Method and device for estimating height of mass center of whole vehicle

Abstract

The invention provides a method and device for estimating the height of the mass center of a whole vehicle, and the method comprises the steps: obtaining the first mass of the upper part of the whole vehicle and the second mass of the lower part of the whole vehicle, and enabling the upper part of the whole vehicle and the lower part of the whole vehicle to be divided in the direction of the height of the mass center of the whole vehicle; according to the first mass and the second mass, a first estimation coefficient is determined, and the first estimation coefficient is used for describing the mass ratio of the upper part of the whole vehicle; obtaining the vehicle body height of the whole vehicle; and determining the mass center height of the whole vehicle according to the first estimation coefficient and the vehicle body height. According to the invention, the efficiency of calculating the mass center height of the whole vehicle is improved in the early stage of development.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a method and device for estimating the center of mass height of a vehicle. Background Art

[0002] At present, the vehicle center of gravity height is an important performance of passenger vehicles. It has a great influence on the calculation and evaluation of performance such as handling and stability by related professionals such as braking and vehicle dynamics. There are two main methods to obtain the vehicle center of gravity height: simulation calculation and experimental measurement. However, in the early stage of development, there is no real vehicle, many parts and assemblies of the vehicle have not been fully determined, and there is no actual prototype vehicle off the production line, so the measured vehicle center of gravity height cannot be obtained. Therefore, it is necessary to estimate the vehicle center of gravity height parameters through simulation calculation.

[0003] According to the existing method, the estimated center of mass height parameter needs to be calculated based on the overall layout data and the center of mass height of each assembly, which has the following problems:

[0004] 1) High requirements: In the early stage of development, it is often difficult to obtain complete overall layout data and the center of mass height parameters of each assembly, which limits the implementation conditions of the estimation method and makes it difficult to carry out the estimation;

[0005] 2) Complicated steps: When calculating the center of mass height of the whole vehicle according to the current method, it is necessary to calculate each assembly / component one by one according to the principle of energy conservation. The operation process is complicated and time-consuming, which reduces efficiency;

[0006] 3) Low accuracy: The accuracy of the current method is highly dependent on the accuracy of the layout data and the precision of the assembly parts split. However, in the early stages of development, the layout data is often not accurately given, and the assembly and parts cannot be split to a higher level, which will significantly reduce the accuracy of the estimate;

[0007] 4) Difficulty in estimating new models: For new models without a computational basis, the computational difficulty of the current method will increase significantly, and the accuracy of the calculation will also decrease significantly, which cannot meet the development needs of new models.

[0008] The above problems show that in the early stage of vehicle development, the traditional method of estimating the center of mass height of the vehicle has significant limitations and shortcomings, which affects the accurate calculation and design of parameters. Summary of the invention

[0009] In view of this, the purpose of the present application is to provide a method and device for estimating the center of gravity height of a vehicle to overcome at least one of the above-mentioned defects.

[0010] In a first aspect, an embodiment of the present application provides a method for estimating the height of the center of mass of a whole vehicle, the method comprising: obtaining a first mass of the upper part of the whole vehicle and a second mass of the lower part of the whole vehicle, the upper part of the whole vehicle and the lower part of the whole vehicle dividing the whole vehicle along the direction of the height of the center of mass of the whole vehicle; determining a first estimation coefficient based on the first mass and the second mass, the first estimation coefficient being used to describe the mass proportion of the upper part of the whole vehicle; obtaining the body height of the whole vehicle; and determining the height of the center of mass of the whole vehicle based on the first estimation coefficient and the body height.

[0011] In an optional embodiment of the present application, determining a first estimation coefficient based on the first mass and the second mass includes: determining the curb mass of the entire vehicle based on the sum of the first mass and the second mass; and determining the first estimation coefficient based on the ratio of the first mass to the curb mass.

[0012] In an optional embodiment of the present application, the height of the center of mass of the vehicle is determined by the following formula:

[0013]

[0014] Among them, Z represents the height of the center of mass of the whole vehicle, m1 represents the first mass of the upper part of the whole vehicle, m2 represents the second mass of the lower part of the whole vehicle, a represents the first constant, b represents the second constant, and H represents the body height of the whole vehicle.

[0015] In an optional embodiment of the present application, the first constant and the second constant are determined in the following manner: a fitting straight line is determined for characterizing the correlation between the first estimation coefficient and the second estimation coefficient, the second estimation coefficient being used to describe the height ratio of the center of gravity height of the whole vehicle and the body height of the whole vehicle; the slope of the fitting straight line is determined as the first constant, and the intercept of the fitting straight line is determined as the second constant.

[0016] In an optional embodiment of the present application, determining a fitting straight line for characterizing the correlation between the first estimation coefficient and the second estimation coefficient includes: acquiring multiple vehicle samples, each vehicle sample including a first mass of the upper part of the vehicle, a second mass of the lower part of the vehicle, a body height of the vehicle, and a height of the center of gravity of the vehicle; for each vehicle sample, determining the first estimation coefficient and the second estimation coefficient corresponding to the vehicle sample; and determining a fitting straight line for characterizing the correlation between the first estimation coefficient and the second estimation coefficient based on the multiple first estimation coefficients and the multiple second estimation coefficients corresponding to the multiple vehicle samples.

[0017] In an optional embodiment of the present application, the method also includes: determining a correlation coefficient based on the fitted straight line characterizing the correlation between the first estimation coefficient and the second estimation coefficient; judging whether the correlation coefficient is greater than or equal to a correlation threshold; if the correlation coefficient is greater than or equal to the correlation threshold, determining that there is a strong correlation between the first estimation coefficient and the second estimation coefficient, determining the slope of the fitted straight line as a first constant, and determining the intercept of the fitted straight line as a second constant; if the correlation coefficient is less than the correlation threshold, determining that there is no strong correlation between the first estimation coefficient and the second estimation coefficient, the slope of the fitted straight line cannot be determined as the first constant, and the intercept of the fitted straight line cannot be determined as the second constant.

[0018] In an optional embodiment of the present application, the lower part of the whole vehicle includes components with a lower center of gravity, and the upper part of the whole vehicle includes all components except the lower part of the whole vehicle.

[0019] In a second aspect, an embodiment of the present application further provides a device for estimating the center of mass height of a whole vehicle, the device comprising: a mass acquisition module, used to acquire a first mass of the upper part of the whole vehicle and a second mass of the lower part of the whole vehicle, the upper part of the whole vehicle and the lower part of the whole vehicle being for dividing the whole vehicle along the direction of the center of mass height of the whole vehicle; a first estimation coefficient determination module, used to determine a first estimation coefficient according to the first mass and the second mass, the first estimation coefficient being used to describe the mass proportion of the upper part of the whole vehicle; a vehicle body height acquisition module, used to acquire the vehicle body height; a vehicle body center of mass height determination module, used to determine the vehicle body center of mass height according to the first estimation coefficient and the vehicle body height.

[0020] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the method described above are performed.

[0021] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described above are executed.

[0022] The method and device for estimating the center of mass height of a whole vehicle provided in the embodiment of the present application obtain the first mass of the upper part of the whole vehicle and the second mass of the lower part of the whole vehicle, wherein the upper part of the whole vehicle and the lower part of the whole vehicle are used to divide the whole vehicle along the direction of the center of mass height of the whole vehicle; determine the first estimation coefficient according to the first mass and the second mass, wherein the first estimation coefficient is used to describe the mass proportion of the upper part of the whole vehicle; obtain the body height of the whole vehicle; and determine the center of mass height of the whole vehicle according to the first estimation coefficient and the body height. Through the present application, the efficiency of calculating the center of mass height of the whole vehicle is improved in the early stage of development.

[0023] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A flow chart of a method for estimating the center of mass height of a vehicle provided in an embodiment of the present application;

[0026] Figure 2 A scatter plot of a fitted straight line for characterizing the correlation between a first estimation coefficient and a second estimation coefficient provided in an embodiment of the present application;

[0027] Figure 3 A schematic diagram of the structure of a device for estimating the center of mass height of a vehicle provided in an embodiment of the present application;

[0028] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0030] First, the application scenarios to which the present application is applicable are introduced. The present application can be applied in the field of automotive technology.

[0031] The vehicle center of mass height in the prior art is calculated as follows:

[0032] For a target vehicle model, the vehicle consists of assemblies / parts 1, 2, ..., i, ..., and their corresponding weights are m1, m2, ..., m i ..., the centroid heights z1, z2, ...z of each component i ..., the height of the vehicle's center of mass is Z.

[0033] According to the law of conservation of energy, we get the following formula:

[0034]

[0035] Where Z represents the height of the vehicle's center of mass, m i represents the weight corresponding to the i-th part, z i It represents the height of the center of mass corresponding to the i-th part, 1≤i≤n, and n is the total number of parts in the vehicle.

[0036] The formula for determining the center of mass height of the vehicle is as follows:

[0037]

[0038] Where Z represents the height of the vehicle's center of mass, m i represents the weight corresponding to the i-th part, z i It represents the height of the center of mass corresponding to the i-th part, 1≤i≤n, and n is the total number of parts in the vehicle.

[0039] However, in the early stages of a vehicle development project, many of the vehicle's components and assemblies have not been fully determined, and no actual prototypes have rolled off the production line, making it impossible to obtain the actual measured height of the vehicle's center of gravity. In this stage, the vehicle's center of gravity height is predicted, and the prior art lacks a method for quickly and accurately predicting the vehicle's center of gravity height in the early stages of a vehicle development project.

[0040] Based on this, an embodiment of the present application provides a method and device for estimating the height of the center of mass of a whole vehicle, obtaining a first mass of the upper part of the whole vehicle and a second mass of the lower part of the whole vehicle, wherein the upper part of the whole vehicle and the lower part of the whole vehicle are used to divide the whole vehicle in the direction of the height of the center of mass of the whole vehicle; determining a first estimation coefficient based on the first mass and the second mass, wherein the first estimation coefficient is used to describe the mass proportion of the upper part of the whole vehicle; obtaining the body height of the whole vehicle; determining the height of the center of mass of the whole vehicle based on the first estimation coefficient and the body height. Through the present application, the height of the center of mass of the whole vehicle of the target vehicle model can be estimated quickly and accurately in the early stage of development, thereby guiding the maneuverability, stability design and performance evaluation of the whole vehicle, reducing potential risks in the later stage, and is suitable for newly developed models and modified and year models, and has a wide range of application.

[0041] See also Figure 1 , Figure 1 This is a flow chart of the method for estimating the center of mass height of a vehicle provided in an embodiment of the present application. Figure 1 As shown in , the method for estimating the center of mass height of a vehicle provided in an embodiment of the present application includes:

[0042] S101. Obtain a first mass of an upper portion of a whole vehicle and a second mass of a lower portion of the whole vehicle.

[0043] In this step, the upper part of the whole vehicle and the lower part of the whole vehicle are divided along the height of the center of mass of the whole vehicle. The lower part of the whole vehicle includes the parts with the center of gravity lower, and the upper part of the whole vehicle includes all parts except the lower part of the whole vehicle.

[0044] The present application divides the whole vehicle into two parts, upper and lower parts, and determines the center of mass height of the whole vehicle according to the first mass of the upper part of the whole vehicle, the second mass of the lower part of the whole vehicle, the first center of mass height of the upper part of the whole vehicle and the second center of mass height of the lower part of the whole vehicle.

[0045] For example, components with a lower center of gravity include: chassis, three-electric system (the three-electric system refers to the battery, motor and electronic control system), drive axle, exhaust system, half of the thermal management weight, half of the engine weight, and half of the transmission weight. Here, components such as the engine and transmission whose center of mass is close to the middle of the vehicle body are divided in half.

[0046] The vehicle center of mass height is determined by the following formula:

[0047]

[0048] Among them, Z represents the height of the center of mass of the whole vehicle, m1 represents the first mass of the upper part of the whole vehicle, m2 represents the second mass of the lower part of the whole vehicle, a1 represents the height of the first center of mass of the upper part of the whole vehicle, and a2 represents the height of the second center of mass of the lower part of the whole vehicle.

[0049] The above formula simplifies multiple components into a first mass of the upper part of the vehicle and a second mass of the lower part of the vehicle, which significantly simplifies the calculation difficulty.

[0050] The first center of mass height a1 ≥ the vehicle center of mass height Z ≥ the second center of mass height a2.

[0051] Therefore, when the first mass m1 of the upper part of the vehicle increases, the height Z of the center of mass of the vehicle increases; when the second mass m2 of the lower part of the vehicle increases, the height Z of the center of mass of the vehicle decreases.

[0052] S102: Determine a first estimation coefficient according to the first quality and the second quality.

[0053] Here, the first estimation coefficient is used to describe the mass proportion of the upper part of the vehicle.

[0054] The curb mass of the entire vehicle is determined according to the sum of the first mass and the second mass; and the first estimation coefficient is determined according to the ratio of the first mass to the curb mass.

[0055] The first estimated coefficient is determined by the following formula:

[0056]

[0057] Wherein, μ represents the first estimation coefficient, m1 represents the first mass of the upper part of the whole vehicle, and m2 represents the second mass of the lower part of the whole vehicle.

[0058] The sum of m1 and m2 is the curb mass of the vehicle. Curb mass refers to the weight of a car when it is fully equipped according to factory technical conditions (such as spare tires, tools, etc. installed) and filled with all kinds of oil and water. It is an important design indicator of a car and is closely related to the car's design level, manufacturing level and industrialization level.

[0059] S103: Obtain the vehicle height.

[0060] S104: Determine the height of the center of mass of the vehicle according to the first estimation coefficient and the vehicle body height.

[0061] Specifically, the center of mass height of the vehicle is determined by the following formula:

[0062]

[0063] Among them, Z represents the height of the center of mass of the whole vehicle, m1 represents the first mass of the upper part of the whole vehicle, m2 represents the second mass of the lower part of the whole vehicle, a represents the first constant, b represents the second constant, and H represents the body height of the whole vehicle.

[0064] The first and second constants are determined as follows:

[0065] A fitted straight line is determined that characterizes the correlation between the first estimated coefficient and the second estimated coefficient.

[0066] Here, the second estimation coefficient is used to describe the height ratio of the center of mass height of the whole vehicle to the body height of the whole vehicle.

[0067] The second estimated coefficients are determined as follows:

[0068]

[0069] Wherein, P represents the second estimation coefficient, Z represents the height of the center of mass of the vehicle, and H represents the body height of the vehicle.

[0070] It can be seen from the above formula that the larger the second estimation coefficient is, the higher the center of gravity height of the vehicle is. Therefore, the first estimation coefficient and the second estimation coefficient should be positively correlated.

[0071] In an optional embodiment, the fitting straight line is determined by:

[0072] Get multiple vehicle samples.

[0073] Here, each vehicle sample includes a first mass of an upper part of the whole vehicle, a second mass of a lower part of the whole vehicle, a body height of the whole vehicle, and a height of a center of mass of the whole vehicle;

[0074] For example, the vehicle samples are shown in Table 1 below:

[0075] Table 1:

[0076]

[0077] Since the calculation of the second mass already includes the engine, transmission, exhaust system and other components of fuel vehicles and the battery, electric drive and other components of electric vehicles, there is no need to distinguish between different power types such as BEV (Billion Electron Volt, pure electric vehicle) and ICE (Internal Combustion Engine) when selecting samples, nor is there any need to distinguish between drive forms.

[0078] This is just an example. When actually applying this application, the more samples selected in the big data analysis step, the more reliable the final result will be.

[0079] For each vehicle sample, determining a first estimation coefficient and a second estimation coefficient corresponding to the vehicle sample;

[0080] A regression analysis is performed based on the corresponding first estimation coefficients and second estimation coefficients of the plurality of vehicle samples to determine a fitting straight line for characterizing the correlation between the first estimation coefficients and the second estimation coefficients.

[0081] Then, the slope of the fitted straight line is determined as the first constant, and the intercept of the fitted straight line is determined as the second constant.

[0082] Here, depending on the selected vehicle samples, the slope and intercept of the fitting line may change, and correspondingly, the first constant and the second constant may also change.

[0083] See also Figure 2 , Figure 2 A scatter plot of a fitted straight line for characterizing the correlation between a first estimation coefficient and a second estimation coefficient provided in an embodiment of the present application.

[0084] like Figure 2 As shown in , with the first estimated coefficient μ value as the horizontal coordinate and the second estimated coefficient P value as the vertical coordinate, a scatter plot is drawn and a fitting straight line is obtained to obtain the following formula:

[0085] P=0.2851μ+0.1874

[0086] A correlation coefficient is determined based on a fitted straight line representing the correlation between the first estimated coefficient and the second estimated coefficient.

[0087] For example, Figure 2 As shown in the figure, according to the regression analysis, the P value of the sample is linearly correlated with the μ value, and the correlation coefficient R, R 2 =0.7971, so the correlation coefficient R = 0.8928.

[0088] Determine whether the correlation coefficient is greater than or equal to the correlation threshold.

[0089] If the correlation coefficient is greater than or equal to the correlation threshold, it is determined that there is a strong correlation between the first estimated coefficient and the second estimated coefficient, the slope of the fitted straight line is determined as the first constant, and the intercept of the fitted straight line is determined as the second constant.

[0090] If the correlation coefficient is less than the correlation threshold, it is determined that there is no strong correlation between the first estimated coefficient and the second estimated coefficient, the slope of the fitted straight line cannot be determined as the first constant, and the intercept of the fitted straight line cannot be determined as the second constant.

[0091] Here, the correlation coefficient may be the Pearson Correlation Coefficient, also known as the Pearson product-moment correlation coefficient (PPMCC or PCCs for short), which is a statistic used in statistics to measure the strength of the linear relationship between two continuous variables. It is used to measure the degree of linear correlation between two variables X and Y. By calculating the Pearson correlation coefficient, it can be determined whether the two variables have a linear correlation and the strength of the correlation.

[0092] In an optional embodiment, the relationship between the correlation coefficient R and the correlation is shown in Table 2 below:

[0093] Table 2:

[0094] Correlation coefficient R value Relevance 0.8≤R<1.0 Very strong correlation 0.6≤R<0.8 Strong correlation 0.4≤R<0.6 Moderately related 0.2≤R<0.4 Weak correlation 0≤R<0.2 Very weak or no correlation

[0095] For example, the correlation threshold here can be 0.6, and the correlation coefficient R is greater than or equal to 0.6, indicating that there is at least a strong correlation between the first estimation coefficient and the second estimation coefficient. The slope of the fitting line is determined as the first constant, and the intercept of the fitting line is determined as the second constant to achieve higher accuracy.

[0096] Taking a Hongqi project as an example, calculate the vehicle center of mass height of the vehicle model:

[0097] It is known that the curb weight of this vehicle model is 1962kg, the first mass m1=1125.8kg, the second mass m2=836.2kg, and the vehicle height H=1485mm.

[0098] Substitute the following formula:

[0099]

[0100] Calculation shows: Z=521.2mm, the actual center of mass height of the project is Z0=513.9mm.

[0101] The estimated value of this method deviates from the actual value by +1.42%, which has high accuracy.

[0102] The method and device for estimating the center of mass height of a whole vehicle provided in the embodiment of the present application obtain the first mass of the upper part of the whole vehicle and the second mass of the lower part of the whole vehicle, wherein the upper part of the whole vehicle and the lower part of the whole vehicle are used to divide the whole vehicle along the direction of the center of mass height of the whole vehicle; determine the first estimation coefficient according to the first mass and the second mass, wherein the first estimation coefficient is used to describe the mass proportion of the upper part of the whole vehicle; obtain the body height of the whole vehicle; and determine the center of mass height of the whole vehicle according to the first estimation coefficient and the body height. Through this application, the efficiency of calculating the center of mass height of the whole vehicle and the accuracy of the center of mass height of the whole vehicle are improved in the early stage of development.

[0103] This application calculates the height of the center of mass of the whole vehicle through the method of energy conservation, relates the height of the center of mass of the whole vehicle to the upper and lower mass distribution, and uses big data regression analysis to determine the calculation formula for obtaining the height of the center of mass of the whole vehicle. Through this application, it is possible to quickly and conveniently obtain the height of the center of mass of the whole vehicle of the target vehicle model in the early stage of development; reduce the potential risks of failure to achieve the braking, handling stability and other performance of the whole vehicle in the later stage, and insufficient vehicle carrying capacity; it can be applicable to newly developed models and modified and year models at the same time, and has a wide range of applications.

[0104] Based on the same inventive concept, an embodiment of the present application also provides a device for estimating the center of gravity height of the whole vehicle corresponding to the method for estimating the center of gravity height of the whole vehicle. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the method for estimating the center of gravity height of the whole vehicle in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0105] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of the vehicle center of mass height estimation device provided in the embodiment of the present application. Figure 3 As shown in , the vehicle center of mass height estimation device 300 includes:

[0106] The mass acquisition module 301 is used to acquire a first mass of an upper part of a whole vehicle and a second mass of a lower part of the whole vehicle, wherein the upper part of the whole vehicle and the lower part of the whole vehicle are obtained by dividing the whole vehicle along a direction of a height of a center of mass of the whole vehicle;

[0107] A first estimation coefficient determination module 302 is used to determine a first estimation coefficient according to the first mass and the second mass, wherein the first estimation coefficient is used to describe the mass proportion of the upper part of the entire vehicle;

[0108] The vehicle height acquisition module 303 is used to acquire the vehicle height;

[0109] The vehicle center of mass height determination module 304 is used to determine the vehicle center of mass height according to the first estimation coefficient and the vehicle body height.

[0110] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present application. Figure 4 As shown in , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0111] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 1 The steps of the method for estimating the center of mass height of the whole vehicle in the method embodiment shown, and the specific implementation method can be referred to the method embodiment, which will not be repeated here.

[0112] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The steps of the method for estimating the center of mass height of the whole vehicle in the method embodiment shown, and the specific implementation method can be referred to the method embodiment, which will not be repeated here.

[0113] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0114] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0115] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0116] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0117] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0118] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for estimating the center of mass height of a vehicle, characterized in that: include: Obtaining a first mass of an upper portion of a whole vehicle and a second mass of a lower portion of the whole vehicle, wherein the upper portion of the whole vehicle and the lower portion of the whole vehicle are obtained by dividing the whole vehicle along a direction of a height of a center of mass of the whole vehicle; Determine a first estimation coefficient according to the first mass and the second mass, where the first estimation coefficient is used to describe the mass proportion of the upper part of the entire vehicle; Get the vehicle height; The height of the center of mass of the vehicle is determined according to the first estimation coefficient and the vehicle body height.

2. The method according to claim 1, characterized in that The determining a first estimation coefficient according to the first quality and the second quality includes: Determining the curb weight of the vehicle according to the sum of the first weight and the second weight; The first estimation coefficient is determined according to a ratio of the first mass to the curb mass.

3. The method according to claim 2, characterized in that The height of the center of mass of the vehicle is determined by the following formula: Among them, Z represents the height of the center of mass of the whole vehicle, m1 represents the first mass of the upper part of the whole vehicle, m2 represents the second mass of the lower part of the whole vehicle, a represents the first constant, b represents the second constant, and H represents the body height of the whole vehicle.

4. The method according to claim 3, characterized in that The first and second constants are determined as follows: Determining a fitting straight line for characterizing the correlation between the first estimation coefficient and the second estimation coefficient, wherein the second estimation coefficient is used to describe the height ratio of the center of mass height of the whole vehicle to the body height of the whole vehicle; The slope of the fitting straight line is determined as a first constant, and the intercept of the fitting straight line is determined as a second constant.

5. The method according to claim 4, characterized in that The determining of a fitting straight line for characterizing the correlation between the first estimation coefficient and the second estimation coefficient comprises: Acquire multiple vehicle samples, each vehicle sample including a first mass of an upper portion of the entire vehicle, a second mass of a lower portion of the entire vehicle, a body height of the entire vehicle, and a height of a center of mass of the entire vehicle; For each vehicle sample, determining a first estimation coefficient and a second estimation coefficient corresponding to the vehicle sample; A fitting straight line for characterizing the correlation between the first estimation coefficients and the second estimation coefficients is determined according to the corresponding first estimation coefficients and second estimation coefficients of the plurality of vehicle samples.

6. The method according to claim 4, characterized in that The method further comprises: Determining a correlation coefficient according to the fitted straight line representing the correlation between the first estimated coefficient and the second estimated coefficient; Determining whether the correlation coefficient is greater than or equal to a correlation threshold; If the correlation coefficient is greater than or equal to the correlation threshold, it is determined that there is a strong correlation between the first estimation coefficient and the second estimation coefficient, the slope of the fitting straight line is determined as a first constant, and the intercept of the fitting straight line is determined as a second constant; If the correlation coefficient is less than the correlation threshold, it is determined that there is no strong correlation between the first estimation coefficient and the second estimation coefficient, the slope of the fitting straight line cannot be determined as the first constant, and the intercept of the fitting straight line cannot be determined as the second constant.

7. The method according to claim 1, characterized in that The lower part of the whole vehicle includes components with a lower center of gravity, and the upper part of the whole vehicle includes all components except the lower part of the whole vehicle.

8. A device for estimating the center of mass height of a vehicle, characterized in that: include: A mass acquisition module, used to acquire a first mass of an upper portion of a whole vehicle and a second mass of a lower portion of the whole vehicle, wherein the upper portion of the whole vehicle and the lower portion of the whole vehicle are obtained by dividing the whole vehicle along a direction of a height of a center of mass of the whole vehicle; A first estimation coefficient determination module, configured to determine a first estimation coefficient according to the first mass and the second mass, wherein the first estimation coefficient is used to describe a mass proportion of an upper portion of a whole vehicle; The vehicle height acquisition module is used to obtain the vehicle height; The vehicle center of mass height determination module is used to determine the vehicle center of mass height according to the first estimation coefficient and the vehicle body height.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of any method as claimed in claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are executed.

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