Vehicle chassis stability control method, vehicle chassis stability control system, computer program product and vehicle

Abstract

The invention provides a vehicle chassis stability control method. The method comprises the steps that vehicle real-time state parameters and driving operation parameters are obtained; using a monitoring model to generate vehicle response behavior parameters based on the obtained vehicle real-time state parameters and driving operation parameters; generating a chassis state adjustment parameter based on the vehicle response behavior parameter using the computational model; executing stability boundary checking on the chassis state adjusting parameters; and executing the chassis state adjustment parameter passing the stability boundary check. According to the vehicle chassis stability control method provided by the invention, the chassis state adjusting parameters are generated generally according to the vehicle real-time state parameters and the driving operation parameters by using the artificial intelligence model, and the chassis state adjusting parameters passing the stability boundary check are executed to maintain the stability of the vehicle chassis; the chassis stability and the vehicle controllability can be more reliably improved, the suspension comfort is optimized, and the driving experience of a user is improved. The invention further provides a corresponding vehicle chassis stability control system and a vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle chassis control, and in particular to a vehicle chassis stability control method, a vehicle chassis stability control system, a computer program product and a vehicle. Background Art

[0002] With the continuous development of vehicle technology, more and more sensing elements and functional modules are integrated into vehicles to control the stability of the vehicle chassis during driving. On the one hand, this leads to the increasing complexity and redundancy of the vehicle chassis system architecture. On the other hand, due to the independent and decentralized control targets, it is difficult for the functional modules to coordinate operations during operation, and they are even prone to mutual interference or contradictions, resulting in control failure, insufficiency, or excess, which in turn brings safety hazards. Therefore, the stability control of the vehicle chassis still needs to be further improved. Summary of the invention

[0003] An object of the present invention is to provide a vehicle chassis stability control method, a vehicle chassis stability control system, a computer program product and a vehicle, so as to at least partially solve the above-mentioned problems existing in the prior art.

[0004] According to a first aspect of the present invention, there is provided a vehicle chassis stability control method, comprising:

[0005] Obtain vehicle real-time status parameters and driving operation parameters;

[0006] Generate vehicle response behavior parameters based on the acquired vehicle real-time state parameters and the driving operation parameters using a monitoring model;

[0007] generating chassis state adjustment parameters based on the vehicle response behavior parameters using a computational model;

[0008] performing a stability bounds check on the chassis state adjustment parameter; and

[0009] The chassis state adjustment parameters passing the stability boundary check are performed to maintain vehicle chassis stability.

[0010] In an exemplary embodiment, the vehicle chassis stability control method further includes:

[0011] The vehicle response behavior parameters are compared with corresponding predetermined danger parameters respectively, and only when one or more of the vehicle response behavior parameters are within an unstable value range exceeding the corresponding danger parameters, the chassis state adjustment parameters are generated based on the vehicle response behavior parameters using the calculation model, wherein the danger parameters are critical parameters between a stable state and an unstable state of the vehicle.

[0012] In an exemplary embodiment, performing a stability boundary check on the chassis state adjustment parameters includes: using the monitoring model to generate vehicle predicted behavior parameters based on the vehicle real-time state parameters and the driving operation parameters adjusted using the chassis state adjustment parameters, and comparing each of the vehicle predicted behavior parameters with the corresponding hazard parameters, and wherein only when the vehicle predicted behavior parameters are all within a stability value range that does not exceed the corresponding hazard parameters, is it determined that the chassis state adjustment parameters pass the stability boundary check.

[0013] In an exemplary embodiment, when it is determined that the chassis state adjustment parameter fails the stability boundary check, the chassis state adjustment parameter is regenerated using the calculation model.

[0014] In an exemplary embodiment, the execution object of the chassis state adjustment parameter includes a suspension system and / or a steering system.

[0015] In an exemplary embodiment, the chassis state adjustment parameter includes a suspension control adjustment parameter and / or a steering force adjustment parameter.

[0016] In an exemplary embodiment, the vehicle real-time state parameters include vehicle body motion state parameters, steering system parameters and / or suspension system parameters.

[0017] In an exemplary embodiment, the vehicle body motion state parameters include lateral acceleration, lateral acceleration change rate, longitudinal acceleration, longitudinal acceleration change rate, yaw rate, yaw acceleration, pitch angle, pitch acceleration, roll angle and / or roll acceleration of the vehicle.

[0018] In an exemplary embodiment, the steering system parameters include a steering angle and a steering angle speed.

[0019] In an exemplary embodiment, the suspension system parameters include a vehicle height value, a wheel stiffness value, a suspension damping force, a suspension geometry state parameter and / or a wheel vertical acceleration.

[0020] In an exemplary embodiment, the driving operation parameters include a speed request parameter and / or a steering request parameter.

[0021] In an exemplary embodiment, the speed request parameter includes a driver's throttle operation parameter.

[0022] In an exemplary embodiment, the steering request parameter includes a driver's steering wheel operation parameter.

[0023] According to a second aspect of the present invention, a computer program product, in particular a computer-readable program carrier, is provided, wherein the computer program product includes or stores computer program instructions, and when the computer program instructions are executed by a processor, the processor can at least assist in executing the vehicle chassis stability control method according to the first aspect of the present invention.

[0024] According to a third aspect of the present invention, there is provided a vehicle chassis stability control system, comprising: a controller, comprising a memory and a processor, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the processor is capable of at least assisting in executing the vehicle chassis stability control method according to the first aspect of the present invention.

[0025] In an exemplary embodiment, the vehicle chassis stability control system also includes: a parameter acquisition unit, which is configured to obtain vehicle real-time state parameters and driving operation parameters; a model monitoring unit, which is configured to generate vehicle response behavior parameters based on the acquired vehicle state parameters and the driving operation parameters using a monitoring model; a model calculation unit, which is configured to generate chassis state adjustment parameters based on the vehicle response behavior parameters using a calculation model; a stability check unit, which is configured to perform stability boundary checks on the chassis state adjustment parameters; and a parameter communication unit, which is configured to send the chassis state adjustment parameters to a corresponding execution system.

[0026] According to a fourth aspect of the present invention, there is provided a vehicle comprising the vehicle chassis stability control system according to the third aspect of the present invention.

[0027] The beneficial effect of the present invention according to the above-mentioned aspects of the present invention is that, by utilizing the monitoring model and the calculation model to generally generate chassis state adjustment parameters according to the real-time state parameters and driving operation parameters of the vehicle and perform stability boundary checks on them, and executing the chassis state adjustment parameters that pass the stability boundary check to maintain the vehicle chassis stability, the chassis stability and vehicle handling can be more reliably improved, the suspension comfort and chassis architecture can be optimized, and the user's driving experience can be enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be described in more detail below with reference to the accompanying drawings, so that the principles, features and advantages of the present invention can be better understood. The accompanying drawings include:

[0029] Figure 1 A roadmap schematically shows the main steps of a vehicle chassis stability control method according to an exemplary embodiment of the present invention;

[0030] Figure 2 A flowchart schematically showing a specific control process of a vehicle chassis stability control method according to an exemplary embodiment of the present invention; and

[0031] Figure 3 A vehicle chassis stability control system according to an exemplary embodiment of the present invention is schematically illustrated. DETAILED DESCRIPTION

[0032] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the scope of protection of the present invention.

[0033] Figure 1 The following schematically shows a roadmap of the main steps of a vehicle chassis stability control method according to an exemplary embodiment of the present invention. Figure 1 As shown, a vehicle chassis stability control method according to an exemplary embodiment of the present invention mainly includes the steps of:

[0034] S1: Obtain vehicle real-time status parameters and driving operation parameters;

[0035] S2: using a monitoring model to generate a vehicle response behavior parameter based on the acquired vehicle real-time state parameter and the driving operation parameter;

[0036] S3: using a calculation model to generate chassis state adjustment parameters based on the vehicle response behavior parameters;

[0037] S4: performing stability boundary check on the chassis state adjustment parameter; and

[0038] S5: Execute the chassis state adjustment parameters that pass the stability boundary check to maintain vehicle chassis stability.

[0039] In step S1 , the vehicle real-time state parameters may include various parameters that can characterize the vehicle real-time state, mainly including vehicle body motion state parameters, steering system parameters and / or suspension system parameters.

[0040] Vehicle body motion state parameters include, for example, the vehicle's lateral acceleration, lateral acceleration change rate, longitudinal acceleration, longitudinal acceleration change rate, yaw velocity, yaw acceleration, pitch angle, pitch acceleration, roll angle and / or roll acceleration, etc. These parameters can be obtained through any suitable vehicle-mounted sensing device and can characterize the vehicle's real-time motion state.

[0041] The steering system parameters may include, for example, parameters from an Electric Power Steering (EPS) system, such as a steering angle and a steering angle speed.

[0042] The suspension system parameters include parameters from the suspension, especially from an adaptive suspension system, such as vehicle body height value, wheel stiffness value, suspension damping force, suspension geometry state parameters and / or wheel vertical acceleration, etc.

[0043] The driving operation parameters are parameters related to the driving operation of the vehicle. The driving operation here can be the operation of the driver controlling the throttle and steering wheel, etc., or the driving decision of the advanced driver assistance system / automatic driving system, etc. The driving operation parameters include, for example, speed request parameters and / or steering request parameters. In particular, in the driving mode where the driver controls the vehicle, the speed request parameters include the driver's throttle operation parameters, such as the throttle opening and the throttle pedal speed, etc.; the steering request parameters include the driver's steering wheel operation parameters, such as the steering wheel angle, angular velocity, etc.

[0044] In step S2, the monitoring model may be an artificial intelligence model established and trained according to any appropriate known method, for example, the monitoring model is a deep learning model, trained by a training data set, preferably also tested by a test data set, each data set contains a large number of vehicle state parameters, driving operation parameters and corresponding vehicle behavior parameters collected from multiple historical driving tests of the vehicle and can be properly processed, and by using each data set to train and evaluate the monitoring model, the trained monitoring model can generate responsive vehicle behavior parameters based on the vehicle state parameters and driving operation parameters, such as the vehicle response behavior parameters. The vehicle response behavior parameters may include various parameters that can characterize the vehicle performance of the vehicle at the next moment after receiving the driving operation parameters, or the state of the vehicle at the next moment, for example, it may also include lateral acceleration, lateral acceleration change rate, longitudinal acceleration, longitudinal acceleration change rate, yaw angular velocity, yaw angular acceleration, pitch angle, pitch angular acceleration, roll angle and / or roll angular acceleration, and may also include steering angle, steering angular velocity, vehicle height value, wheel stiffness value, suspension damping force, suspension geometric state parameter and / or wheel vertical acceleration, etc.

[0045] After obtaining the vehicle response behavior parameters, the calculation model can be used in step S3 to generate chassis state adjustment parameters for maintaining chassis stability based on the vehicle response behavior parameters. Similar to the monitoring model, the calculation model can be an artificial intelligence model established and trained according to any appropriate known method. For example, the calculation model can also be a deep learning model, which is trained by a training data set and preferably tested by a test data set. Each data set contains a large number of vehicle behavior parameters collected from multiple chassis adjustment tests on the vehicle and can be properly processed and corresponding chassis adjustment parameters for maintaining the stability of the vehicle chassis. By using each data set to train and evaluate the calculation model, the trained calculation model can generate chassis state adjustment parameters based on the vehicle behavior parameters. The execution object of the chassis state adjustment parameter includes the suspension system and / or the steering system. For example, the chassis state adjustment parameter includes the suspension control adjustment parameter, which may specifically include the suspension system related parameters mentioned above and other possible and appropriate parameters, and / or the steering force adjustment parameter, so that in the adjusted chassis state, when the driving operation parameters are input, for example, when the driver slams the steering wheel, the vehicle body can also maintain basic stability without causing danger or discomfort to the driver and passengers.

[0046] Preferably, after step S2 and before step S3, the vehicle chassis stability control method according to an exemplary embodiment of the present invention further includes the following comparison and judgment step: comparing the vehicle response behavior parameters with the corresponding predetermined danger parameters respectively, and only when one or more of the vehicle response behavior parameters are in the instability value range exceeding the corresponding danger parameters, indicating that the vehicle chassis is about to become unstable, step S3 is executed, that is, the chassis state adjustment parameters are generated based on the vehicle response behavior parameters using the calculation model; and when the vehicle response behavior parameters are all in the stability value range not exceeding the corresponding danger parameters, it indicates that the vehicle chassis is basically in a stable state, so step S3 is not executed. In this way, unnecessary chassis state adjustment can be avoided as much as possible, thereby making the chassis stability control more concise and smooth, and improving driving comfort.

[0047] The above-mentioned danger parameters are critical parameters between the stable state and the unstable state of the vehicle, and each danger parameter corresponds to each vehicle response behavior parameter, that is, it can also include the various parameters described above for the vehicle response behavior parameters. Each danger parameter can be determined based on vehicle test data, empirical statistical data, and any other appropriate method.

[0048] According to the method of the embodiment of the present invention, after step S3, the generated chassis state adjustment parameters are not directly executed, but the stability boundary check is first performed on them in step S4, and the execution is performed only after ensuring that the vehicle behavior obtained through them will not cause the vehicle to become unstable. Specifically, the vehicle real-time state parameters adjusted by the chassis state adjustment parameters are first input into the monitoring model again as the adjusted vehicle state parameters together with the driving operation parameters, so as to generate new vehicle behavior parameters, i.e., vehicle predicted behavior parameters, based on the expected adjusted vehicle chassis state. The vehicle predicted behavior parameters and the aforementioned vehicle response behavior parameters are both vehicle behavior parameters output by the monitoring model, and therefore have the same parameter items, and the only difference is that the vehicle predicted behavior parameters characterize the corresponding behavior performance of the vehicle chassis after accepting the adjustment of the chassis state adjustment parameters. Then, each vehicle predicted behavior parameter is compared with the corresponding risk parameter, and only when the vehicle predicted behavior parameters are all within the stability value range that does not exceed the corresponding risk parameter, it is determined that the chassis stability of the vehicle can be achieved with the help of the chassis state adjustment parameters, i.e., it is determined that the chassis state adjustment parameters pass the stability boundary check. When one or more of the vehicle prediction behavior parameters are within the instability value range that exceeds the corresponding danger parameter, it is considered that the chassis stability of the vehicle cannot be achieved with the chassis state adjustment parameter, and therefore it is determined that the chassis state adjustment parameter has not passed the stability boundary check, and at this time, the process can return to step S3 to regenerate the chassis state adjustment parameter using the calculation model. Through such a stability boundary check step, the possible imperfect accuracy of the calculation model can be compensated, and the calculation model can be restarted for calculation and output when the output result of the calculation model is not ideal, thereby ensuring that the stability of the chassis can be continuously maintained.

[0049] Finally, in step S5, the chassis state adjustment parameters that pass the stability boundary check are executed, so that after certain parameters of the suspension and steering systems are adjusted using the chassis state adjustment parameters, after the vehicle receives the driving operation parameters, the vehicle chassis and then the entire vehicle body can still maintain stability, thereby providing a safe and comfortable driving experience for the driver and passengers.

[0050] Figure 2 The flowchart schematically shows a specific control process of a vehicle chassis stability control method according to an exemplary embodiment of the present invention. Figure 2As shown, firstly, in step S200, the vehicle real-time state parameters and driving operation parameters are obtained, and then the process proceeds to step S202 to generate the vehicle response behavior parameters based on the obtained vehicle real-time state parameters and driving operation parameters using the monitoring model. Afterwards, in step S204, it is determined whether the chassis state needs to be adjusted based on the comparison between the vehicle response behavior parameters and the corresponding risk parameters. When the judgment result is that the chassis state needs to be adjusted (the result of step S204 is "Y"), the process proceeds to step S206. When the judgment result is that the chassis state does not need to be adjusted (the result of step S204 is "N"), the process returns to step S200 to re-acquire the latest vehicle real-time state parameters and driving operation parameters. In step S206, the chassis state adjustment parameters are generated based on the vehicle response behavior parameters using the calculation model, and then the process proceeds to step S208 to perform stability boundary check on the generated chassis state adjustment parameters. When the result of the stability boundary check is passed (the result of step S208 is "Y"), enter step S210 to execute the chassis state adjustment parameters to maintain the vehicle chassis stability; when the result of the stability boundary check is not passed (the result of step S208 is "N"), return to step S206 to regenerate new chassis state adjustment parameters.

[0051] In an optional embodiment, when the result of the stability boundary check in step S208 is failure, it can be further determined whether a predetermined time has passed. If it is determined that the predetermined time has passed, the process can directly return to step S200 to re-acquire the latest vehicle real-time status data and driving operation data to ensure timely and effective control of the chassis.

[0052] like Figure 3As shown, the present invention also discloses a vehicle chassis stability control system 100, which at least includes a controller 10, and the controller 10 may include a memory and a processor, and the memory stores computer program instructions. When the computer program is executed by the processor, the processor can, for example, execute or at least assist in executing the vehicle chassis stability control method according to the embodiment of the present invention. The computer program product can be stored in a computer-readable storage medium. The computer-readable storage medium may, for example, include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. The processor may be a central processing unit, or may be other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The controller 10 may be a dedicated controller for the vehicle chassis stability control method according to the embodiment of the present invention, or may be integrated in a central controller of a vehicle or other related system controllers, or the controller 10 may be implemented as the central controller.

[0053] The vehicle chassis stability control system 100 according to the embodiment of the present invention may further include a parameter acquisition unit 20, which is configured to be suitable for acquiring vehicle real-time state parameters and driving operation parameters; a model monitoring unit 30, which is configured to be suitable for using a monitoring model to generate vehicle behavior parameters based on the acquired vehicle state parameters and driving operation parameters; a model calculation unit 40, which is configured to be suitable for using a calculation model to generate chassis state adjustment parameters based on the vehicle behavior parameters; a stability check unit 50, which is configured to be suitable for performing stability boundary checks on chassis state adjustment parameters; and a parameter communication unit 60, which is configured to be suitable for sending the chassis state adjustment parameters to a corresponding execution system.

[0054] The present invention also relates to a computer program product, in particular a computer-readable program carrier, wherein the computer program product includes or stores computer program instructions. When the computer program instructions are executed by a processor, the processor can at least assist in executing the vehicle chassis stability control method according to the above-mentioned embodiment of the present invention.

[0055] The present invention also relates to a vehicle, which comprises the vehicle chassis stability control system 100 according to the present invention.

[0056] Although specific embodiments of the present invention are described in detail herein, they are provided for the purpose of explanation only and should not be considered to limit the scope of the present invention. Various substitutions, changes and modifications may be conceived without departing from the spirit and scope of the present invention.

Claims

1. A vehicle chassis stability control method, comprising: Obtain vehicle real-time status parameters and driving operation parameters; Generate vehicle response behavior parameters based on the acquired vehicle real-time state parameters and the driving operation parameters using a monitoring model; generating chassis state adjustment parameters based on the vehicle response behavior parameters using a computational model; performing a stability boundary check on the chassis state adjustment parameter; and The chassis state adjustment parameters passing the stability boundary check are performed to maintain vehicle chassis stability.

2. The vehicle chassis stability control method according to claim 1, further comprising: The vehicle response behavior parameters are respectively compared with corresponding predetermined risk parameters, and only when one or more of the vehicle response behavior parameters are within an unstable value range exceeding the corresponding risk parameter, the chassis state adjustment parameter is generated based on the vehicle response behavior parameters using the calculation model, wherein The risk parameter is a critical parameter between a stable state and an unstable state of the vehicle.

3. The vehicle chassis stability control method according to claim 2, wherein: Performing a stability boundary check on the chassis state adjustment parameter includes: using the monitoring model to generate a vehicle predicted behavior parameter based on the vehicle real-time state parameter adjusted using the chassis state adjustment parameter and the driving operation parameter, and comparing each of the vehicle predicted behavior parameters with the corresponding hazard parameter, and wherein, Only when the vehicle predicted behavior parameters are all within the stability range that does not exceed the corresponding risk parameters, it is determined that the chassis state adjustment parameters pass the stability boundary check.

4. The vehicle chassis stability control method according to any one of claims 1 to 3, wherein When it is determined that the chassis state adjustment parameter fails the stability boundary check, the chassis state adjustment parameter is regenerated using the calculation model.

5. The vehicle chassis stability control method according to any one of claims 1 to 4, wherein: The execution objects of the chassis state adjustment parameters include the suspension system and / or the steering system; The vehicle real-time state parameters include vehicle body motion state parameters, steering system parameters and / or suspension system parameters; and / or The driving operation parameters include a speed request parameter and / or a steering request parameter.

6. The vehicle chassis stability control method according to any one of claims 5, wherein: The chassis state adjustment parameters include suspension control adjustment parameters and / or steering force adjustment parameters; The vehicle body motion state parameters include the lateral acceleration, lateral acceleration change rate, longitudinal acceleration, longitudinal acceleration change rate, yaw angular velocity, yaw angular acceleration, pitch angle, pitch angular acceleration, roll angle and / or roll angular acceleration of the vehicle; The steering system parameters include steering angle and steering angular velocity; The suspension system parameters include vehicle body height value, wheel stiffness value, suspension damping force, suspension geometric state parameters and / or wheel vertical acceleration; and / or The speed request parameter includes a driver's throttle operation parameter, and / or the steering request parameter includes a driver's steering wheel operation parameter.

7. A computer program product, in particular a computer-readable program carrier, wherein the computer program product comprises or stores computer program instructions, and when the computer program instructions are executed by a processor, the processor can at least assist in executing the vehicle chassis stability control method according to any one of claims 1 to 6.

8. A vehicle chassis stability control system, comprising: A controller comprises a memory and a processor, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the processor can at least assist in executing the vehicle chassis stability control method according to any one of claims 1-6.

9. The vehicle chassis stability control system according to claim 8, further comprising: A parameter acquisition unit, wherein the parameter acquisition unit is configured to acquire vehicle real-time state parameters and driving operation parameters; a model monitoring unit configured to generate a vehicle behavior parameter based on the acquired vehicle state parameter and the driving operation parameter using a monitoring model; a model calculation unit configured to generate chassis state adjustment parameters based on the vehicle behavior parameters using a calculation model; a stability checking unit, the stability checking unit being configured and adapted to perform a stability boundary check on the chassis state adjustment parameter; and A parameter communication unit is configured to send the chassis state adjustment parameter to a corresponding execution system.

10. A vehicle comprising the vehicle chassis stability control system according to claim 8 or 9.

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