Vehicle state data determination method and system, vehicle and storage medium

Abstract

The invention discloses a vehicle state data determination method and system, a vehicle and a storage medium, and the method comprises the steps: obtaining an angle between a plate spring and a vehicle body of the vehicle, and taking the angle as a basis for determining the height of the vehicle body at the plate spring; then according to the obtained angle between the plate spring and the vehicle body of the vehicle, the vehicle body height at the plate spring is determined to serve as the basis for determining the vehicle state data; and finally, according to the determined height of the vehicle body at the position of the plate spring, determining at least one of the loading capacity, the pitching angle, the roll angle, the state of a shock absorber and the state of the plate spring of the vehicle, and completing the determination of vehicle state data. According to the method, various vehicle state data can be determined only by collecting the angle between the plate spring and the vehicle body of the vehicle and determining the height of the vehicle body at the position of the plate spring, the problem that various vehicle state data can be determined only by collecting various data is avoided, the calculation pressure of a vehicle controller can be relieved, and the vehicle cost can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular, to a method, a system, a vehicle, and a storage medium for determining vehicle state data. Background Art

[0002] With the increasing intelligence level of vehicles, the importance of vehicle data has become more and more obvious. By collecting comprehensive and accurate vehicle data and performing computational analysis on the collected vehicle data, the state information of the vehicle can be more clearly reflected, which helps to improve the comfort and safety of the vehicle, etc.

[0003] Currently, most vehicles detect corresponding target data through specific sensors. Since a large amount of data needs to be collected during the driving process of the vehicle, multiple sensors need to be used in combination to meet the requirements. This not only places high requirements on the computing power of the vehicle controller but also increases the vehicle cost. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. For this reason, the object of the present invention is to provide a method, a system, a vehicle, and a storage medium for determining vehicle state data.

[0005] A method for determining vehicle state data provided by the present invention includes: obtaining the angle between the leaf spring and the vehicle body of the vehicle; determining the vehicle body height at the leaf spring according to the angle between the leaf spring and the vehicle body of the vehicle; and determining the vehicle state data according to the vehicle body height at the leaf spring, where the state data includes at least one of load weight, pitch angle, roll angle, shock absorber state, and leaf spring state.

[0006] According to the method for determining vehicle state data of the embodiments of the present invention, first, the angle between the leaf spring and the vehicle body of the vehicle is obtained as the basis for determining the vehicle body height at the leaf spring; then, according to the obtained angle between the leaf spring and the vehicle body of the vehicle, the vehicle body height at the leaf spring is determined as the basis for determining the vehicle state data; finally, according to the determined vehicle body height at the leaf spring, at least one of the load weight, pitch angle, roll angle, shock absorber state, and leaf spring state of the vehicle is determined to complete the determination of the vehicle state data. According to the method for determining vehicle state data of the embodiments of the present invention, only the angle between the leaf spring and the vehicle body of the vehicle needs to be collected to determine the vehicle body height at the leaf spring, and then multiple vehicle state data can be determined, avoiding the problem of needing to collect multiple data to determine multiple vehicle state data. Therefore, not only can the computing pressure on the vehicle controller be alleviated, but it also helps to reduce the vehicle cost.

[0007] In addition, the method for determining vehicle state data according to the embodiments of the present invention may further have the following additional technical features: Further, determining the vehicle body height at the leaf spring according to the angle between the leaf spring of the vehicle and the vehicle body includes: obtaining the vehicle body height at the leaf spring corresponding to the angle between the leaf spring and the vehicle body based on a preset angle-vehicle body height mapping relationship table, where the angle-vehicle body height mapping relationship table includes the corresponding mapping relationship between the angle between the leaf spring and the vehicle body and the vehicle body height at the leaf spring.

[0008] Further, determining the load capacity of the vehicle according to the vehicle body height at the leaf spring includes: determining the single-wheel load capacity corresponding to any one of the leaf springs according to the elastic stiffness of the leaf spring, the unloaded height of the vehicle, and the vehicle body height at the leaf spring; and determining the load capacity of the vehicle according to the single-wheel load capacities of all the wheels of the vehicle.

[0009] Further, the leaf spring of the vehicle includes a first leaf spring provided on any one of the front wheels of the vehicle and a second leaf spring provided on the rear wheel of the vehicle on the same side as the any one of the front wheels. Determining the pitch angle of the vehicle according to the vehicle body height at the leaf spring includes: determining the pitch angle of the vehicle according to the wheelbase of the vehicle, the vehicle body height at the first leaf spring, and the vehicle body height at the second leaf spring.

[0010] Further, the leaf spring of the vehicle includes a third leaf spring provided on any one of the left wheels of the vehicle and a fourth leaf spring provided on the right wheel of the vehicle coaxial with the any one of the left wheels. Determining the roll angle of the vehicle according to the vehicle body height at the leaf spring includes: determining the roll angle of the vehicle according to the track width of the vehicle, the vehicle body height at the third leaf spring, and the vehicle body height at the fourth leaf spring.

[0011] Further, determining the leaf spring state according to the vehicle body height at the leaf spring includes: if there is a height difference between the vehicle body height at the third leaf spring and the vehicle body height at the fourth leaf spring, and the height difference continuously exceeds a third threshold for a second set time, it is determined that the third leaf spring and / or the fourth leaf spring fails.

[0012] Further, determining the shock absorber state according to the vehicle body height at the leaf spring includes: if within a first set time, the change amount of the vehicle body height corresponding to one end of any one of the leaf springs continuously is less than a first threshold, and the change amount of the vehicle body height corresponding to the other end of the any one of the leaf springs continuously is greater than a second threshold, it is determined that the shock absorber corresponding to the any one of the leaf springs fails, where the first threshold is less than the second threshold.

[0013] In view of the above problems, the present invention further provides a system for determining vehicle state data, including: an acquisition module for acquiring the angle between the leaf spring and the vehicle body of the vehicle; a first processing module for determining the vehicle body height at the leaf spring according to the angle between the leaf spring and the vehicle body of the vehicle; a second processing module for determining vehicle state data according to the vehicle body height at the leaf spring, where the state data includes at least one of load weight, pitch angle, roll angle, shock absorber state, and leaf spring state.

[0014] The system for determining vehicle state data according to an embodiment of the present invention implements the method for determining vehicle state data according to an embodiment of the present invention. First, the angle between the leaf spring and the vehicle body of the vehicle is acquired as the basis for determining the vehicle body height at the leaf spring; then, according to the acquired angle between the leaf spring and the vehicle body of the vehicle, the vehicle body height at the leaf spring is determined as the basis for determining vehicle state data; finally, according to the determined vehicle body height at the leaf spring, at least one of the load weight, pitch angle, roll angle, shock absorber state, and leaf spring state of the vehicle is determined to complete the determination of vehicle state data. According to the method for determining vehicle state data according to an embodiment of the present invention, only the angle between the leaf spring and the vehicle body of the vehicle needs to be collected to determine the vehicle body height at the leaf spring, and then various vehicle state data can be determined, avoiding the problem that multiple data need to be collected to determine multiple vehicle state data. Thus, it can not only relieve the computing pressure of the vehicle controller but also help reduce the cost of the vehicle.

[0015] In view of the above problems, the present invention further provides a vehicle, including: the system for determining vehicle state data as described in the second aspect embodiment of the present invention above, or the vehicle includes: a processor, a memory, and a vehicle state data determination program stored on the memory and executable on the processor. When the vehicle state data determination program is executed by the processor, it implements the method for determining vehicle state data as described in the first aspect embodiment of the present invention above.

[0016] A vehicle according to an embodiment of the present invention implements the method for determining vehicle state data according to the embodiment of the present invention. First, the angle between the leaf spring and the vehicle body of the vehicle is obtained as the basis for determining the vehicle body height at the leaf spring; then, according to the obtained angle between the leaf spring and the vehicle body of the vehicle, the vehicle body height at the leaf spring is determined as the basis for determining vehicle state data; finally, according to the determined vehicle body height at the leaf spring, at least one of the load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state of the vehicle is determined to complete the determination of vehicle state data. According to the method for determining vehicle state data according to the embodiment of the present invention, only the angle between the leaf spring and the vehicle body of the vehicle needs to be collected to determine the vehicle body height at the leaf spring, and then various vehicle state data can be determined, avoiding the problem of needing to collect multiple data to determine multiple vehicle state data. Thus, it can not only relieve the computing pressure of the vehicle controller but also help reduce the cost of the vehicle.

[0017] In view of the above problems, the present invention also proposes a computer-readable storage medium on which a program for determining vehicle state data is stored. When the program for determining vehicle state data is executed by a processor, it implements the method for determining vehicle state data as described in the first aspect embodiment of the present invention above.

[0018] For the computer-readable storage medium according to the embodiment of the present invention, when the program for determining vehicle state data stored thereon is executed by a processor, it implements the method for determining vehicle state data according to the embodiment of the present invention. First, the angle between the leaf spring and the vehicle body of the vehicle is obtained as the basis for determining the vehicle body height at the leaf spring; then, according to the obtained angle between the leaf spring and the vehicle body of the vehicle, the vehicle body height at the leaf spring is determined as the basis for determining vehicle state data; finally, according to the determined vehicle body height at the leaf spring, at least one of the load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state of the vehicle is determined to complete the determination of vehicle state data. According to the method for determining vehicle state data according to the embodiment of the present invention, only the angle between the leaf spring and the vehicle body of the vehicle needs to be collected to determine the vehicle body height at the leaf spring, and then various vehicle state data can be determined, avoiding the problem of needing to collect multiple data to determine multiple vehicle state data. Thus, it can not only relieve the computing pressure of the vehicle controller but also help reduce the cost of the vehicle.

[0019] The additional aspects and advantages of the present invention will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, wherein: Figure 1It is a flowchart of a method for determining vehicle state data according to an embodiment of the present invention; Figure 2 It is a schematic diagram of the overall process of a method for determining vehicle state data according to a specific embodiment of the present invention; Figure 3 It is a structural block diagram of a system for determining vehicle state data according to an embodiment of the present invention.

[0021] Reference numerals: 1000 - System for determining vehicle state data; 1001 - Acquisition module; 1002 - First processing module; 1003 - Second processing module. Detailed implementation manners

[0022] The embodiments of the present invention will be described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention will be described in detail below.

[0023] Next, reference will be made to Figures 1 - 3 Describe a method, system, vehicle, and storage medium for determining vehicle state data according to an embodiment of the present invention.

[0024] Figure 1 It is a flowchart of a method for determining vehicle state data according to an embodiment of the present invention. As Figure 1 shown, the method for determining vehicle state data specifically includes the following steps: Step S1: Obtain the angle between the leaf spring and the vehicle body of the vehicle.

[0025] In a specific embodiment, the angle between the leaf spring and the vehicle body of the vehicle includes the angles between the lugs at both ends of the leaf spring and the vehicle body. By detecting the angles between the lugs at both ends of the leaf spring and the vehicle body, the angle between the leaf spring and the vehicle body can be reflected. Specifically, angle sensors can be arranged on the lugs at both ends of the leaf spring, and the angles between the lugs at both ends of the leaf spring and the vehicle body can be detected by using the angle sensors.

[0026] Specifically, in this embodiment, by obtaining the angle between the leaf spring and the vehicle body of the vehicle, as the basis for determining the vehicle body height at the leaf spring, it helps to subsequently determine the vehicle state data according to the vehicle body height at the leaf spring.

[0027] Step S2: Determine the vehicle body height at the leaf spring according to the angle between the leaf spring and the vehicle body of the vehicle.

[0028] In a specific embodiment, the vehicle body height at the leaf spring includes the vehicle body heights at both ends of the leaf spring. By detecting the angles between the lugs at both ends of the leaf spring and the vehicle body, the vehicle body heights at both ends of the leaf spring can be determined respectively, so as to determine the vehicle body height at the leaf spring.

[0029] Specifically, based on the angle between the leaf spring and the vehicle body obtained above, the vehicle body height at the leaf spring is determined as the basis for determining the vehicle state data, which helps to process the vehicle body height data at the leaf spring subsequently, and further determine the vehicle state data.

[0030] Step S3: Determine the vehicle state data according to the vehicle body height at the leaf spring, where the state data includes at least one of load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state.

[0031] In a specific embodiment, the vehicle state data includes at least one of the load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state of the vehicle.

[0032] Specifically, based on the vehicle body height at the leaf spring determined above, the load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state of the vehicle are determined to complete the determination of the vehicle state data; based on this method for determining the vehicle state data, only the angle between the leaf spring and the vehicle body of the vehicle needs to be collected to determine the vehicle body height at the leaf spring, and then multiple vehicle state data can be determined, avoiding the problem of needing to collect multiple data to determine multiple vehicle state data. Thus, it can not only reduce the computing pressure on the vehicle controller, but also help reduce the cost of the vehicle.

[0033] Therefore, according to the method for determining vehicle state data of the embodiment of the present invention, first, the angle between the leaf spring and the vehicle body of the vehicle is obtained as the basis for determining the vehicle body height at the leaf spring; then, based on the obtained angle between the leaf spring and the vehicle body of the vehicle, the vehicle body height at the leaf spring is determined as the basis for determining the vehicle state data; finally, based on the determined vehicle body height at the leaf spring, at least one of the load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state of the vehicle is determined to complete the determination of the vehicle state data; according to the method for determining vehicle state data of the embodiment of the present invention, only the angle between the leaf spring and the vehicle body of the vehicle needs to be collected to determine the vehicle body height at the leaf spring, and then multiple vehicle state data can be determined, avoiding the problem of needing to collect multiple data to determine multiple vehicle state data. Thus, it can not only reduce the computing pressure on the vehicle controller, but also help reduce the cost of the vehicle.

[0034] In an embodiment of the present invention, determining the vehicle body height at the leaf spring according to the angle between the leaf spring and the vehicle body includes: obtaining the vehicle body height at the leaf spring corresponding to the angle between the leaf spring and the vehicle body based on a preset angle-vehicle body height mapping relation table, where the angle-vehicle body height mapping relation table includes the corresponding mapping relation between the angle between the leaf spring and the vehicle body and the vehicle body height at the leaf spring.

[0035] In a specific embodiment, an angle-body height mapping table can be preset. The angle-body height mapping table includes the corresponding mapping relationship between the angle between the leaf spring and the vehicle body and the body height at the leaf spring. Specifically, the preset angle-body height mapping table can be pre-input by an operator into a relevant controller, such as a vehicle controller.

[0036] Specifically, according to the angle between the leaf spring and the vehicle body of the vehicle, the preset angle-body height mapping table is queried to determine the body height at the leaf spring corresponding to the angle between the leaf spring and the vehicle body, which serves as the basis for determining the vehicle state data, thus facilitating subsequent processing of the body height data at the leaf spring and further determining the vehicle state data.

[0037] In an embodiment of the present invention, determining the load capacity of the vehicle according to the body height at the leaf spring includes: determining the single-wheel load capacity corresponding to any one leaf spring according to the elastic stiffness of the leaf spring, the unloaded height of the vehicle, and the body height at the leaf spring; and determining the load capacity of the vehicle according to all the single-wheel load capacities of the vehicle.

[0038] In a specific embodiment, the formula M = K*(H - H 0 ) can be used to calculate the single-wheel load capacity corresponding to any one leaf spring. In the formula, M is the single-wheel load capacity, K is the spring stiffness of the leaf spring, and H 0 is the height of the vehicle when unloaded. Specifically, the spring stiffness of the leaf spring and the height of the vehicle when unloaded can be pre-input by an operator into a relevant controller, such as a vehicle controller.

[0039] In a specific embodiment, the sum of all the single-wheel load capacities of the vehicle is the load capacity of the vehicle. If only one axle of the vehicle is equipped with a leaf spring suspension, the two leaf springs on this axle are added together to obtain the load capacity of this axle; if all the suspensions of the whole vehicle are leaf spring suspensions, the load capacities of all the leaf springs are added together to obtain the load capacity of the whole vehicle.

[0040] Specifically, first, according to the elastic stiffness of the leaf spring, the unloaded height of the vehicle, and the body height at the leaf spring, the single-wheel load capacity corresponding to any one leaf spring is determined; then, according to all the single-wheel load capacities of the vehicle, the load capacity of the vehicle can be determined.

[0041] Therefore, according to the method for determining vehicle state data according to an embodiment of the present invention, only the angle between the leaf spring and the vehicle body of the vehicle needs to be collected to determine the vehicle body height at the leaf spring, and then the vehicle load can be determined. This method is more direct and accurate than the method of indirectly calculating the vehicle weight by analyzing the acceleration change of the vehicle in EBS (Electronic Brake Systems), and at the same time, the vehicle load data is provided to the advanced intelligent driving system as the basic data for the control algorithms of the throttle size and braking force size, which can not only reduce the calculation pressure of the vehicle controller, but also help reduce the cost of the vehicle.

[0042] In an embodiment of the present invention, the leaf springs of the vehicle include a first leaf spring provided on any front wheel of the vehicle and a second leaf spring provided on the rear wheel of the vehicle on the same side as any front wheel. Determining the pitch angle of the vehicle according to the vehicle body height at the leaf spring includes: determining the pitch angle of the vehicle according to the wheelbase of the vehicle, the vehicle body height at the first leaf spring, and the vehicle body height at the second leaf spring.

[0043] In a specific embodiment, the leaf springs of the vehicle include a first leaf spring provided on any front wheel of the vehicle and a second leaf spring provided on the rear wheel of the vehicle on the same side as any front wheel, that is, the first leaf spring corresponding to the left front wheel of the vehicle and the second leaf spring corresponding to the left rear wheel, or the first leaf spring corresponding to the right front wheel of the vehicle and the second leaf spring corresponding to the right rear wheel; the formula Pitch_angle = atan((H 后 -H 前 ) / L 轴 ) can be used to calculate the pitch angle of the vehicle. In the formula, Pitch_angle is the pitch angle of the vehicle body, H 前 is the vehicle body height at the first leaf spring, H 后 is the vehicle body height at the second leaf spring, and L 轴 is the wheelbase. Specifically, the wheelbase of the vehicle can be pre-input by the operator into a relevant controller, such as the vehicle controller.

[0044] Specifically, that is, according to the wheelbase of the vehicle, the vehicle body height at the first leaf spring, and the vehicle body height at the second leaf spring, the pitch angle of the vehicle can be determined.

[0045] Therefore, according to the method for determining vehicle state data according to an embodiment of the present invention, only the angle between the leaf spring and the vehicle body of the vehicle needs to be collected to determine the vehicle body height at the leaf spring, and then the pitch angle of the vehicle can be determined. The pitch angle data can be used to calculate the road slope information; furthermore, the intelligent driving system can correct the output throttle and braking commands under the slope road condition to make the commands more accurate, which can not only reduce the calculation pressure of the vehicle controller, but also help reduce the cost of the vehicle.

[0046] In an embodiment of the present invention, the leaf spring of the vehicle includes a third leaf spring provided on any left wheel of the vehicle and a fourth leaf spring provided on the right wheel of the vehicle coaxial with any left wheel. Determining the roll angle of the vehicle according to the body height at the leaf spring includes: determining the roll angle of the vehicle according to the wheelbase of the vehicle, the body height at the third leaf spring, and the body height at the fourth leaf spring.

[0047] The roll angle data can be used as a compensation item for the steering command, making the steering command algorithm of intelligent driving safer. At the same time, the roll angle data is the most direct data for evaluating the rollover risk. When this data is greater than a certain threshold, the intelligent driving system needs to issue an alarm or terminate the program.

[0048] In a specific embodiment, the leaf spring of the vehicle includes a third leaf spring provided on any left wheel of the vehicle and a fourth leaf spring provided on the right wheel of the vehicle coaxial with any left wheel, that is, the third leaf spring corresponding to the left front wheel of the vehicle and the fourth leaf spring corresponding to the right front wheel, or the third leaf spring corresponding to the left rear wheel of the vehicle and the fourth leaf spring corresponding to the right rear wheel; the formula Roll_angle = atan((H 左 -H 右 ) / L 轮 ) can be used to calculate the roll angle of the vehicle. In the formula, Roll_angle is the roll angle of the vehicle, H 左 is the body height at the third leaf spring, H 右 is the body height at the fourth leaf spring, and L 轮 is the wheelbase. Specifically, the wheelbase of the vehicle can be pre-input by the operator into a relevant controller, such as the vehicle controller.

[0049] Specifically, that is, according to the wheelbase of the vehicle, the body height at the third leaf spring, and the body height at the fourth leaf spring, the roll angle of the vehicle can be determined.

[0050] Thus, according to the method for determining vehicle state data in the embodiment of the present invention, only the angle between the leaf spring and the vehicle body of the vehicle needs to be collected to determine the body height at the leaf spring, and then the roll angle of the vehicle can be determined. Since the gyroscope belongs to a high-precision instrument, using the method for determining vehicle state data in the embodiment of the present invention to obtain the roll angle data has a lower cost and higher reliability than the gyroscope method, which can not only reduce the calculation pressure of the vehicle controller but also help reduce the cost of the vehicle.

[0051] In an embodiment of the present invention, determining the leaf spring state according to the body height at the leaf spring includes: if there is a height difference between the body height at the third leaf spring and the body height at the fourth leaf spring, and the height difference continuously exceeds the third threshold for the second set time, it is determined that the third leaf spring and / or the fourth leaf spring fails.

[0052] In the case of leaf spring failure, there is a significant risk of vehicle movement. The advanced intelligent driving system should report the leaf spring failure and immediately terminate the motion control program.

[0053] In a specific embodiment, the leaf springs of the vehicle include a third leaf spring provided on any left wheel of the vehicle and a fourth leaf spring provided on the right wheel of the vehicle coaxial with any left wheel, that is, the third leaf spring corresponding to the left front wheel of the vehicle and the fourth leaf spring corresponding to the right front wheel, or the third leaf spring corresponding to the left rear wheel of the vehicle and the fourth leaf spring corresponding to the right rear wheel; the third threshold is, for example, 3 cm, and the second set time is, for example, 1 minute. Normal turning operations generally do not exceed 1 minute. If there is a height difference between the vehicle body height at the third leaf spring and the vehicle body height at the fourth leaf spring, and the height difference continuously exceeds 3 cm for 1 minute, it is determined that the third leaf spring and / or the fourth leaf spring fails. Specifically, the second set time and the third threshold can be pre-input by the operator into a relevant controller, such as the vehicle controller.

[0054] Specifically, that is, if there is a height difference between the vehicle body height at the third leaf spring and the vehicle body height at the fourth leaf spring, and the height difference continuously exceeds the third threshold for the second set time, it is determined that the third leaf spring and / or the fourth leaf spring fails.

[0055] Thus, according to the method for determining vehicle state data of the embodiments of the present invention, only by collecting the angle between the leaf spring and the vehicle body of the vehicle, the vehicle body height at the leaf spring can be determined, and then the state of the leaf spring of the vehicle can be determined, which can not only reduce the calculation pressure of the vehicle controller, but also help reduce the cost of the vehicle.

[0056] In an embodiment of the present invention, determining the shock absorber state according to the vehicle body height at the leaf spring includes: if, within the first set time, the change amount of the vehicle body height corresponding to one end of any leaf spring continuously is less than the first threshold, and the change amount of the vehicle body height corresponding to the other end of any leaf spring continuously is greater than the second threshold, it is determined that the shock absorber corresponding to any leaf spring fails, where the first threshold is less than the second threshold.

[0057] Shock absorber failure will significantly reduce the comfort of the vehicle and also have a certain impact on safety. At this time, the intelligent driving system should report the shock absorber failure and take measures such as speed reduction control or risk reminder.

[0058] When passing over bumps or potholes, the height data will oscillate greatly; but generally it can converge within a short time; if the bilateral hanger angle data both oscillate greatly, one-sided data converges, and the other side does not converge for a long time, it may be that the shock absorber fails.

[0059] In a specific embodiment, if the height change amount ΔH detected at both ends of any leaf spring within time T is greater than the threshold value Ha, it is determined that a pothole or bump condition has occurred. For example, time T is 1 second and threshold value Ha is 5 cm. Specifically, time T and threshold value Ha can be pre-input by an operator into a relevant controller, such as a vehicle controller.

[0060] In a specific embodiment, the first set time is, for example, 5 seconds, the first threshold value is, for example, 2 cm, and the second threshold value is, for example, 5 cm. That is, within 5 seconds, if the body height change amount corresponding to one end of any leaf spring continuously is less than 2 cm, and the body height change amount corresponding to the other end of this leaf spring continuously is greater than 5 cm, it is determined that the shock absorber corresponding to this leaf spring fails. Specifically, the first set time, the first threshold value, and the second threshold value can be pre-input by an operator into a relevant controller, such as a vehicle controller.

[0061] Specifically, that is, if within the first set time, the body height change amount corresponding to one end of any leaf spring continuously is less than the first threshold value, and the body height change amount corresponding to the other end of any leaf spring continuously is greater than the second threshold value, it can be determined that the shock absorber corresponding to this leaf spring fails.

[0062] Thus, according to the method for determining vehicle state data of the embodiments of the present invention, only by collecting the angle between the leaf spring and the vehicle body of the vehicle, the body height at the leaf spring can be determined, and further the state of the shock absorber of the vehicle can be determined. Thereby, not only can the calculation pressure of the vehicle controller be reduced, but also it helps to reduce the cost of the vehicle.

[0063] For better understanding of the present invention, the following combines Figure 2 , and uses specific embodiments to describe in detail the method for determining vehicle state data of the embodiments of the present invention.

[0064] Figure 2 is the overall flowchart of the method for determining vehicle state data according to a specific embodiment of the present invention. As Figure 2 shown, in a specific embodiment, the method for determining vehicle state data includes the following steps: Step S10: Use an angle sensor to detect the angles between the lugs at both ends of the leaf spring and the vehicle body.

[0065] In this specific embodiment, angle sensors are provided on the lugs at both ends of the leaf spring.

[0066] Step S20: Determine the body height at both ends of the leaf spring according to the angles between the lugs at both ends of the leaf spring and the vehicle body, so as to determine the body height at the leaf spring.

[0067] In this specific embodiment, determining the vehicle body height at the leaf spring according to the angle between the leaf spring of the vehicle and the vehicle body includes: obtaining the vehicle body height at the leaf spring corresponding to the angle between the leaf spring and the vehicle body based on a preset angle-vehicle body height mapping relationship table, where the angle-vehicle body height mapping relationship table includes the corresponding mapping relationship between the angle between the leaf spring and the vehicle body and the vehicle body height at the leaf spring.

[0068] Step S30: Determine the single-wheel load corresponding to the leaf spring according to the vehicle body height at the leaf spring.

[0069] In this specific embodiment, the single-wheel load corresponding to any leaf spring is calculated using the formula M = K*(H - H 0 ), where M is the single-wheel load, K is the spring stiffness of the leaf spring, and H 0 is the height of the vehicle when it is unloaded.

[0070] Step S31: Determine the load of the vehicle according to the single-wheel loads of all wheels of the vehicle.

[0071] In this specific embodiment, the sum of the single-wheel loads of all wheels of the vehicle is the load of the vehicle.

[0072] Step S40: Determine the pitch angle of the vehicle according to the wheelbase of the vehicle, the vehicle body height at the first leaf spring, and the vehicle body height at the second leaf spring.

[0073] In this specific embodiment, the leaf springs of the vehicle include a first leaf spring provided at any front wheel of the vehicle and a second leaf spring provided at the rear wheel of the vehicle on the same side as any front wheel, that is, the first leaf spring corresponding to the left front wheel of the vehicle and the second leaf spring corresponding to the left rear wheel, or the first leaf spring corresponding to the right front wheel of the vehicle and the second leaf spring corresponding to the right rear wheel; the pitch angle of the vehicle is calculated using the formula Pitch_angle = atan((H 后 - H 前 ) / L 轴 ), where Pitch_angle is the pitch angle of the vehicle body, H 前 is the vehicle body height at the first leaf spring, H 后 is the vehicle body height at the second leaf spring, and L 轴 is the wheelbase.

[0074] Step S50: Determine the roll angle of the vehicle according to the track width of the vehicle, the vehicle body height at the third leaf spring, and the vehicle body height at the fourth leaf spring.

[0075] In this specific embodiment, the leaf springs of the vehicle include a third leaf spring provided on any left wheel of the vehicle and a fourth leaf spring provided on the right wheel of the vehicle coaxial with any left wheel, that is, the third leaf spring corresponding to the left front wheel of the vehicle and the fourth leaf spring corresponding to the right front wheel, or the third leaf spring corresponding to the left rear wheel of the vehicle and the fourth leaf spring corresponding to the right rear wheel; using the formula Roll_angle = atan((H 左 -H 右 ) / L 轮 ), the roll angle of the vehicle is calculated, where Roll_angle is the roll angle of the vehicle, H 左 is the vehicle body height at the third leaf spring, H 右 is the vehicle body height at the fourth leaf spring, and L 轮 is the wheelbase.

[0076] Step S60: Determine the shock absorber state according to the vehicle body height at the leaf spring.

[0077] In this specific embodiment, if that is, within 5 seconds, the change amount of the vehicle body height corresponding to one end of any leaf spring continuously is less than 2 cm, and the change amount of the vehicle body height corresponding to the other end of any leaf spring continuously is greater than 5 cm, it is determined that the shock absorber corresponding to this leaf spring fails.

[0078] Step S70: Determine the leaf spring state according to the vehicle body height at the leaf spring.

[0079] In this specific embodiment, the leaf springs of the vehicle include a third leaf spring provided on any left wheel of the vehicle and a fourth leaf spring provided on the right wheel of the vehicle coaxial with the any left wheel, that is, the third leaf spring corresponding to the left front wheel of the vehicle and the fourth leaf spring corresponding to the right front wheel, or the third leaf spring corresponding to the left rear wheel of the vehicle and the fourth leaf spring corresponding to the right rear wheel; if there is a height difference between the vehicle body height at the third leaf spring and the vehicle body height at the fourth leaf spring, and the height difference continuously is greater than 3 cm for 1 minute, it is determined that the third leaf spring and / or the fourth leaf spring fails.

[0080] Step S80: Perform vehicle control according to the vehicle state data.

[0081] In this specific embodiment, it is not difficult to understand that Step S30, Step S40, Step S50, Step S60 and Step S70 are carried out synchronously without a sequence; after Step S31, Step S40, Step S50, Step S60 and Step S70 are completed, Step S80 is executed; after Step S80 is completed, Step S10 is executed again.

[0082] In summary, according to the method for determining vehicle state data according to an embodiment of the present invention, first, the angle between the leaf spring and the vehicle body of the vehicle is obtained as the basis for determining the vehicle body height at the leaf spring; then, according to the obtained angle between the leaf spring and the vehicle body of the vehicle, the vehicle body height at the leaf spring is determined as the basis for determining vehicle state data; finally, according to the determined vehicle body height at the leaf spring, at least one of the load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state of the vehicle is determined to complete the determination of vehicle state data; according to the method for determining vehicle state data according to an embodiment of the present invention, only the angle between the leaf spring and the vehicle body of the vehicle needs to be collected to determine the vehicle body height at the leaf spring, and then various vehicle state data can be determined, avoiding the problem of needing to collect multiple data to determine multiple vehicle state data, thereby not only reducing the calculation pressure on the vehicle controller but also helping to reduce the cost of the vehicle.

[0083] A further embodiment of the present invention also discloses a system for determining vehicle state data. Figure 3 It is a structural block diagram of a system for determining vehicle state data according to an embodiment of the present invention, as Figure 3 shown. The system 1000 for determining vehicle state data includes: an acquisition module 1001, a first processing module 1002, and a second processing module 1003.

[0084] Specifically, the acquisition module 1001 is used to acquire the angle between the leaf spring and the vehicle body of the vehicle.

[0085] The first processing module 1002 is used to determine the vehicle body height at the leaf spring according to the angle between the leaf spring and the vehicle body of the vehicle.

[0086] The second processing module 1003 is used to determine vehicle state data according to the vehicle body height at the leaf spring, where the state data includes at least one of the load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state.

[0087] In an embodiment of the present invention, the first processing module 1002 determines the vehicle body height at the leaf spring according to the angle between the leaf spring and the vehicle body of the vehicle, including: based on a preset angle-vehicle body height mapping relationship table, obtaining the vehicle body height at the leaf spring corresponding to the angle between the leaf spring and the vehicle body, where the angle-vehicle body height mapping relationship table includes the corresponding mapping relationship between the angle between the leaf spring and the vehicle body and the vehicle body height at the leaf spring.

[0088] In an embodiment of the present invention, the second processing module 1003 determines the load capacity of the vehicle according to the vehicle body height at the leaf spring, including: determining the single-wheel load capacity corresponding to any leaf spring according to the elastic stiffness of the leaf spring, the unloaded height of the vehicle, and the vehicle body height at the leaf spring; determining the load capacity of the vehicle according to the single-wheel load capacities of all the vehicle's wheels.

[0089] In one embodiment of the present invention, the leaf spring of the vehicle includes a first leaf spring provided on any front wheel of the vehicle, and a second leaf spring provided on the rear wheel of the vehicle on the same side as any front wheel. The second processing module 1003 determines the pitch angle of the vehicle according to the vehicle body height at the leaf spring, including: determining the pitch angle of the vehicle according to the wheelbase of the vehicle, the vehicle body height at the first leaf spring, and the vehicle body height at the second leaf spring.

[0090] In one embodiment of the present invention, the leaf spring of the vehicle includes a third leaf spring provided on any left wheel of the vehicle, and a fourth leaf spring provided on the right wheel of the vehicle coaxial with any left wheel. The second processing module 1003 determines the roll angle of the vehicle according to the vehicle body height at the leaf spring, including: determining the roll angle of the vehicle according to the track width of the vehicle, the vehicle body height at the third leaf spring, and the vehicle body height at the fourth leaf spring.

[0091] In one embodiment of the present invention, the second processing module 1003 determines the leaf spring state according to the vehicle body height at the leaf spring, including: if there is a height difference between the vehicle body height at the third leaf spring and the vehicle body height at the fourth leaf spring, and the height difference continuously exceeds the third threshold for the second set time, it is determined that the third leaf spring and / or the fourth leaf spring fails.

[0092] In one embodiment of the present invention, the second processing module 1003 determines the shock absorber state according to the vehicle body height at the leaf spring, including: if within the first set time, the change amount of the vehicle body height corresponding to one end of any leaf spring continuously is less than the first threshold, and the change amount of the vehicle body height corresponding to the other end of any leaf spring continuously is greater than the second threshold, it is determined that the shock absorber corresponding to any leaf spring fails, where the first threshold is less than the second threshold.

[0093] The vehicle state data determination system 1000 according to the embodiment of the present invention implements the vehicle state data determination method of the embodiment of the present invention. First, by obtaining the angle between the leaf spring of the vehicle and the vehicle body as the basis for determining the vehicle body height at the leaf spring; then, according to the obtained angle between the leaf spring of the vehicle and the vehicle body, determining the vehicle body height at the leaf spring as the basis for determining the vehicle state data; finally, according to the determined vehicle body height at the leaf spring, determining at least one of the load, pitch angle, roll angle, shock absorber state, and leaf spring state of the vehicle to complete the determination of the vehicle state data. According to the vehicle state data determination method of the embodiment of the present invention, only by collecting the angle between the leaf spring of the vehicle and the vehicle body, the vehicle body height at the leaf spring can be determined, and then various vehicle state data can be determined, avoiding the problem that multiple data need to be collected to determine multiple vehicle state data. Thus, it can not only reduce the calculation pressure of the vehicle controller, but also help to reduce the cost of the vehicle.

[0094] A further embodiment of the present invention also discloses a vehicle.

[0095] In some embodiments, the vehicle includes: a system 1000 for determining vehicle state data as described in any of the above embodiments of the present invention.

[0096] In other embodiments, the vehicle includes: a processor, a memory, and a program for determining vehicle state data stored on the memory and executable on the processor. When the program for determining vehicle state data is executed by the processor, it implements the method for determining vehicle state data as described in any of the above embodiments of the present invention.

[0097] In a specific embodiment, the vehicle includes, but is not limited to, an electric vehicle, a hybrid vehicle, etc., and the vehicle is used to implement the above method for determining vehicle state data.

[0098] For the vehicle according to the embodiment of the present invention, to implement the method for determining vehicle state data according to the embodiment of the present invention, first, the angle between the leaf spring and the vehicle body of the vehicle is obtained as the basis for determining the vehicle body height at the leaf spring; then, according to the obtained angle between the leaf spring and the vehicle body of the vehicle, the vehicle body height at the leaf spring is determined as the basis for determining vehicle state data; finally, according to the determined vehicle body height at the leaf spring, at least one of the load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state of the vehicle is determined to complete the determination of vehicle state data. According to the method for determining vehicle state data according to the embodiment of the present invention, only the angle between the leaf spring and the vehicle body of the vehicle needs to be collected to determine the vehicle body height at the leaf spring, and then various vehicle state data can be determined, avoiding the problem of needing to collect multiple data to determine multiple vehicle state data. Thus, it can not only reduce the computing pressure on the vehicle controller but also help reduce the cost of the vehicle.

[0099] A further embodiment of the present invention also discloses a computer-readable storage medium with a program for determining vehicle state data stored thereon. When the program for determining vehicle state data is executed by a processor, it implements the method for determining vehicle state data as described in any of the above embodiments of the present invention.

[0100] When the program for determining vehicle state data stored on a computer-readable storage medium according to an embodiment of the present invention is executed by a processor, the method for determining vehicle state data according to the embodiment of the present invention is implemented. First, the angle between the leaf spring and the vehicle body of the vehicle is obtained as the basis for determining the vehicle body height at the leaf spring. Then, according to the obtained angle between the leaf spring and the vehicle body of the vehicle, the vehicle body height at the leaf spring is determined as the basis for determining vehicle state data. Finally, according to the determined vehicle body height at the leaf spring, at least one of the load, pitch angle, roll angle, shock absorber state, and leaf spring state of the vehicle is determined to complete the determination of vehicle state data. According to the method for determining vehicle state data according to the embodiment of the present invention, only the angle between the leaf spring and the vehicle body of the vehicle needs to be collected to determine the vehicle body height at the leaf spring, and then various vehicle state data can be determined, avoiding the problem that multiple data need to be collected to determine multiple vehicle state data. Thus, not only can the computing pressure on the vehicle controller be alleviated, but also it helps to reduce the cost of the vehicle.

[0101] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0102] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A method for determining vehicle status data, characterized in that: include: Get the angle between the leaf spring and the vehicle body; Determine the vehicle height at the leaf spring based on the angle between the leaf spring and the vehicle body; Vehicle status data is determined based on the vehicle body height at the leaf spring, wherein the status data includes at least one of a load weight, a pitch angle, a roll angle, a shock absorber status, and a leaf spring status.

2. The method for determining vehicle status data according to claim 1, characterized in that: Based on the angle between the leaf spring and the vehicle body, determine the vehicle body height at the leaf spring, including: Based on a preset angle-vehicle body height mapping relationship table, the vehicle body height at the leaf spring corresponding to the angle between the leaf spring and the vehicle body is obtained, wherein the angle-vehicle body height mapping relationship table includes a corresponding mapping relationship between the angle between the leaf spring and the vehicle body and the vehicle body height at the leaf spring.

3. The method for determining vehicle status data according to claim 2, characterized in that: Determining the load capacity of the vehicle according to the vehicle body height at the leaf spring includes: Determining the single wheel load corresponding to any of the leaf springs according to the elastic stiffness of the leaf springs, the unloaded height of the vehicle, and the vehicle body height at the leaf springs; The load capacity of the vehicle is determined according to all single-wheel load capacities of the vehicle.

4. The method for determining vehicle status data according to claim 2, characterized in that: The leaf spring of the vehicle comprises a first leaf spring provided at any front wheel of the vehicle, and a second leaf spring provided at a rear wheel of the vehicle on the same side as the any front wheel, and the pitch angle of the vehicle is determined according to the vehicle body height at the leaf spring, including: A pitch angle of the vehicle is determined according to a wheelbase of the vehicle, a vehicle body height at the first leaf spring, and a vehicle body height at the second leaf spring.

5. The method for determining vehicle status data according to claim 2, characterized in that: The leaf spring of the vehicle includes a third leaf spring provided at any left wheel of the vehicle, and a fourth leaf spring provided at a right wheel of the vehicle coaxial with the any left wheel, and the roll angle of the vehicle is determined according to the vehicle body height at the leaf spring, including: A roll angle of the vehicle is determined according to a wheelbase of the vehicle, a vehicle body height at the third leaf spring, and a vehicle body height at the fourth leaf spring.

6. The method for determining vehicle status data according to claim 5, characterized in that: Determining the state of the leaf spring according to the vehicle body height at the leaf spring includes: If there is a height difference between the vehicle body height at the third leaf spring and the vehicle body height at the fourth leaf spring, and the height difference continues to be greater than a third threshold for a second set time, it is determined that the third leaf spring and / or the fourth leaf spring has failed.

7. The method for determining vehicle status data according to claim 2, characterized in that: Determining the state of the shock absorber according to the vehicle body height at the leaf spring includes: If within a first set time, the change in vehicle height corresponding to one end of any leaf spring is continuously less than a first threshold, and the change in vehicle height corresponding to the other end of any leaf spring is continuously greater than a second threshold, it is determined that the shock absorber corresponding to any leaf spring has failed, and the first threshold is less than the second threshold.

8. A system for determining vehicle status data, characterized in that: include: An acquisition module, used for acquiring an angle between a leaf spring and a vehicle body; A first processing module, for determining a vehicle body height at a leaf spring according to an angle between a leaf spring and a vehicle body of the vehicle; The second processing module is used to determine vehicle status data according to the vehicle body height at the leaf spring, wherein the status data includes at least one of load weight, pitch angle, roll angle, shock absorber status and leaf spring status.

9. A vehicle, characterized in that: include: The vehicle status data determination system as claimed in claim 8; or, A processor, a memory, and a vehicle status data determination program stored in the memory and executable on the processor, wherein the vehicle status data determination program, when executed by the processor, implements the vehicle status data determination method as described in any one of claims 1 to 7.

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

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