Vehicle stability control method and device, equipment, storage medium and program product

Abstract

The invention provides a vehicle stability control method, device and equipment, a storage medium and a program product, and relates to the technical field of vehicle stability control. The method comprises the following steps: acquiring vertical acceleration data of a vehicle in a preset time period; wherein the preset time period is a time period when an engine of the vehicle is in an idling state; based on the vertical acceleration data, the whole vehicle mass of the vehicle is determined; and the stability of the vehicle is controlled based on the whole vehicle quality. Namely, the whole vehicle mass can be determined on the basis of the vertical acceleration data in the idle speed stage of the engine, so that the whole vehicle mass can be applied to vehicle stability control, and the vehicle stability control effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle stability control, and in particular to a vehicle stability control method, device, equipment, storage medium and program product. Background Art

[0002] In the vehicle ESC (Electronic Stability Control) system, in order to obtain the real-time dynamic parameters of the vehicle as the basis for judging the stability of the vehicle body, it is usually necessary to configure an IMU (Inertial Measurement Unit). In the existing solutions, generally only a 3-axis IMU solution is used to measure the three parameters of the vehicle's longitudinal acceleration, lateral acceleration, and yaw rate. This solution can meet the general needs of vehicle stability control, but due to the small number of measured parameters, it limits the ability to obtain more vehicle operating parameters.

[0003] The vehicle weight is an important parameter in stability control. In related technologies, the vehicle weight can only be estimated through dynamic methods after the vehicle has been running for a period of time. During the vehicle starting phase or engine idling phase, the vehicle ESC system will also control the vehicle's stability, but the vehicle mass is unknown at this stage, so the control effect of vehicle stability needs to be improved. Summary of the invention

[0004] Embodiments of the present invention provide a vehicle stability control method, device, equipment, storage medium and program product to improve the effect of vehicle stability control.

[0005] In a first aspect, an embodiment of the present invention provides a vehicle stability control method, comprising: obtaining vertical acceleration data of the vehicle within a preset time period; wherein the preset time period is a time period when the engine of the vehicle is in an idle state; based on the vertical acceleration data, determining the vehicle mass; and based on the vehicle mass, controlling the stability of the vehicle.

[0006] In some embodiments, determining the vehicle mass of the vehicle based on the vertical acceleration data includes: determining the amplitude of the vertical acceleration based on the vertical acceleration data; determining the initial vehicle mass of the vehicle based on the amplitude; determining the natural frequency estimate of the vertical acceleration based on the initial vehicle mass; performing bandpass filtering on the vertical acceleration data based on the natural frequency estimate, and determining the natural frequency of the vertical acceleration based on the filtered data; and determining the vehicle mass based on the natural frequency.

[0007] In some embodiments, controlling the stability of the vehicle based on the vehicle mass includes: during a driving anti-skid control process, determining to control the engine torque based on the vehicle mass.

[0008] In some embodiments, the stability of the vehicle is controlled based on the vehicle mass, including: obtaining the lateral acceleration and rollover angular velocity of the vehicle during driving; determining the center of mass height of the vehicle based on the lateral acceleration, the rollover angular velocity and the vehicle mass; and controlling the stability of the vehicle based on the center of mass height.

[0009] As a possible implementation manner, determining the center of mass height of the vehicle based on the lateral acceleration, the rollover angular velocity and the vehicle mass includes: determining the center of mass centrifugal force of the vehicle based on the lateral acceleration and the vehicle mass; determining the center of mass height based on the center of mass centrifugal force and the rollover angular velocity.

[0010] In some embodiments, the controlling the stability of the vehicle based on the center of mass height includes: determining a rollover risk value of the vehicle based on the center of mass height; and performing anti-rollover control intervention of the vehicle if the rollover risk value is greater than or equal to a risk threshold.

[0011] In a second aspect, an embodiment of the present invention provides a vehicle stability control device, comprising: an acquisition module, used to acquire vertical acceleration data of the vehicle within a preset time period; wherein the preset time period is a time period when the engine of the vehicle is in an idle state; a determination module, used to determine the vehicle mass based on the vertical acceleration data; and a control module, used to control the stability of the vehicle based on the vehicle mass.

[0012] In a third aspect, an embodiment of the present invention provides an electronic device, comprising a processor and a memory storing a computer program, wherein the processor implements the vehicle stability control method described in the first aspect when executing the program.

[0013] In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the vehicle stability control method described in the first aspect.

[0014] In a fifth aspect, an embodiment of the present invention provides a computer program product, including a computer program, which implements the vehicle stability control method described in the first aspect when executed by a processor.

[0015] According to the vehicle stability control method, device, equipment, storage medium and program product of the embodiment of the present invention, the vertical acceleration data of the vehicle in a preset period is obtained; wherein the preset period is the period when the engine of the vehicle is in an idle state; based on the vertical acceleration data, the vehicle mass is determined; based on the vehicle mass, the stability of the vehicle is controlled. That is to say, the present invention can determine the vehicle mass based on the vertical acceleration data during the engine idle stage, so that the vehicle mass can be applied to the control of vehicle stability to improve the effect of vehicle stability control. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 One of the flow charts of the vehicle stability control method provided by an embodiment of the present invention; Figure 2 A schematic diagram of vehicle measurement indicators in an embodiment of the present invention; Figure 3 A second flow chart of a vehicle stability control method provided by an embodiment of the present invention; Figure 4 A third flow chart of a vehicle stability control method provided by an embodiment of the present invention; Figure 5 A schematic diagram of the structure of a vehicle stability control device provided by an embodiment of the present invention; Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] In the vehicle ESC (Electronic Stability Control) system, in order to obtain the real-time dynamic parameters of the vehicle as the basis for judging the stability of the vehicle body, it is usually necessary to configure an IMU (Inertial Measurement Unit). In the existing solution, generally only a 3-axis IMU solution is used to measure the three parameters of the vehicle's longitudinal acceleration, lateral acceleration, and yaw rate. This solution can meet the general needs of vehicle stability control, but due to the small number of measured parameters, it limits the ability to obtain more vehicle operating parameters. The weight of the vehicle is an important parameter in stability control. In this solution, the weight of the vehicle can only be estimated through dynamic methods after the vehicle has been running for a period of time. During the vehicle's starting stage or the engine idling stage, the vehicle's ESC system will also control the stability of the vehicle, and at this stage the mass of the vehicle is unknown, so the control effect of vehicle stability needs to be improved.

[0020] In order to solve the above problems, embodiments of the present invention provide a vehicle stability control method, device, equipment, storage medium and program product.

[0021] Figure 1 This is one of the flow charts of the vehicle stability control method provided by the embodiment of the present invention. Figure 1 As shown, the method may include the following steps.

[0022] Step 101, obtaining vertical acceleration data of a vehicle within a preset period of time; wherein the preset period of time is a period of time when the engine of the vehicle is in an idle state.

[0023] The vertical acceleration of a vehicle refers to the acceleration perpendicular to all directions in which the vehicle can travel, that is, the acceleration in the direction perpendicular to the ground on which the vehicle is located. Figure 2 As shown, A z is the vertical acceleration of the vehicle, A z The direction of the vertical acceleration is A x is the longitudinal acceleration of the vehicle, A y is the lateral acceleration of the vehicle, ω z is the yaw angular velocity of the vehicle.

[0024] The three-axis IMU usually equipped in a vehicle can measure the longitudinal acceleration A of the vehicle. x , lateral acceleration A y and yaw rate ω z In the present invention, the IMU equipped with the vehicle may be equipped with a sensor for measuring vertical acceleration, so the vertical acceleration data of the vehicle within a preset time period is obtained through the sensor equipped with the vehicle.

[0025] The preset period refers to the period when the vehicle's engine is in an idle state, and the duration of the preset period can be set based on actual needs. That is, when the vehicle is in a starting state but has not yet started, the vertical acceleration data for a continuous period of time can be measured by the sensor equipped with the vehicle. Since the length of time that the vehicle's engine is in an idle state varies greatly, the preset period can be the length of time from when the engine is in an idle state to when the vehicle starts to move, or it can be a period of time from when the engine is in an idle state to when the vehicle starts to move.

[0026] Step 102: Determine the vehicle mass based on the vertical acceleration data.

[0027] Since the vertical acceleration data is data that can be obtained before the vehicle starts to move, the vehicle mass is also determined before the vehicle starts to move.

[0028] In some implementations of the present invention, based on the measurement data of vertical acceleration, the vehicle mass can be estimated when the vehicle engine is in an idle state. After the vehicle is started, it is considered that the vehicle body is forced to vibrate in the vertical direction under the excitation of the white noise disturbance signal. According to the analysis and summary of the actual vehicle test data, the applicant found that there is a corresponding relationship between the vibration amplitude and natural frequency of the vertical acceleration and the vehicle load. Therefore, the vehicle weight can be estimated based on the vertical acceleration data before the vehicle starts.

[0029] As a possible implementation method, the vibration amplitude of the vertical acceleration can be determined based on the vertical acceleration data within a preset time period, and the filtering range of the vertical acceleration can be determined based on the vibration amplitude. The vertical acceleration data can be band-pass filtered based on the range, and the natural frequency can be determined based on the filtered signal. Based on the natural frequency, the vehicle mass can be determined.

[0030] Step 103, based on the vehicle mass, the stability of the vehicle is controlled.

[0031] Since the stability of the vehicle is also controlled during the vehicle starting phase or the engine idling phase, the obtained vehicle mass can be introduced into the stability control at this stage to participate in the control, thereby improving the effect of stability control.

[0032] When the vehicle anti-skid control is turned on, the vehicle usually has not started to run normally. In the prior art, the weight of the vehicle is still unknown at this stage, so the problem of inaccurate engine torque control may occur. In some embodiments of the present invention, the weight of the vehicle can be obtained before the vehicle starts, so during the anti-skid control process, the engine torque can be determined based on the weight of the vehicle.

[0033] As a possible implementation method, the feedforward torque during engine torque control can be determined based on the vehicle mass, that is, the engine torque is first controlled as the feedforward torque, and then a closed-loop adjustment is performed, which can make the engine torque control respond faster and more accurately, and improve the acceleration capability of the vehicle in the drive anti-skid mode. Since the smaller the vehicle mass, the smaller the feedforward torque, and the larger the vehicle weight, the larger the feedforward torque, the proportional coefficient between the vehicle mass and the feedforward torque can be determined based on a large number of experiments, and based on this proportional coefficient, the feedforward torque during engine torque control can be obtained directly according to the vehicle mass.

[0034] Since the rollover risk of a vehicle is related to the weight of the vehicle, the calculation of the vehicle's rollover risk value can also be corrected based on the vehicle's weight to make the triggering of the anti-rollover control function more accurate.

[0035] It should be noted that each time the vehicle enters the engine idle state, the vertical acceleration data of the corresponding period can be obtained, and the vehicle mass can be updated based on the latest vertical acceleration data to use the latest vehicle mass to control the stability of the vehicle.

[0036] According to the vehicle stability control method of the embodiment of the present invention, the vertical acceleration data of the vehicle in a preset period is obtained; wherein the preset period is the period when the engine of the vehicle is in an idle state; based on the vertical acceleration data, the vehicle mass is determined; based on the vehicle mass, the stability of the vehicle is controlled. That is to say, the present invention can determine the vehicle mass based on the vertical acceleration data during the engine idle stage, so that the vehicle mass can be applied to the control of vehicle stability to improve the effect of vehicle stability control.

[0037] Next, the detailed process of determining the vehicle mass based on the vertical acceleration data will be introduced.

[0038] Figure 3 FIG2 is a flow chart of the vehicle stability control method provided by an embodiment of the present invention. Figure 3 As shown, based on the above embodiments, Figure 1 The implementation process of step 102 in may include the following steps.

[0039] Step 301: Determine the amplitude of the vertical acceleration based on the vertical acceleration data.

[0040] The amplitude of the vertical acceleration refers to the difference between the maximum vertical acceleration and the minimum vertical acceleration in the vertical acceleration data.

[0041] Step 302 : determining the initial vehicle mass of the vehicle based on the amplitude value.

[0042] Among them, the initial vehicle mass is a rough estimate of the vehicle mass.

[0043] As an example, based on the amplitude value, the process of determining the initial vehicle mass of the vehicle is shown in the following formula (1).

[0044] (1); in, , are the system parameters obtained based on the historical data of the vehicle. is the initial vehicle mass. According to the above relationship, by counting the amplitude of the vertical acceleration, a rough estimate of the vehicle weight when the vehicle is stationary can be achieved.

[0045] Step 303: Determine an estimated value of the natural frequency of the vertical acceleration based on the initial vehicle mass.

[0046] By analyzing the vertical acceleration data in the frequency domain, it is found that there is a certain relationship between the initial vehicle mass and the natural frequency. Therefore, the natural frequency estimate of the vertical acceleration can be determined based on the initial vehicle mass using the following formula (2).

[0047] (2); in, is the estimated value of the natural frequency; K is the vibration stiffness of the vehicle in Z direction, which can be obtained by calibrating the natural vibration at a given load.

[0048] Step 304: perform bandpass filtering on the vertical acceleration data based on the estimated value of the natural frequency, and determine the natural frequency of the vertical acceleration based on the filtered data.

[0049] Since the natural frequency estimate is a rough estimate of the natural frequency, a frequency range can be determined based on the natural frequency spectrum estimate, and the vertical acceleration data can be bandpass filtered based on the frequency range to obtain the filtered data. The filtered data is statistically analyzed by system parameter identification algorithms such as ARX (Auto-Regressive with exogenous input model) to obtain the natural frequency spectrum of the vertical acceleration.

[0050] As an example, the frequency range of the bandpass filter may be determined based on 5 times the natural frequency estimation value before and after.

[0051] Step 305: Determine the vehicle mass based on the natural frequency.

[0052] As an example, the vehicle mass can be determined by the following formula (3).

[0053] (3); in, is the vehicle mass; is the natural frequency of vertical acceleration.

[0054] According to the vehicle stability control method of the embodiment of the present invention, the amplitude value of the vertical acceleration is determined based on the vertical acceleration data; the initial vehicle mass of the vehicle is determined based on the amplitude value; the natural frequency estimation value of the vertical acceleration is determined based on the initial vehicle mass; the vertical acceleration data is band-pass filtered based on the natural frequency estimation value, and the natural frequency of the vertical acceleration is determined based on the filtered data; the vehicle mass is determined based on the natural frequency. The present invention can calculate the vehicle weight before the vehicle starts through the relationship between the vibration amplitude and natural frequency of the vertical acceleration and the vehicle weight, which provides data support for the control of vehicle stability and can also improve the control effect of vehicle stability.

[0055] Figure 4 FIG3 is a flow chart of a vehicle stability control method provided by an embodiment of the present invention. Figure 4 As shown, based on the above embodiments, Figure 1 The implementation process of step 103 in may include the following steps.

[0056] Step 401, obtaining the lateral acceleration and rollover angular velocity of the vehicle during driving.

[0057] In some embodiments, the lateral acceleration and rollover angular velocity during the vehicle's rollover process can be measured by an IMU equipped on the vehicle. Figure 2 As shown, A y is the lateral acceleration of the vehicle, ω x is the rollover angular velocity of the vehicle, and the rollover angular velocity may also be two, namely, the angular velocity of the vehicle rolling over to the left side and the angular velocity of the vehicle rolling over to the right side. That is to say, the IMU in the embodiment of the present invention may be a five-axis IMU or a six-axis IMU.

[0058] The lateral acceleration and the rollover angular velocity may be real-time measurement values ​​after the vehicle starts to travel.

[0059] Step 402, determining the center of mass height of the vehicle based on the lateral acceleration, the rollover angular velocity and the vehicle mass.

[0060] In some embodiments, since lateral acceleration and rollover angular velocity can both express the force conditions of the vehicle during driving, the force applied to the vehicle during the driving process can be analyzed in combination with lateral acceleration, rollover angular velocity and vehicle mass to determine the vehicle's center of mass height.

[0061] In some embodiments, the process of determining the center of mass height of the vehicle based on the lateral acceleration, the rollover angular velocity and the vehicle mass may include the following steps.

[0062] Step S1, determining the centrifugal force of the center of mass of the vehicle based on the lateral acceleration and the mass of the vehicle.

[0063] In some embodiments, the vehicle can be considered to be in circular motion, and the lateral acceleration is the centrifugal acceleration of the vehicle during circular motion. Therefore, combined with the mass of the vehicle, the centrifugal force at the center of mass of the vehicle can be calculated. Specifically, as shown in the following formula (4).

[0064] (4); in, is the centrifugal force on the center of mass of the vehicle; is the lateral acceleration of the vehicle.

[0065] Step S2, determining the center of mass height based on the center of mass centrifugal force and the rollover angular velocity.

[0066] Combination Figure 2 It can be found that the vehicle is at risk of rolling over under the action of centrifugal force, so the expression of the angular momentum around the x-axis is shown in the following formula (5).

[0067] (5); in, is the height of the vehicle’s center of mass; is the moment of inertia of the vehicle flipping in the x-direction, which can be measured by calibrating the vehicle; is the rollover angular velocity of the vehicle.

[0068] In some embodiments, in order to improve the accuracy and stability of the vehicle's center of mass height calculation, the calculation of the center of mass height may also be optimized using algorithms such as the least squares method and the Kalman filter.

[0069] Step 403: Control the stability of the vehicle based on the center of mass height.

[0070] It can be understood that the vehicle's center of mass height has a great influence on the vehicle's rollover behavior, so the center of mass height can be combined to correct the triggering of the vehicle's anti-rollover control function, so that the anti-rollover control function can be adapted based on the vehicle's center of mass height.

[0071] In some embodiments, the higher the center of mass height of the vehicle, the easier it is for the vehicle to lose balance when turning, and the greater the risk of rollover. Therefore, the implementation method of controlling the stability of the vehicle based on the center of mass height may include: determining the rollover risk value of the vehicle based on the center of mass height; if the rollover risk value is greater than or equal to the risk threshold, executing the vehicle's rollover prevention control intervention.

[0072] As a possible implementation method, the center of mass height can be introduced based on the existing calculation method of the vehicle rollover risk value, and the higher the center of mass height, the lower the anti-rollover threshold value, and the greater the vehicle rollover risk value. For example, the anti-rollover threshold value of the vehicle can be determined based on the wheelbase and center of mass height of the vehicle, and the vehicle rollover risk value can be determined based on the anti-rollover threshold value, rollover angular velocity, lateral acceleration, and vehicle mass.

[0073] That is to say, the embodiment of the present invention can add the measurement of vertical acceleration and rollover angular velocity on the basis of the existing three-axis IMU, and increase the monitoring of vehicle state parameters through a five-axis IMU or a six-axis IMU, so that the weight of the vehicle can be calculated before the vehicle starts, and the center of mass height of the vehicle can be obtained during the driving process of the vehicle. Based on the weight of the vehicle and the center of mass height, the stability of the vehicle can be controlled to improve the stability control effect.

[0074] According to the vehicle stability control method of the embodiment of the present invention, the lateral acceleration and rollover angular velocity of the vehicle during driving are obtained; the center of mass height of the vehicle is determined based on the lateral acceleration, rollover angular velocity and vehicle mass; and the stability of the vehicle is controlled based on the center of mass height. The present invention calculates the center of mass height of the vehicle by introducing the measurement of vertical acceleration and rollover angular velocity, thereby further improving the effect of vehicle stability control.

[0075] In order to implement the above embodiment, the present invention also provides a vehicle stability control device.

[0076] Figure 5 Schematic diagram of the structure of a vehicle stability control device provided by an embodiment of the present invention. Figure 5 As shown, the device includes: an acquisition module 510, a determination module 520 and a control module 530. The acquisition module 510 is used to acquire the vertical acceleration data of the vehicle within a preset period; wherein the preset period is a period when the engine of the vehicle is in an idle state; the determination module 520 is used to determine the vehicle mass based on the vertical acceleration data; and the control module 530 is used to control the stability of the vehicle based on the vehicle mass.

[0077] In some embodiments, the determination module 520 is specifically used to: determine the amplitude of the vertical acceleration based on the vertical acceleration data; determine the initial vehicle mass of the vehicle based on the amplitude; determine the natural frequency estimate of the vertical acceleration based on the initial vehicle mass; perform bandpass filtering on the vertical acceleration data based on the natural frequency estimate, and determine the natural frequency of the vertical acceleration based on the filtered data; determine the vehicle mass based on the natural frequency.

[0078] As an implementation manner, the control module 530 is specifically used to: during the driving anti-skid control process, determine the control engine torque based on the vehicle mass.

[0079] In some embodiments, the control module 530 is also used to: obtain the lateral acceleration and rollover angular velocity of the vehicle during driving; determine the center of mass height of the vehicle based on the lateral acceleration, the rollover angular velocity and the vehicle mass; and control the stability of the vehicle based on the center of mass height and the vehicle mass.

[0080] In some embodiments, the control module 530 is further used to: determine the centrifugal force of the center of mass of the vehicle based on the lateral acceleration and the vehicle mass; and determine the center of mass height based on the centrifugal force of the center of mass and the rollover angular velocity.

[0081] As a possible implementation, the control module 530 is also used to: determine the rollover risk value of the vehicle based on the center of mass height and the vehicle mass; if the rollover risk value is greater than or equal to a risk threshold, perform anti-rollover control intervention on the vehicle.

[0082] According to the vehicle stability control device of the embodiment of the present invention, the acquisition module is used to acquire the vertical acceleration data of the vehicle within a preset period; wherein the preset period is the period when the engine of the vehicle is in an idle state; the determination module is used to determine the vehicle mass based on the vertical acceleration data; and the control module is used to control the stability of the vehicle based on the vehicle mass. That is to say, the present invention can determine the vehicle mass based on the vertical acceleration data during the engine idle stage, so that the vehicle mass can be applied to the control of vehicle stability to improve the effect of vehicle stability control.

[0083] It should be noted that the above explanations and descriptions in the embodiment of the vehicle stability control method are also applicable to the vehicle stability control device in the embodiment of the present invention, and will not be repeated here.

[0084] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 communicate with each other via the communication bus 640. The processor 610 may call a computer program in the memory 630 to perform the steps of the vehicle stability control method.

[0085] For example, the method includes: obtaining vertical acceleration data of the vehicle within a preset time period; wherein the preset time period is a period when the vehicle's engine is in an idle state; based on the vertical acceleration data, determining the vehicle's overall mass; and based on the vehicle's overall mass, controlling the vehicle's stability.

[0086] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of 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 invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0087] On the other hand, an embodiment of the present invention further provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the steps of the vehicle stability control method provided in the above embodiments.

[0088] The method comprises: obtaining vertical acceleration data of a vehicle within a preset period; wherein the preset period is a period when the engine of the vehicle is in an idle state; determining the vehicle mass based on the vertical acceleration data; and controlling the stability of the vehicle based on the vehicle mass.

[0089] On the other hand, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores a computer program, and the computer program is used to enable a processor to execute the steps of the vehicle stability control method provided in the above embodiments.

[0090] The method comprises: obtaining vertical acceleration data of a vehicle within a preset period; wherein the preset period is a period when the engine of the vehicle is in an idle state; determining the vehicle mass based on the vertical acceleration data; and controlling the stability of the vehicle based on the vehicle mass.

[0091] The non-transitory computer-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)), etc.

[0092] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0093] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle stability control method, characterized in that: include: Acquiring vertical acceleration data of the vehicle within a preset period of time; wherein the preset period of time is a period of time when the engine of the vehicle is in an idle state; Determining a vehicle mass of the vehicle based on the vertical acceleration data; Based on the vehicle mass, the stability of the vehicle is controlled.

2. The method according to claim 1, characterized in that The determining the vehicle mass of the vehicle based on the vertical acceleration data includes: determining an amplitude value of the vertical acceleration based on the vertical acceleration data; determining an initial vehicle mass of the vehicle based on the amplitude magnitude; Determining an estimated value of a natural frequency of the vertical acceleration based on the initial vehicle mass; Based on the natural frequency estimation value, performing bandpass filtering on the vertical acceleration data, and determining the natural frequency of the vertical acceleration based on the filtered data; Based on the natural frequency, the vehicle mass is determined.

3. The method according to claim 1, characterized in that The controlling the stability of the vehicle based on the vehicle mass includes: During the driving anti-skid control process, the engine torque is determined to be controlled based on the vehicle mass.

4. The method according to claim 1, characterized in that: The controlling the stability of the vehicle based on the vehicle mass includes: Obtaining the lateral acceleration and rollover angular velocity of the vehicle during its travel; Determining a center of mass height of the vehicle based on the lateral acceleration, the rollover angular velocity and the vehicle mass; Based on the center of mass height, the stability of the vehicle is controlled.

5. The method according to claim 4, characterized in that The determining the center of mass height of the vehicle based on the lateral acceleration, the rollover angular velocity and the vehicle mass includes: Determining the centrifugal force of the center of mass of the vehicle based on the lateral acceleration and the vehicle mass; The center of mass height is determined based on the center of mass centrifugal force and the rollover angular velocity.

6. The method according to claim 4, characterized in that The controlling the stability of the vehicle based on the center of mass height includes: Determining a rollover risk value of the vehicle based on the center of mass height; If the rollover risk value is greater than or equal to a risk threshold, an anti-rollover control intervention of the vehicle is performed.

7. A vehicle stability control device, characterized in that: include: An acquisition module, used to acquire vertical acceleration data of the vehicle within a preset period of time; wherein the preset period of time is a period of time when the engine of the vehicle is in an idle state; A determination module, configured to determine a vehicle mass of the vehicle based on the vertical acceleration data; A control module is used to control the stability of the vehicle based on the vehicle mass.

8. An electronic device comprising a processor and a memory storing a computer program, characterized in that: When the processor executes the computer program, the vehicle stability control method according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle stability control method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the vehicle stability control method according to any one of claims 1 to 6 is implemented.

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