vehicle mass, i = f, r represents the front and rear wheels, j = l, r represents the left and right wheels, and F xij and F yij These are the longitudinal force and lateral force of each tire.

[0105] See Figure 2 and Figure 3 Based on the distance L from the center of gravity to the front axle f The distance from the center of mass to the rear axle is L. r Wheelbase L, front track B f The rear wheel track is B. r The height h from the vehicle's center of gravity to the roll axis g Collect the vehicle roll angle The lateral acceleration a obtained in step S105 y The lateral load transfer rate (LTR) of the vehicle is calculated based on the actual state of the vehicle during its operation.

[0106] The specific calculation of the vehicle's lateral load transfer rate (LTR) is as follows:

[0107]

[0108] Where g is the gravitational acceleration and LTR is the vehicle lateral load transfer rate.

[0109] Based on the same inventive concept, another aspect of the present invention provides a vehicle lateral load transfer rate calculation device, see [link to previous section]. Figure 4 ,include:

[0110] The first determining unit 201 is used to acquire vehicle driving information and wheel track, and determine the longitudinal velocity of the wheel center based on the vehicle driving information and wheel track.

[0111] The second determining unit 202 is used to obtain the lateral driving speed of the vehicle and determine the lateral speed of the wheel center based on the lateral driving speed and the distance from the center of gravity to the wheel axle.

[0112] The first calculation unit 203 is used to calculate the slip angle of each tire based on the longitudinal velocity, lateral velocity and wheel steering angle of the wheel center.

[0113] The second calculation unit 204 is used to calculate the slip ratio of each tire based on the wheel steering angle and radius; to establish a nonlinear tire model through the magic formula; and to obtain the longitudinal force or lateral force of each tire based on the nonlinear tire model.

[0114] The model building unit 205 is used to build a nonlinear dynamic model of the whole vehicle based on the design parameters and working condition input parameters of the vehicle, and to obtain the lateral acceleration of the whole vehicle through the nonlinear dynamic model of the whole vehicle.

[0115] The third calculation unit 206 is used to calculate the vehicle's lateral load transfer rate using the vehicle's lateral acceleration, wheel track, wheelbase, distance from the center of gravity to the wheel axle, vehicle roll angle, and height from the center of gravity to the roll axis.

[0116] This invention determines the longitudinal and lateral velocities of the wheel centers by acquiring vehicle driving information and wheel track width; calculates the slip angle of each tire based on the longitudinal and lateral velocities of the wheel centers and the wheel steering angle; calculates the slip ratio of each tire based on the wheel steering angle and radius; establishes a nonlinear tire model using the magic formula; obtains the longitudinal force or slip force of each tire based on the nonlinear tire model; and establishes a nonlinear dynamic model of the entire vehicle based on the vehicle's design parameters and operating condition input parameters. The lateral acceleration of the entire vehicle is obtained from the nonlinear dynamic model of the entire vehicle, and the lateral load transfer rate of the vehicle is calculated. Therefore, this invention, based on the nonlinear calculation of lateral load transfer rate using tire slip characteristics, has universal value on common vehicle models. It provides an early warning basis for vehicle rollover motion through the lateral load transfer rate and provides a theoretical basis for vehicle stability and safety control.

[0117] Based on the same inventive concept, another embodiment of the present invention provides an electronic device 161, see [link to previous document]. Figure 5 It includes a processor 164, a communication interface 165, a memory 162, and a communication bus, wherein the processor 164, the communication interface 165, and the memory 162 communicate with each other through the communication bus;

[0118] Memory 162 stores computer program 163;

[0119] When processor 164 executes the program stored in memory 162, it implements the method for calculating the lateral load transfer rate of the vehicle.

[0120] The aforementioned communication bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc.

[0121] The communication interface 165 is used for communication between the aforementioned electronic device 161 and other devices.

[0122] The memory 162 may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory 162 may also be at least one storage device located remotely from the aforementioned processor 164.

[0123] The processor 164 mentioned above can be a general-purpose processor 164, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0124] Based on the same inventive concept, the present invention also provides a computer-readable storage medium storing a computer program 163, which, when executed by a processor 164, implements the vehicle lateral load transfer rate calculation method.

[0125] The computer-readable storage medium may be included in the device / apparatus described in the above embodiments; or it may exist independently and not assembled into the device / apparatus. The computer-readable storage medium carries one or more programs that, when executed, implement the vehicle lateral load transfer rate calculation method according to embodiments of this disclosure.

[0126] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for calculating the lateral load transfer rate of a vehicle, characterized in that, include: Obtain vehicle driving information and wheel track, and determine the longitudinal velocity of the wheel center based on the vehicle driving information and wheel track; The lateral speed of the vehicle is obtained, and the lateral speed of the wheel center is determined based on the lateral speed and the distance from the center of gravity to the wheel axle. The slip angle of each tire is calculated based on the longitudinal velocity, lateral velocity, and wheel steering angle of the wheel center. Calculate the slip ratio of each tire based on the wheel steering angle and radius; establish a nonlinear tire model using the magic formula, and obtain the longitudinal force or lateral force of each tire based on the nonlinear tire model. A nonlinear dynamic model of the vehicle is established based on the vehicle's design parameters and operating condition input parameters. The lateral acceleration of the vehicle is obtained through the nonlinear dynamic model of the vehicle. The vehicle's lateral load transfer rate is calculated using the vehicle's lateral acceleration, wheel track, wheelbase, distance from center of gravity to wheel axle, vehicle roll angle, and height from center of gravity to roll axis. The nonlinear tire model is shown in the following equation: in, y Represents the longitudinal force of the tire F x Or lateral force F y , x Represents the slip ratio or sideslip angle, where B, C, D, and E are functions of the tire's vertical load and camber angle; The step of establishing a nonlinear dynamics model of the vehicle based on the vehicle's design parameters and operating condition input parameters, and obtaining the vehicle's lateral acceleration through the nonlinear dynamics model, includes: A nonlinear dynamic model of the whole vehicle is established based on the longitudinal force and lateral force of each tire; The vehicle dynamics differential equations are obtained through the aforementioned nonlinear dynamics model of the whole vehicle; The lateral acceleration of the vehicle is calculated using the vehicle dynamics differential equation.

2. The method according to claim 1, characterized in that, The vehicle driving information includes the vehicle's longitudinal speed and yaw rate; the wheel track includes the front wheel track and the rear wheel track; the longitudinal speed of the wheel center includes: the longitudinal speed of the left front wheel center, the longitudinal speed of the right front wheel center, the longitudinal speed of the left rear wheel center, and the longitudinal speed of the right rear wheel center.

3. The method according to claim 1, characterized in that, The step of obtaining the vehicle's lateral driving speed and determining the lateral velocity of the wheel center based on the lateral driving speed and the distance from the center of gravity to the wheel axle includes: The lateral velocities of the left and right front wheels are determined by the vehicle's lateral speed, the distance from the center of gravity to the front axle of the wheel, and the yaw rate. The lateral velocities of the left and right rear wheel centers are determined by the vehicle's lateral speed, the distance from the center of gravity to the rear axle of the wheel, and the yaw rate.

4. The method according to claim 1, characterized in that, The calculation of the slip angle of each tire based on the longitudinal velocity, lateral velocity, and wheel steering angle of the wheel center includes: Obtain the steering angles of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel; The slip angle of the left front wheel is determined by the steering angle of the left front wheel, the longitudinal velocity of the center of the left front wheel, and the lateral velocity of the center of the left front wheel. The slip angle of the left rear wheel is determined by the steering angle of the left rear wheel, the longitudinal velocity of the center of the left rear wheel, and the lateral velocity of the center of the left rear wheel. The slip angle of the right front wheel is determined by the steering angle of the right front wheel, the longitudinal velocity of the center of the right front wheel, and the lateral velocity of the center of the right front wheel. The slip angle of the right rear wheel is determined by the steering angle of the right rear wheel, the longitudinal velocity of the center of the right rear wheel, and the lateral velocity of the center of the right rear wheel.

5. The method according to claim 4, characterized in that, The calculation of the slip ratio of each tire based on the wheel steering angle and radius includes: The slip ratio of the left front wheel is calculated using the steering angle of the left front wheel, the radius of the left front wheel tire, and the lateral velocity of the center of the left front wheel. The slip ratio of the right front wheel is calculated using the steering angle of the right front wheel, the radius of the right front wheel tire, and the lateral velocity of the center of the right front wheel. The slip ratio of the left rear wheel is calculated using the steering angle of the left rear wheel, the radius of the left rear wheel tire, and the lateral velocity of the center of the left rear wheel. The slip ratio of the right rear wheel is calculated using the steering angle of the right rear wheel, the radius of the right rear wheel tire, and the lateral velocity of the center of the right rear wheel.

6. The method according to claim 1, characterized in that, The process involves establishing a nonlinear tire model using the magic formula, and obtaining the longitudinal force or lateral force of each tire based on the nonlinear tire model, including: A nonlinear tire model is established based on functions of tire slip angle, slip ratio, tire vertical load, and camber angle.

7. The method according to claim 6, characterized in that, The function of tire vertical load and camber angle is obtained by fitting a tire model to the tire vertical load and tire camber angle.

8. A device for calculating the lateral load transfer rate of a vehicle, characterized in that, include: The first determining unit is used to acquire vehicle driving information and wheel track, and determine the longitudinal velocity of the wheel center based on the vehicle driving information and wheel track. The second determining unit is used to obtain the lateral driving speed of the vehicle and determine the lateral speed of the wheel center based on the lateral driving speed and the distance from the center of gravity to the wheel axle. The first calculation unit is used to calculate the slip angle of each tire based on the longitudinal velocity, lateral velocity and wheel steering angle of the wheel center. The second calculation unit is used to calculate the slip ratio of each tire based on the wheel steering angle and radius; to establish a nonlinear tire model using the magic formula; and to obtain the longitudinal force or lateral force of each tire based on the nonlinear tire model. The model building unit is used to build a nonlinear dynamic model of the whole vehicle based on the vehicle's design parameters and operating condition input parameters, and to obtain the vehicle's lateral acceleration through the vehicle's nonlinear dynamic model. The third calculation unit is used to calculate the vehicle's lateral load transfer rate using the vehicle's lateral acceleration, wheel track, wheelbase, distance from the center of gravity to the wheel axle, vehicle roll angle, and height from the center of gravity to the roll axis. The nonlinear tire model is shown in the following equation: in, y Represents the longitudinal force of the tire F x Or lateral force F y , x Represents the slip ratio or sideslip angle, where B, C, D, and E are functions of the tire's vertical load and camber angle; The step of establishing a nonlinear dynamics model of the vehicle based on the vehicle's design parameters and operating condition input parameters, and obtaining the vehicle's lateral acceleration through the nonlinear dynamics model, includes: A nonlinear dynamic model of the whole vehicle is established based on the longitudinal force and lateral force of each tire; The vehicle dynamics differential equations are obtained through the aforementioned nonlinear dynamics model of the whole vehicle; The lateral acceleration of the vehicle is calculated using the vehicle dynamics differential equation.

9. An electronic device, characterized in that, include: The processor, communication interface, memory, and communication bus are connected, with the processor, communication interface, and memory communicating with each other via the communication bus. Memory, which stores computer programs; When the processor executes the program stored in the memory, it implements the method for calculating the lateral load transfer rate of a vehicle as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The device contains a computer program that, when executed by a processor, implements the method for calculating the lateral load transfer rate of a vehicle as described in any one of claims 1 to 7.

Images