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

Abstract

The application provides a vehicle stability control method, device, equipment, storage medium and 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; the preset time period is a time period in which an engine of the vehicle is in an idle state; determining the overall vehicle mass of the vehicle based on the vertical acceleration data; and controlling the stability of the vehicle based on the overall vehicle mass. That is to say, the application can determine the overall vehicle mass based on the vertical acceleration data in the engine idle stage, so that the overall vehicle mass can be applied to the control of the vehicle stability, thereby improving the effect of the vehicle stability control.

Description

TECHNICAL FIELD

[0001] The present application 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

[0002] In a vehicle ESC (Electronic Stability Control) system, in order to obtain real-time vehicle dynamics parameters as the basis for judging vehicle body stability, an IMU (Inertial Measurement Unit) is usually configured. In the existing scheme, a 3-axis IMU scheme is generally used to measure the longitudinal acceleration, lateral acceleration and yaw rate of the vehicle. This scheme can meet the demand for vehicle stability control in general cases, but due to the limited number of measured parameters, the ability to obtain more vehicle operating parameters is limited.

[0003] The vehicle weight is an important parameter in stability control. In related technologies, the vehicle weight can only be estimated by dynamics after the vehicle has been running for a period of time. During the vehicle starting stage or engine idle stage, the vehicle ESC system also controls the stability of the vehicle, but the vehicle weight is unknown at this stage, so the control effect of the vehicle stability needs to be improved. SUMMARY

[0004] The embodiments of the present application 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, the embodiments of the present application provide a vehicle stability control method, comprising: obtaining vertical acceleration data of the vehicle in a preset time period; wherein the preset time period is a time period when the engine of the vehicle is in an idle state; determining the vehicle weight based on the vertical acceleration data; and controlling the stability of the vehicle based on the vehicle weight.

[0006] In some embodiments, the determining the vehicle weight based on the vertical acceleration data comprises: determining the amplitude of the vertical acceleration based on the vertical acceleration data; determining the initial vehicle weight based on the amplitude; determining the inherent frequency estimation value of the vertical acceleration based on the initial vehicle weight; performing band-pass filtering processing on the vertical acceleration data based on the inherent frequency estimation value, and determining the inherent frequency of the vertical acceleration based on the filtered data; and determining the vehicle weight based on the inherent frequency.

[0007] In some embodiments, the controlling the stability of the vehicle based on the vehicle mass comprises: determining a control engine torque based on the vehicle mass in a drive slip control process.

[0008] In some embodiments, the controlling the stability of the vehicle based on the vehicle mass comprises: obtaining a lateral acceleration and a roll angular velocity of the vehicle during driving; determining a center of mass height of the vehicle based on the lateral acceleration, the roll 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, the determining the center of mass height of the vehicle based on the lateral acceleration, the roll angular velocity and the vehicle mass comprises: determining a center of mass centrifugal force of the vehicle based on the lateral acceleration and the vehicle mass; and determining the center of mass height based on the center of mass centrifugal force and the roll angular velocity.

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

[0011] In a second aspect, an embodiment of the present application provides a vehicle stability control device, comprising: an obtaining module configured to obtain vertical acceleration data of the vehicle in a preset time period; wherein the preset time period is a time period in which an engine of the vehicle is in an idle state; a determining module configured to determine a vehicle mass of the vehicle based on the vertical acceleration data; and a control module configured to control the stability of the vehicle based on the vehicle mass.

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

[0013] In a fourth aspect, an embodiment of the present application provides a non-transitory computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the vehicle stability control method of the first aspect.

[0014] In a fifth aspect, an embodiment of the present application provides a computer program product, comprising a computer program, wherein the computer program is executed by a processor to implement the vehicle stability control method of the first aspect.

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

[0016] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 One of the flowcharts of the vehicle stability control method provided by the embodiment of the present application;

[0018] Figure 2 The schematic diagram of the vehicle measurement index in the embodiment of the present application;

[0019] Figure 3 The second flowchart of the vehicle stability control method provided by the embodiment of the present application;

[0020] Figure 4 The third flowchart of the vehicle stability control method provided by the embodiment of the present application;

[0021] Figure 5 The structural schematic diagram of the vehicle stability control device provided by the embodiment of the present application;

[0022] Figure 6 The structural schematic diagram of the electronic device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present application more clear, the technical solutions in the present application will be described clearly and completely in the following with reference to the drawings in the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0024] In vehicle ESC (Electronic Stability Control) systems, an IMU (Inertial Measurement Unit) is typically required to obtain real-time vehicle dynamic parameters as the basis for judging vehicle stability. Current solutions generally employ only a 3-axis IMU to measure three parameters: longitudinal acceleration, lateral acceleration, and yaw rate. This solution can meet the general vehicle stability control requirements, but the limited number of parameters restricts the ability to acquire more vehicle operating parameters. Vehicle weight is a crucial parameter in stability control; in this solution, the vehicle weight can only be estimated through dynamics after the vehicle has been in motion for a period of time. During vehicle start-up or engine idling, the ESC system also controls vehicle stability, but the vehicle mass is unknown at these stages, thus the effectiveness of vehicle stability control needs improvement.

[0025] To address the aforementioned problems, embodiments of the present invention provide a vehicle stability control method, apparatus, device, storage medium, and program product.

[0026] Figure 1 This is one of the flowcharts illustrating the vehicle stability control method provided in an embodiment of the present invention. Figure 1 As shown, the method may include the following steps.

[0027] Step 101: Obtain the vertical acceleration data of the vehicle within a preset time period; wherein, the preset time period is the period when the vehicle's engine is idling.

[0028] Vertical acceleration of a vehicle refers to the acceleration perpendicular to all directions in which the vehicle can move, that is, the acceleration in the direction perpendicular to the ground on which the vehicle is located. For example... Figure 2 As shown, A z A represents the vertical acceleration of the vehicle. z The direction is the direction of the vertical acceleration, A x Let A be the longitudinal acceleration of the vehicle. y For the vehicle's lateral acceleration, ω z Let be the yaw rate of the vehicle.

[0029] The three-axis IMU typically equipped in vehicles is capable of measuring the vehicle's longitudinal acceleration. x Lateral acceleration A y and yaw rate ω z In this invention, the vehicle's IMU may be equipped with a sensor for measuring vertical acceleration, so the vertical acceleration data of the vehicle within a preset time period can be obtained through the vehicle's sensor.

[0030] The preset time period refers to a time period when the engine of the vehicle is in an idle state, and the length of the preset time period can be set based on actual needs. That is, when the vehicle is in a starting state but has not yet started to travel, the vertical acceleration data in a continuous period of time can be measured by a sensor provided by the vehicle. Since the length of time when the engine of the vehicle is in an idle state has a large difference, the preset time period can be the length of time from when the engine is in an idle state to when the vehicle starts to travel, or a period of time within the time from when the engine is in an idle state to when the vehicle starts to travel.

[0031] In step 102, the total vehicle mass of the vehicle is determined based on the vertical acceleration data.

[0032] Since the vertical acceleration data is data that can be obtained before the vehicle starts to travel, the total vehicle mass of the vehicle is also determined before the vehicle starts to travel.

[0033] In some embodiments of the present application, based on the measured data of the vertical acceleration, the total vehicle mass of the vehicle can be estimated when the engine of the vehicle is in an idle state. After the vehicle starts, the vehicle body is considered to be forced to vibrate in the vertical direction under the excitation of a white noise disturbance signal. According to the analysis and summary of the test data of the actual vehicle, the applicant finds that there is a corresponding relationship between the vibration amplitude of the vertical acceleration, the natural frequency and the vehicle load, and then the total vehicle mass can be estimated according to the vertical acceleration data before the vehicle starts.

[0034] As a possible implementation, the vibration amplitude of the vertical acceleration can be determined according to the vertical acceleration data in the preset time period, and the filtering range of the vertical acceleration can be determined based on the vibration amplitude. The vertical acceleration data is band-pass filtered based on the range, the natural frequency is determined based on the signal after the filtering processing, and the total vehicle mass of the vehicle is determined based on the natural frequency.

[0035] In step 103, the stability of the vehicle is controlled based on the total vehicle mass.

[0036] Since the stability of the vehicle is also controlled during the starting stage or the idle stage of the engine, the obtained total vehicle mass can be introduced to participate in the control during the stability control in this stage, so that the effect of the stability control can be improved.

[0037] When the vehicle driving slip control is turned on, the vehicle usually does not start to travel normally, and the total vehicle mass is unknown in the prior art, so the engine torque control is inaccurate. In some embodiments of the present application, the total vehicle mass can be obtained before the vehicle starts, so the engine torque can be determined based on the total vehicle mass during the driving slip control.

[0038] As a possible implementation, the front feed torque of the engine torque control can be determined according to the vehicle mass, that is, the engine torque is controlled as the front feed torque first, and then closed loop adjustment is performed, so that the response of the engine torque control is faster and more accurate, and the acceleration ability of the vehicle in the drive anti-slip mode is improved. Since the smaller the vehicle mass is, the smaller the front feed torque is, and the larger the vehicle mass is, the larger the front feed torque is, the proportional coefficient between the vehicle mass and the front feed torque can be determined based on a large number of experiments, and based on the proportional coefficient, the front feed torque of the engine torque control can be obtained directly according to the vehicle mass.

[0039] Since the rollover risk of the vehicle is related to the vehicle mass, the calculation of the vehicle rollover risk value can also be corrected based on the vehicle mass, so that the triggering of the anti-rollover control function is more accurate.

[0040] It should be noted that the vertical acceleration data of the corresponding period can be obtained each time the vehicle enters the engine idle state stage, and the vehicle mass is updated based on the latest obtained vertical acceleration data, so that the latest vehicle mass is used to control the stability of the vehicle.

[0041] According to the vehicle stability control method provided by the embodiment of the present application, 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; the vehicle mass is determined based on the vertical acceleration data; and the stability of the vehicle is controlled based on the vehicle mass. That is, the present application 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 the vehicle stability to improve the effect of the vehicle stability control.

[0042] Next, the detailed process of determining the vehicle mass based on the vertical acceleration data will be introduced.

[0043] Figure 3 The flowchart of the vehicle stability control method provided by the embodiment of the present application is shown in Figure 2. As shown in Figure 2, based on the implementation process of step 102 in the above embodiment, Figure 3 the implementation process of step 102 can include the following steps. Figure 1

[0044] Step 301, determining the amplitude value of the vertical acceleration based on the vertical acceleration data.

[0045] The amplitude value of the vertical acceleration refers to the difference between the maximum value of the vertical acceleration and the minimum value of the vertical acceleration in the vertical acceleration data.

[0046] Step 302, determining the initial vehicle mass of the vehicle based on the amplitude value.

[0047] ​Wherein, the initial vehicle mass is a rough estimate of the vehicle mass.

[0048] 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).

[0049] (1);

[0050] Wherein, , is a system parameter obtained according to the historical data statistics of the vehicle, is the initial vehicle mass. According to the above relationship, the rough estimate of the vehicle weight when the vehicle is stationary is realized by statistics of the amplitude value of the vertical acceleration.

[0051] Step 303, based on the initial vehicle mass, determine the natural frequency estimate value of the vertical acceleration.

[0052] Through the analysis of the vertical acceleration data in the frequency domain, it is found that the initial vehicle mass has a certain relationship with the natural frequency, so the natural frequency estimate value of the vertical acceleration can be determined based on the initial vehicle mass by the following formula (2).

[0053] (2);

[0054] Wherein, is the natural frequency estimate value; K is the vehicle Z direction vibration stiffness, which can be obtained by the natural vibration calibration under given load.

[0055] Step 304, based on the natural frequency estimate value, the vertical acceleration data is processed by band-pass filtering, and based on the filtered data, the natural frequency of the vertical acceleration is determined.

[0056] Since the natural frequency estimate value is a rough estimate of the natural frequency, a frequency range can be determined based on the natural frequency estimate value, and the vertical acceleration data is processed by band-pass filtering based on the frequency range, and the filtered data is obtained. The filtered data is statistically obtained by ARX (Auto-Regressive with exogenous input model, Auto-Regressive with exogenous input model) and other system parameter identification algorithm, and the natural frequency spectrum of the vertical acceleration is obtained.

[0057] As an example, the frequency range of band-pass filtering can be determined based on 5 times before and after the natural frequency estimate value.

[0058] Step 305, based on the natural frequency, determine the vehicle mass.

[0059] As an example, the vehicle mass can be determined by the following formula (3).

[0060] (3);

[0061] in, For the overall vehicle weight; The natural frequency of the vertical acceleration.

[0062] According to the vehicle stability control method of this invention, based on vertical acceleration data, the amplitude of vertical acceleration is determined; based on the amplitude, the initial vehicle mass is determined; based on the initial vehicle mass, an estimated natural frequency of vertical acceleration is determined; based on the estimated natural frequency, bandpass filtering is performed on the vertical acceleration data, and based on the filtered data, the natural frequency of vertical acceleration is determined; based on the natural frequency, the vehicle mass is determined. This invention, by establishing the relationship between the amplitude and natural frequency of vertical acceleration and the vehicle weight, allows for the calculation of the vehicle weight before vehicle start-up, providing data support for vehicle stability control and improving the control effect.

[0063] Figure 4 This is the third flowchart illustrating the vehicle stability control method provided in this embodiment of the invention. Figure 4 As shown, based on the above embodiments, Figure 1 The implementation process of step 103 may include the following steps.

[0064] Step 401: Obtain the lateral acceleration and rollover angular velocity of the vehicle during its movement.

[0065] In some embodiments, lateral acceleration and rollover angular velocity during vehicle configuration can be measured using an IMU (Integrated Measurement Unit) equipped with the vehicle. For example... Figure 2 As shown, A y Let ω be the lateral acceleration of the vehicle. x The rollover angular velocity is the vehicle's angular velocity. There can also be two angular velocities: the angular velocity for rolling to the left and the angular velocity for rolling to the right. In other words, the IMU in this embodiment can be a five-axis IMU or a six-axis IMU.

[0066] The lateral acceleration and rollover angular velocity can both be measured in real time after the vehicle starts moving.

[0067] Step 402: Determine the vehicle's center of gravity height based on lateral acceleration, rollover angular velocity, and vehicle mass.

[0068] In some embodiments, since lateral acceleration and rollover angular velocity can both express the force situation of the vehicle during driving, the force situation of the vehicle during the driving process can be analyzed by combining lateral acceleration, rollover angular velocity and vehicle mass to determine the height of the vehicle's center of gravity.

[0069] In some embodiments, the implementation process of determining the height of the center of mass of the vehicle based on the lateral acceleration, the roll angular velocity and the mass of the vehicle can include the following steps.

[0070] 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.

[0071] In some embodiments, the vehicle can be considered to be in circular motion, and the lateral acceleration is the centrifugal acceleration suffered by the vehicle in circular motion, so the centrifugal force suffered by the center of mass of the vehicle can be calculated in combination with the mass of the vehicle. Specifically, as shown in the following formula (4).

[0072] (4);

[0073] wherein, is the centrifugal force of the center of mass of the vehicle; is the lateral acceleration of the vehicle.

[0074] Step S2, determining the height of the center of mass based on the centrifugal force of the center of mass and the roll angular velocity.

[0075] In combination with Figure 2 It can be found that the vehicle has the risk of rolling under the action of the centrifugal force, so the angular momentum around the x-axis is expressed as shown in the following formula (5).

[0076] (5);

[0077] wherein, is the height of the center of mass of the vehicle; is the moment of inertia of the vehicle in the x direction, which can be measured by vehicle calibration; is the roll angular velocity of the vehicle.

[0078] In some embodiments, in order to improve the accuracy and stability of the calculation of the height of the center of mass of the vehicle, the calculation of the height of the center of mass can also be optimized by least square method, Kalman filtering and other algorithms.

[0079] Step 403, controlling the stability of the vehicle based on the height of the center of mass.

[0080] It can be understood that the height of the center of mass of the vehicle has a great influence on the rolling behavior of the vehicle, so the triggering of the anti-rollover control function of the vehicle can be corrected in combination with the height of the center of mass, so that the anti-rollover control function can be adapted based on the height of the center of mass of the vehicle.

[0081] In some embodiments, the higher the vehicle's center of gravity, the more easily the vehicle loses balance when turning, and the greater the risk of rollover. Therefore, the implementation of vehicle stability control based on center of gravity height may include: determining the vehicle's rollover risk value based on the center of gravity height; and if the rollover risk value is greater than or equal to a risk threshold, performing anti-rollover control intervention on the vehicle.

[0082] One possible approach is to incorporate center of gravity height into the existing methods for calculating vehicle rollover risk. A higher center of gravity height corresponds to a lower rollover threshold and a higher rollover risk. For example, the rollover threshold can be determined based on the vehicle's track width and center of gravity height, and the rollover risk can be determined based on the rollover threshold, rollover angular velocity, lateral acceleration, and vehicle mass.

[0083] In other words, the embodiments 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 five-axis IMU or six-axis IMU. This allows the calculation of the vehicle weight before the vehicle starts and the vehicle's center of gravity height to be obtained during the vehicle's operation. Based on the vehicle weight and center of gravity height, the stability of the vehicle can be controlled, thereby improving the stability control effect.

[0084] According to an embodiment of the vehicle stability control method of the present invention, the lateral acceleration and rollover angular velocity during vehicle operation are obtained; based on the lateral acceleration, rollover angular velocity, and vehicle mass, the vehicle's center of gravity height is determined; and based on the center of gravity height, the vehicle's stability is controlled. This invention improves the effectiveness of vehicle stability control by introducing the measurement of vertical acceleration and rollover angular velocity to calculate the vehicle's center of gravity height.

[0085] To achieve the above embodiments, the present invention also provides a vehicle stability control device.

[0086] Figure 5 This is a schematic diagram of the vehicle stability control device provided in 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 vertical acceleration data of the vehicle within a preset time period; wherein the preset time period is the period during which the vehicle's engine is idling. The determination module 520 is used to determine the vehicle's total mass based on the vertical acceleration data. The control module 530 is used to control the stability of the vehicle based on the total vehicle mass.

[0087] In some embodiments, the determining module 520 is specifically configured to: determine an amplitude value of the vertical acceleration based on the vertical acceleration data; determine an initial vehicle mass of the vehicle based on the amplitude value; determine an inherent frequency estimation value of the vertical acceleration based on the initial vehicle mass; perform band-pass filtering on the vertical acceleration data based on the inherent frequency estimation value, and determine an inherent frequency of the vertical acceleration based on the filtered data; and determine the vehicle mass based on the inherent frequency.

[0088] As an implementation manner, the control module 530 is specifically configured to: determine a control engine torque based on the vehicle mass in a drive slip control process.

[0089] In some embodiments, the control module 530 is further configured to: acquire a lateral acceleration and a roll angular velocity of the vehicle during driving; determine a center of mass height of the vehicle based on the lateral acceleration, the roll angular velocity and the vehicle mass; and control a stability of the vehicle based on the center of mass height and the vehicle mass.

[0090] In some embodiments, the control module 530 is further configured to: determine a center of mass centrifugal force of the vehicle based on the lateral acceleration and the vehicle mass; and determine the center of mass height based on the center of mass centrifugal force and the roll angular velocity.

[0091] As a possible implementation manner, the control module 530 is further configured to: determine a rollover risk value of the vehicle based on the center of mass height and the vehicle mass; and perform a rollover control intervention of the vehicle if the rollover risk value is greater than or equal to a risk threshold value.

[0092] According to the vehicle stability control device provided by the embodiment of the present application, the acquisition module is configured to acquire 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 idle state; the determining module is configured to determine a vehicle mass of the vehicle based on the vertical acceleration data; and the control module is configured to control a stability of the vehicle based on the vehicle mass. That is, the present application can determine the vehicle mass based on the vertical acceleration data in the engine idle stage, so that the vehicle mass can be applied to the control of the vehicle stability, so as to improve the effect of the vehicle stability control.

[0093] It should be noted that the above explanation and description about the vehicle stability control method embodiments can also be applied to the vehicle stability control device of the present application, which will not be repeated here.

[0094] Figure 6 An example of an electronic device is shown in the physical structure diagram as Figure 6As shown, the electronic device can 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 complete mutual communication through the communication bus 640. The processor 610 can call a computer program in the memory 630 to execute the steps of the vehicle stability control method.

[0095] For example, the method comprises: acquiring vertical acceleration data of the vehicle in a preset time period; wherein the preset time period is a time period in which an engine of the vehicle is in an idle state; determining a total vehicle mass of the vehicle based on the vertical acceleration data; and controlling stability of the vehicle based on the total vehicle mass.

[0096] In addition, the logic instructions in the memory 630 described above can be implemented in the form of a software functional unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0097] On the other hand, the embodiments of the present application also provide a computer program product, which comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program is executed by a processor, so that the computer can execute the steps of the vehicle stability control method provided by the above-mentioned embodiments.

[0098] The method comprises: acquiring vertical acceleration data of the vehicle in a preset time period; wherein the preset time period is a time period in which an engine of the vehicle is in an idle state; determining a total vehicle mass of the vehicle based on the vertical acceleration data; and controlling stability of the vehicle based on the total vehicle mass.

[0099] On the other hand, the embodiments of the present application also provide a non-transitory computer readable storage medium, which stores a computer program, and the computer program is used to make a processor execute the steps of the vehicle stability control method provided by the above-mentioned embodiments.

[0100] The method comprises: acquiring vertical acceleration data of the vehicle in a preset time period; wherein the preset time period is a time period in which an engine of the vehicle is in an idle state; determining a total mass of the vehicle based on the vertical acceleration data; and controlling stability of the vehicle based on the total mass.

[0101] The non-transitory computer-readable storage medium can be any available medium or data storage device that a processor can access, including but not limited to a magnetic storage (e.g., a floppy disk, a hard disk, a tape, a magnetic-optical disk (MO), etc.), an optical storage (e.g., a CD, a DVD, a BD, a HVD, etc.), and a semiconductor storage (e.g., a ROM, an EPROM, an EEPROM, a NAND FLASH, a solid-state disk (SSD)), etc.

[0102] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0103] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software plus necessary universal hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of software products, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and include a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0104] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle stability control method characterized by, The method comprises: obtaining vertical acceleration data of the vehicle in a preset time period, wherein the preset time period is a time period during which an engine of the vehicle is in an idle state; determining a total vehicle mass of the vehicle based on the vertical acceleration data; controlling stability of the vehicle based on the total vehicle mass; wherein the determining the total vehicle mass of the vehicle based on the vertical acceleration data comprises: determining an amplitude value of the vertical acceleration based on the vertical acceleration data; determining an initial total vehicle mass of the vehicle based on the amplitude value; determining an inherent frequency estimation value of the vertical acceleration based on the initial total vehicle mass; performing band-pass filtering on the vertical acceleration data based on the inherent frequency estimation value, and determining an inherent frequency of the vertical acceleration based on the filtered data; determining the total vehicle mass based on the inherent frequency.

2. The method of claim 1, wherein, The controlling the stability of the vehicle based on the total vehicle mass comprises: determining a control engine torque based on the total vehicle mass in a drive slip control process.

3. The method of claim 1, wherein, The controlling the stability of the vehicle based on the total vehicle mass comprises: obtaining lateral acceleration and roll angular velocity of the vehicle during driving; determining a center of mass height of the vehicle based on the lateral acceleration, the roll angular velocity and the total vehicle mass; controlling the stability of the vehicle based on the center of mass height.

4. The method of claim 3, wherein, The determining the center of mass height of the vehicle based on the lateral acceleration, the roll angular velocity and the total vehicle mass comprises: determining a center of mass centrifugal force of the vehicle based on the lateral acceleration and the total vehicle mass; determining the center of mass height based on the center of mass centrifugal force and the roll angular velocity.

5. The method of claim 3, wherein, The controlling the stability of the vehicle based on the center of mass height comprises: determining a roll risk value of the vehicle based on the center of mass height; if the roll risk value is greater than or equal to a risk threshold value, performing a roll control intervention of the vehicle.

6. A vehicle stability control device characterized by comprising: The method comprises: an obtaining module, configured to obtain vertical acceleration data of the vehicle in a preset time period, wherein the preset time period is a time period during which an engine of the vehicle is in an idle state; a determining module, configured to determine a total vehicle mass of the vehicle based on the vertical acceleration data; a control module, configured to control stability of the vehicle based on the total vehicle mass; wherein the determining module is specifically configured to: determine an amplitude value of the vertical acceleration based on the vertical acceleration data; determine an initial total vehicle mass of the vehicle based on the amplitude value; determine an inherent frequency estimation value of the vertical acceleration based on the initial total vehicle mass; perform band-pass filtering on the vertical acceleration data based on the inherent frequency estimation value, and determine an inherent frequency of the vertical acceleration based on the filtered data; determine the total vehicle mass based on the inherent frequency.

7. An electronic device comprising a processor and a memory having a computer program stored therein, characterized in that The processor executes the computer program to implement the vehicle stability control method in any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by a processor, implements the vehicle stability control method according to any one of claims 1 to 5.

9. A computer program product comprising a computer program, characterized in that, The computer program, when executed by a processor, implements the vehicle stability control method according to any one of claims 1 to 5.

Images