Methods, systems, vehicles, and storage media for determining vehicle status data

Abstract

This invention discloses a method, system, vehicle, and storage medium for determining vehicle state data. The method first obtains the angle between the vehicle's leaf spring and body as the basis for determining the body height at the leaf spring location. Then, based on the obtained angle between the leaf spring and body, the body height at the leaf spring location is determined, serving as the basis for determining the vehicle state data. Finally, based on the determined body height at the leaf spring location, at least one of the vehicle's load capacity, pitch angle, roll angle, shock absorber status, and leaf spring status is determined, completing the determination of the vehicle state data. According to this method, only the angle between the leaf spring and body needs to be collected to determine the body height at the leaf spring location to determine multiple vehicle state data, avoiding the problem of needing to collect multiple data sets to determine multiple vehicle state data. This not only reduces the computational burden on the vehicle controller but also helps to reduce vehicle costs.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a method, system, vehicle, and storage medium for determining vehicle status data. Background Technology

[0002] As vehicles become more intelligent, the importance of vehicle data becomes increasingly apparent. By collecting comprehensive and accurate vehicle data and analyzing and processing it, the vehicle's status information can be clearly reflected, which helps improve vehicle comfort and safety.

[0003] Currently, most vehicles detect corresponding target data through specific sensors. Since the amount of data that needs to be collected during vehicle operation is large, multiple sensors are required to meet the demand. This not only places high demands on the computing power of the vehicle controller, but also increases the cost of the vehicle. Summary of the Invention

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

[0005] The present invention proposes a method for determining vehicle state data, comprising: acquiring the angle between the leaf spring and the vehicle body; determining the vehicle body height at the leaf spring based on the angle between the leaf spring and the vehicle body; and determining vehicle state data based on the vehicle body height at the leaf spring, wherein the state data includes at least one of load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state.

[0006] According to the vehicle state data determination method of the present invention, the angle between the leaf spring and the vehicle body is first 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, 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 vehicle's load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state is determined to complete the determination of the vehicle state data. According to the vehicle state data determination method of the present invention, only the angle between the leaf spring and the vehicle body needs to be collected to determine the vehicle body height at the leaf spring, thereby determining multiple vehicle state data. This avoids the problem of needing to collect multiple data to determine multiple vehicle state data, which not only reduces the computational burden on the vehicle controller but also helps to reduce the cost of the vehicle.

[0007] In addition, the method for determining vehicle status data according to embodiments of the present invention may also have the following additional technical features:

[0008] Further, the vehicle height at the leaf spring is determined based on the angle between the leaf spring and the vehicle body, including: obtaining the vehicle height at the leaf spring corresponding to the angle between the leaf spring and the vehicle body based on a preset angle-vehicle height mapping table, wherein the angle-vehicle height mapping table includes the corresponding mapping relationship between the angle between the leaf spring and the vehicle body and the vehicle height at the leaf spring.

[0009] Furthermore, determining the vehicle's load capacity based on the vehicle body height at the leaf spring includes: determining the single-wheel load capacity corresponding to any leaf spring based on the elastic stiffness of the leaf spring, the vehicle's unloaded height, and the vehicle body height at the leaf spring; and determining the vehicle's total load capacity based on the load capacities of all single wheels of the vehicle.

[0010] Furthermore, the vehicle's leaf springs include a first leaf spring disposed on any of the vehicle's front wheels and a second leaf spring disposed on the vehicle's rear wheel on the same side as the front wheels. The vehicle's pitch angle is determined based on the vehicle's height at the leaf springs, including: determining the vehicle's pitch angle based on the vehicle's wheelbase, the vehicle's height at the first leaf spring, and the vehicle's height at the second leaf spring.

[0011] Furthermore, the vehicle's leaf springs include a third leaf spring located on either left wheel of the vehicle, and a fourth leaf spring located on the right wheel of the vehicle, which is coaxial with either left wheel. The vehicle's roll angle is determined based on the vehicle's height at the leaf springs, including: determining the vehicle's roll angle based on the vehicle's track width, the vehicle's height at the third leaf spring, and the vehicle's height at the fourth leaf spring.

[0012] Further, the state of the leaf spring is determined based on the vehicle height at the leaf spring, including: if there is a height difference between the vehicle height at the third leaf spring and the vehicle height at the fourth leaf spring, and the height difference is continuously greater than a third threshold for a second set time, then the third leaf spring and / or the fourth leaf spring is determined to be faulty.

[0013] Further, the state of the shock absorber is determined based on the vehicle height at the leaf spring, including: if the change in vehicle height at one end of any leaf spring is continuously less than a first threshold and the change in vehicle height at the other end of any leaf spring is continuously greater than a second threshold within a first set time period, then the shock absorber corresponding to any leaf spring is determined to be faulty, wherein the first threshold is less than the second threshold.

[0014] To address the aforementioned problems, this invention also proposes a vehicle status data determination system, comprising: an acquisition module for acquiring the angle between the leaf spring and the vehicle body; a first processing module for determining the vehicle body height at the leaf spring based on the angle between the leaf spring and the vehicle body; and a second processing module for determining vehicle status data based on the vehicle body height at the leaf spring, wherein the status data includes at least one of load capacity, pitch angle, roll angle, shock absorber status, and leaf spring status.

[0015] The vehicle state data determination system according to an embodiment of the present invention implements the vehicle state data determination method of the present invention. First, the angle between the leaf spring and the vehicle body 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, 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 vehicle's load capacity, pitch angle, roll angle, shock absorber status, and leaf spring status is determined, thus completing the determination of the vehicle state data. According to the vehicle state data determination method of the present invention, only the angle between the leaf spring and the vehicle body needs to be collected to determine the vehicle body height at the leaf spring, thereby determining multiple vehicle state data. This avoids the problem of needing to collect multiple data points to determine multiple vehicle state data, thus not only reducing the computational burden on the vehicle controller but also helping to reduce vehicle costs.

[0016] To address the aforementioned problems, the present invention also proposes a vehicle, comprising: a vehicle status data determination system as described in the second aspect embodiment of the present invention, or the vehicle comprising: 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 the first aspect embodiment of the present invention.

[0017] According to an embodiment of the present invention, the method for determining vehicle state data of the present invention first obtains the angle between the leaf spring and the vehicle body 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, the vehicle body height at the leaf spring is determined as the basis for determining vehicle state data; finally, based on the determined vehicle body height at the leaf spring, at least one of the vehicle's load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state is determined to complete the determination of vehicle state data. According to the method for determining vehicle state data of the present invention, only the angle between the leaf spring and the vehicle body needs to be collected to determine the vehicle body height at the leaf spring, thereby determining multiple vehicle state data, avoiding the problem of needing to collect multiple data to determine multiple vehicle state data, thus not only reducing the computational burden on the vehicle controller, but also helping to reduce vehicle costs.

[0018] To address the aforementioned problems, the present invention also proposes a computer-readable storage medium storing a vehicle status data determination program. When the vehicle status data determination program is executed by a processor, it implements the vehicle status data determination method as described in the first aspect embodiment of the present invention.

[0019] According to an embodiment of the present invention, when a program for determining vehicle state data stored thereon is executed by a processor, the method for determining vehicle state data according to the present invention is implemented. First, the angle between the leaf spring and the vehicle body 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, 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 vehicle's load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state is determined, thus completing the determination of the vehicle state data. According to the method for determining vehicle state data according to the present invention, only the angle between the leaf spring and the vehicle body needs to be collected to determine the vehicle body height at the leaf spring, thereby determining multiple vehicle state data. This avoids the problem of needing to collect multiple data points to determine multiple vehicle state data, thus not only reducing the computational burden on the vehicle controller but also helping to reduce vehicle costs.

[0020] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0022] Figure 1This is a flowchart of a method for determining vehicle status data according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the overall process of a method for determining vehicle status data according to a specific embodiment of the present invention;

[0024] Figure 3 This is a structural block diagram of a system for determining vehicle status data according to an embodiment of the present invention.

[0025] Figure label:

[0026] 1000 - Vehicle status data determination system; 1001 - Acquisition module; 1002 - First processing module; 1003 - Second processing module. Detailed Implementation

[0027] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0028] The following is for reference. Figures 1-3 A method, system, vehicle, and storage medium for determining vehicle status data according to embodiments of the present invention are described.

[0029] Figure 1 This is a flowchart of a method for determining vehicle status data according to an embodiment of the present invention. Figure 1 As shown, the method for determining vehicle status data specifically includes the following steps:

[0030] Step S1: Obtain the angle between the vehicle's leaf spring and body.

[0031] In a specific embodiment, the angle between the leaf spring and the vehicle body includes the angle between the lugs at both ends of the leaf spring and the vehicle body. By detecting the angle 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 installed on the lugs at both ends of the leaf spring to detect the angle between the lugs at both ends of the leaf spring and the vehicle body.

[0032] Specifically, this embodiment obtains the angle between the vehicle's leaf spring and the vehicle body as the basis for determining the vehicle body height at the leaf spring, thereby helping to determine the vehicle status data based on the vehicle body height at the leaf spring.

[0033] Step S2: Determine the vehicle height at the leaf spring based on the angle between the leaf spring and the vehicle body.

[0034] In a specific embodiment, the vehicle height at the leaf spring includes the vehicle height at both ends of the leaf spring. By detecting the angle between the lugs at both ends of the leaf spring and the vehicle body, the vehicle height at both ends of the leaf spring can be determined, thereby determining the vehicle height at the leaf spring.

[0035] 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 status data, which helps to process the vehicle body height data at the leaf spring and then determine the vehicle status data.

[0036] Step S3: Determine the vehicle status data based on the vehicle height at the leaf spring, wherein the status data includes at least one of the following: load, pitch angle, roll angle, shock absorber status, and leaf spring status.

[0037] In a specific embodiment, the vehicle status data includes at least one of the vehicle's load capacity, pitch angle, roll angle, shock absorber status, and leaf spring status.

[0038] Specifically, based on the vehicle height at the leaf spring location determined above, the vehicle's load capacity, pitch angle, roll angle, shock absorber status, and leaf spring status are determined, thus completing the determination of vehicle status data. Using this method to determine vehicle status data only requires collecting the angle between the leaf spring and the vehicle body to determine the vehicle height at the leaf spring location, thereby determining multiple vehicle status data. This avoids the problem of needing to collect multiple data sets to determine various vehicle status data, thus not only reducing the computational burden on the vehicle controller but also helping to reduce vehicle costs.

[0039] Therefore, the vehicle state data determination method according to the embodiments of the present invention first obtains the angle between the vehicle's leaf spring and the vehicle body as the basis for determining the vehicle body height at the leaf spring; then, based on the obtained angle between the vehicle's leaf spring and the vehicle body, 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 vehicle's load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state is determined, thus completing the determination of the vehicle state data. According to the vehicle state data determination method of the embodiments of the present invention, only the angle between the vehicle's leaf spring and the vehicle body needs to be collected to determine the vehicle body height at the leaf spring, thereby determining multiple vehicle state data. This avoids the problem of needing to collect multiple data points to determine multiple vehicle state data, thus not only reducing the computational burden on the vehicle controller but also helping to reduce vehicle costs.

[0040] In one embodiment of the present invention, determining the vehicle height at the leaf spring based on the angle between the leaf spring and the vehicle body includes: obtaining the vehicle height at the leaf spring corresponding to the angle between the leaf spring and the vehicle body based on a preset angle-vehicle height mapping table, wherein the angle-vehicle height mapping table includes the corresponding mapping relationship between the angle between the leaf spring and the vehicle body and the vehicle height at the leaf spring.

[0041] In a specific embodiment, an angle-vehicle height mapping table can be pre-set. This table includes the corresponding mapping relationship between the angle between the leaf spring and the vehicle body and the vehicle height at the leaf spring. Specifically, the pre-set angle-vehicle height mapping table can be pre-input by the operator into the relevant controller, such as the vehicle controller.

[0042] Specifically, based on the angle between the leaf spring and the vehicle body, a preset angle-body height mapping table is consulted to determine the body height at the leaf spring corresponding to the angle between the leaf spring and the body. This serves as the basis for determining the vehicle status data, which helps in subsequent processing of the body height data at the leaf spring, thereby determining the vehicle status data.

[0043] In one embodiment of the present invention, determining the vehicle's load capacity based on the vehicle body height at the leaf spring includes: determining the single-wheel load capacity corresponding to any leaf spring based on the elastic stiffness of the leaf spring, the vehicle's unloaded height, and the vehicle body height at the leaf spring; and determining the vehicle's load capacity based on the load capacities of all single wheels of the vehicle.

[0044] In a specific embodiment, the single-wheel load capacity corresponding to any leaf spring can be calculated using the formula M = K*(H - H0), where M is the single-wheel load capacity, K is the spring stiffness of the leaf spring, and H0 is the vehicle height when unloaded. Specifically, the spring stiffness of the leaf spring and the vehicle height when unloaded can be pre-input by the operator into the relevant controller, such as the vehicle controller.

[0045] In a specific embodiment, the sum of the load capacities of all single wheels of the vehicle is the vehicle's load capacity. If only one axle of the vehicle is equipped with a leaf spring suspension, then the sum of the load capacities of the two leaf springs on that axle is the load capacity of that axle. If all suspensions of the vehicle are leaf spring suspensions, then the sum of the load capacities of all leaf springs is the total load capacity of the vehicle.

[0046] Specifically, the load capacity of a single wheel corresponding to any leaf spring is first determined based on the elastic stiffness of the leaf spring, the unloaded height of the vehicle, and the height of the vehicle body at the leaf spring location; then, the total load capacity of the vehicle can be determined based on the load capacities of all single wheels of the vehicle.

[0047] Therefore, the vehicle state data determination method according to the present invention only needs to collect the angle between the vehicle's leaf spring and body to determine the body height at the leaf spring, and thus determine the vehicle's load capacity. This method is more direct and accurate than the EBS (Electronic Brake Systems) method, which indirectly calculates the vehicle weight by analyzing changes in vehicle acceleration. At the same time, the vehicle load capacity data is provided to the advanced intelligent driving system as the basis for the control algorithms of throttle and braking force, which not only reduces the computational burden on the vehicle controller, but also helps to reduce the cost of the vehicle.

[0048] In one embodiment of the present invention, the vehicle leaf spring includes a first leaf spring disposed on any front wheel of the vehicle and a second leaf spring disposed on the rear wheel of the vehicle on the same side as the front wheel. The vehicle pitch angle is determined according to the vehicle height at the leaf spring, including: determining the vehicle pitch angle according to the vehicle wheelbase, the vehicle height at the first leaf spring and the vehicle height at the second leaf spring.

[0049] In a specific embodiment, the vehicle's leaf springs include a first leaf spring located on any of the vehicle's front wheels, and a second leaf spring located on the same side as the rear wheel of the vehicle, that is, a first leaf spring corresponding to the left front wheel and a second leaf spring corresponding to the left rear wheel, or a first leaf spring corresponding to the right front wheel and a second leaf spring corresponding to the right rear wheel; this can be achieved using the formula Pitch_angle=atan( (H 后 -H 前 ) / L 轴 The vehicle's pitch angle is calculated, where Pitch_angle is the vehicle's pitch angle, and H... 前 H is the vehicle height at the location of the first leaf spring. 后 L is the vehicle height at the location of the second leaf spring. 轴 This refers to the wheelbase. Specifically, the vehicle's wheelbase can be pre-input by the operator into the relevant controller, such as the vehicle controller.

[0050] Specifically, the vehicle's pitch angle can be determined based on the vehicle's wheelbase, the vehicle height at the first leaf spring, and the vehicle height at the second leaf spring.

[0051] Therefore, according to the vehicle state data determination method of the present invention, only the angle between the leaf spring and the body of the vehicle needs to be collected to determine the 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 road slope information; thereby enabling the intelligent driving system to correct the output throttle and braking commands under sloping road conditions, making the commands more accurate, which can not only reduce the calculation pressure on the vehicle controller, but also help to reduce the cost of the vehicle.

[0052] In one embodiment of the present invention, the vehicle leaf spring includes a third leaf spring disposed on any left wheel of the vehicle and a fourth leaf spring disposed on the right wheel of the vehicle coaxial with the left wheel. The vehicle roll angle is determined according to the vehicle height at the leaf spring, including: determining the vehicle roll angle according to the vehicle track, the vehicle height at the third leaf spring and the vehicle height at the fourth leaf spring.

[0053] Roll angle data can be used as a compensation for steering commands, making the steering command algorithm of intelligent driving safer. At the same time, roll angle data is the most direct data for assessing rollover risk. When the data exceeds a certain threshold, the intelligent driving system needs to issue an alarm or terminate the program.

[0054] In a specific embodiment, the vehicle's leaf springs include a third leaf spring located on either left-hand wheel and a fourth leaf spring located on the right-hand wheel coaxial with either left-hand wheel. That is, the third leaf spring corresponding to the left front wheel and the fourth leaf spring corresponding to the right front wheel, or the third leaf spring corresponding to the left rear wheel and the fourth leaf spring corresponding to the right rear wheel; this can be achieved using the formula Roll_angle=atan( (H 左 -H 右 ) / L 轮 The vehicle's roll angle is calculated, where Roll_angle is the vehicle's roll angle, and H... 左 H is the vehicle height at the location of the third leaf spring. 右 L is the vehicle height at the fourth leaf spring location. 轮 This refers to the wheelbase. Specifically, the vehicle's wheelbase can be pre-input by the operator into the relevant controller, such as the vehicle controller.

[0055] Specifically, the vehicle's roll angle can be determined based on the vehicle's track width, the vehicle height at the third leaf spring, and the vehicle height at the fourth leaf spring.

[0056] Therefore, according to the vehicle state data determination method of the present invention, only the angle between the leaf spring and the body of the vehicle needs to be collected to determine the body height at the leaf spring, and then the vehicle roll angle can be determined. Since the gyroscope is a high-precision instrument, the roll angle data obtained by the vehicle state data determination method of the present invention is lower in cost and more reliable than the gyroscope method. This not only reduces the computational burden on the vehicle controller, but also helps to reduce the cost of the vehicle.

[0057] In one embodiment of the present invention, determining the state of the leaf spring based on 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, then the third leaf spring and / or the fourth leaf spring is determined to be faulty.

[0058] In the event of leaf spring failure, the vehicle is at significant risk of motion failure. The advanced intelligent driving system should report the leaf spring failure and immediately terminate the motion control program.

[0059] In a specific embodiment, the vehicle's leaf springs include a third leaf spring located on either left-hand wheel and a fourth leaf spring located on the right-hand wheel coaxial with either left-hand wheel. That is, the third leaf spring corresponding to the left front wheel and the fourth leaf spring corresponding to the right front wheel, or the third leaf spring corresponding to the left rear wheel and the fourth leaf spring corresponding to the right rear wheel. The third threshold is, for example, 3 centimeters, 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 height at the third leaf spring and the vehicle height at the fourth leaf spring, and this height difference remains greater than 3 centimeters for 1 minute, then the third leaf spring and / or the fourth leaf spring is deemed to have failed. Specifically, the second set time and the third threshold can be pre-input by the operator into the relevant controller, such as the vehicle controller.

[0060] Specifically, if there is a height difference between the vehicle height at the third leaf spring and the vehicle height at the fourth leaf spring, and the height difference continues to exceed the third threshold for a second set time, then the third leaf spring and / or the fourth leaf spring are determined to be faulty.

[0061] Therefore, the method for determining vehicle state data according to the present invention only needs to collect the angle between the leaf spring and the vehicle body to determine the vehicle body height at the leaf spring, and thus determine the leaf spring state of the vehicle. This not only reduces the computational burden on the vehicle controller, but also helps to reduce the cost of the vehicle.

[0062] In one embodiment of the present invention, determining the state of the shock absorber based on the vehicle height at the leaf spring includes: if, within a first set time period, 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, then the shock absorber corresponding to any leaf spring is determined to be faulty, wherein the first threshold is less than the second threshold.

[0063] Shock absorber failure can significantly reduce vehicle comfort and also have a certain impact on safety. In this case, the intelligent driving system should report the shock absorber failure and take measures such as speed reduction control or risk warning.

[0064] When going over bumps and dips, the height data will fluctuate significantly; however, it can usually converge within a short time. If the angle data of both sides of the suspension lugs fluctuate significantly, and the data on one side converges while the data on the other side does not converge for a very long time, it may be that the shock absorber has failed.

[0065] In a specific embodiment, if the height change ΔH at both ends of any leaf spring is greater than the threshold Ha within a time T, it is determined that a bump or pothole crossing has occurred. The time T is, for example, 1 second, and the threshold Ha is, for example, 5 centimeters. Specifically, the time T and the threshold Ha can be pre-input by the operator into the relevant controller, such as the vehicle controller.

[0066] In a specific embodiment, the first set time is, for example, 5 seconds, the first threshold is, for example, 2 centimeters, and the second threshold is, for example, 5 centimeters. That is, if within 5 seconds, the change in vehicle height corresponding to one end of any leaf spring is consistently less than 2 centimeters, and the change in vehicle height corresponding to the other end of the leaf spring is consistently greater than 5 centimeters, then the shock absorber corresponding to that leaf spring is determined to have failed. Specifically, the first set time, the first threshold, and the second threshold can be pre-input by the operator into the relevant controller, such as the vehicle controller.

[0067] Specifically, if the change in vehicle height corresponding to one end of any leaf spring is continuously less than a first threshold within a first set time period, and the change in vehicle height corresponding to the other end of any leaf spring is continuously greater than a second threshold, then the shock absorber corresponding to this leaf spring can be determined to have failed.

[0068] Therefore, the method for determining vehicle state data according to the present invention only needs to collect the angle between the leaf spring and the vehicle body to determine the vehicle body height at the leaf spring, and then the state of the vehicle's shock absorber can be determined. This not only reduces the computational burden on the vehicle controller, but also helps to reduce the cost of the vehicle.

[0069] To facilitate a better understanding of the present invention, the following is combined with... Figure 2 The method for determining vehicle status data according to specific embodiments of the present invention will be described in detail below.

[0070] Figure 2 This is a schematic diagram of the overall process of a method for determining vehicle status data according to a specific embodiment of the present invention, as shown below. Figure 2 As shown, in a specific embodiment, the method for determining the vehicle status data includes the following steps:

[0071] Step S10: Use an angle sensor to detect the angle between the lugs at both ends of the leaf spring and the vehicle body.

[0072] In this specific embodiment, angle sensors are installed on the lugs at both ends of the leaf spring.

[0073] Step S20: Determine the vehicle height at both ends of the leaf spring based on the angle between the lugs at both ends of the leaf spring and the vehicle body, thereby determining the vehicle height at the leaf spring.

[0074] In this specific embodiment, determining the vehicle height at the leaf spring based on the angle between the leaf spring and the vehicle body includes: obtaining the vehicle height at the leaf spring corresponding to the angle between the leaf spring and the vehicle body based on a preset angle-vehicle height mapping table, wherein the angle-vehicle height mapping table includes the corresponding mapping relationship between the angle between the leaf spring and the vehicle body and the vehicle height at the leaf spring.

[0075] Step S30: Determine the single wheel load capacity corresponding to the leaf spring based on the vehicle height at the leaf spring location.

[0076] In this specific embodiment, the single-wheel load capacity corresponding to any leaf spring is calculated using the formula M = K*(H-H0), where M is the single-wheel load capacity, K is the spring stiffness of the leaf spring, and H0 is the height of the vehicle when unloaded.

[0077] Step S31: Determine the vehicle's load capacity based on the load capacity of all single wheels.

[0078] In this specific embodiment, the sum of the load capacities of all the single wheels of the vehicle is the vehicle's load capacity.

[0079] Step S40: Determine the vehicle's pitch angle based on the vehicle's wheelbase, the vehicle height at the first leaf spring, and the vehicle height at the second leaf spring.

[0080] In this specific embodiment, the vehicle's leaf springs include a first leaf spring located on any of the vehicle's front wheels, and a second leaf spring located on the same side as the rear wheel of the vehicle, that is, a first leaf spring corresponding to the left front wheel and a second leaf spring corresponding to the left rear wheel, or a first leaf spring corresponding to the right front wheel and a second leaf spring corresponding to the right rear wheel; using the formula Pitch_angle=atan( (H 后 -H 前 ) / L 轴 The vehicle's pitch angle is calculated, where Pitch_angle is the vehicle's pitch angle, and H... 前 H is the vehicle height at the location of the first leaf spring. 后 L is the vehicle height at the location of the second leaf spring. 轴 This refers to the wheelbase.

[0081] Step S50: Determine the vehicle's roll angle based on the vehicle's track width, vehicle height at the third leaf spring, and vehicle height at the fourth leaf spring.

[0082] In this specific embodiment, the vehicle's leaf springs include a third leaf spring located on either left wheel and a fourth leaf spring located on the right wheel coaxial with either left wheel; that is, the third leaf spring corresponding to the left front wheel and the fourth leaf spring corresponding to the right front wheel, or the third leaf spring corresponding to the left rear wheel and the fourth leaf spring corresponding to the right rear wheel; using the formula Roll_angle=atan( (H左 -H 右 ) / L 轮 The vehicle's roll angle is calculated, where Roll_angle is the vehicle's roll angle, and H... 左 H is the vehicle height at the location of the third leaf spring. 右 The vehicle height at the fourth leaf spring is L. 轮 This refers to the wheel track.

[0083] Step S60: Determine the shock absorber status based on the vehicle height at the leaf spring.

[0084] In this specific embodiment, if the change in vehicle height corresponding to one end of any leaf spring is less than 2 cm within 5 seconds, and the change in vehicle height corresponding to the other end of any leaf spring is greater than 5 cm, then the shock absorber corresponding to this leaf spring is determined to be faulty.

[0085] Step S70: Determine the leaf spring status based on the vehicle height at the leaf spring location.

[0086] In this specific embodiment, the vehicle's leaf springs include a third leaf spring located on any left wheel of the vehicle, and a fourth leaf spring located on the right wheel of the vehicle, which is coaxial with the left wheel. That is, the third leaf spring corresponding to the left front wheel and the fourth leaf spring corresponding to the right front wheel, or the third leaf spring corresponding to the left rear wheel and the fourth leaf spring corresponding to the right rear wheel. If there is a height difference between the vehicle height at the third leaf spring and the vehicle height at the fourth leaf spring, and the height difference is greater than 3 cm for 1 minute, then the third leaf spring and / or the fourth leaf spring is deemed to have failed.

[0087] Step S80: Perform vehicle control based on vehicle status data.

[0088] In this specific embodiment, it is easy to understand that steps S30, S40, S50, S60 and S70 are performed simultaneously, without any sequential order; after steps S31, S40, S50, S60 and S70 are completed, step S80 is executed; after step S80 is completed, step S10 is executed again.

[0089] In summary, the vehicle state data determination method according to embodiments of the present invention first obtains the angle between the vehicle's leaf spring and the vehicle body as the basis for determining the vehicle body height at the leaf spring; then, based on the obtained angle between the vehicle's leaf spring and the vehicle body, 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 vehicle's load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state is determined, thus completing the determination of the vehicle state data. According to the vehicle state data determination method of embodiments of the present invention, only the angle between the vehicle's leaf spring and the vehicle body needs to be collected to determine the vehicle body height at the leaf spring, thereby determining multiple vehicle state data. This avoids the problem of needing to collect multiple data points to determine multiple vehicle state data, thus not only reducing the computational burden on the vehicle controller but also helping to reduce vehicle costs.

[0090] A further embodiment of the present invention discloses a system for determining vehicle status data. Figure 3 This is a structural block diagram of a vehicle state data determination system according to an embodiment of the present invention, such as... Figure 3 As shown, the vehicle status data determination system 1000 includes: an acquisition module 1001, a first processing module 1002, and a second processing module 1003.

[0091] Specifically, the acquisition module 1001 is used to acquire the angle between the leaf spring and the vehicle body.

[0092] The first processing module 1002 is used to determine the vehicle height at the leaf spring based on the angle between the leaf spring and the vehicle body.

[0093] The second processing module 1003 is used to determine vehicle status data based on the vehicle height at the leaf spring, wherein the status data includes at least one of the following: load capacity, pitch angle, roll angle, shock absorber status, and leaf spring status.

[0094] In one embodiment of the present invention, the first processing module 1002 determines the vehicle height at the leaf spring based on the angle between the leaf spring and the vehicle body, including: obtaining the vehicle height at the leaf spring corresponding to the angle between the leaf spring and the vehicle body based on a preset angle-vehicle height mapping table, wherein the angle-vehicle height mapping table includes the corresponding mapping relationship between the angle between the leaf spring and the vehicle body and the vehicle height at the leaf spring.

[0095] In one embodiment of the present invention, the second processing module 1003 determines the vehicle's load capacity based on the vehicle body height at the leaf spring, including: determining the single-wheel load capacity corresponding to any leaf spring based on the elastic stiffness of the leaf spring, the vehicle's unloaded height, and the vehicle body height at the leaf spring; and determining the vehicle's load capacity based on the single-wheel load capacities of all the vehicles.

[0096] In one embodiment of the present invention, the vehicle leaf spring includes a first leaf spring disposed on any front wheel of the vehicle and a second leaf spring disposed on the rear wheel of the vehicle on the same side as the front wheel. The second processing module 1003 determines the vehicle pitch angle based on the vehicle height at the leaf spring, including: determining the vehicle pitch angle based on the vehicle wheelbase, the vehicle height at the first leaf spring and the vehicle height at the second leaf spring.

[0097] In one embodiment of the present invention, the vehicle leaf spring includes a third leaf spring disposed on any left wheel of the vehicle and a fourth leaf spring disposed on the right wheel of the vehicle coaxial with any left wheel. The second processing module 1003 determines the vehicle roll angle based on the vehicle height at the leaf spring, including: determining the vehicle roll angle based on the vehicle track, the vehicle height at the third leaf spring and the vehicle height at the fourth leaf spring.

[0098] In one embodiment of the present invention, the second processing module 1003 determines the state of the leaf spring based on the vehicle height at the leaf spring, including: if there is a height difference between the vehicle height at the third leaf spring and the vehicle height at the fourth leaf spring, and the height difference continues to be greater than a third threshold for a second set time, then the third leaf spring and / or the fourth leaf spring is determined to be faulty.

[0099] In one embodiment of the present invention, the second processing module 1003 determines the state of the shock absorber based on the vehicle height at the leaf spring, including: if 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 within a first set time, then the shock absorber corresponding to any leaf spring is determined to be faulty, wherein the first threshold is less than the second threshold.

[0100] The vehicle state data determination system 1000 according to an embodiment of the present invention implements the vehicle state data determination method of the present invention. First, the angle between the leaf spring and the vehicle body 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, 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 vehicle's load capacity, pitch angle, roll angle, shock absorber status, and leaf spring status is determined to complete the determination of the vehicle state data. According to the vehicle state data determination method of the present invention, only the angle between the leaf spring and the vehicle body needs to be collected to determine the vehicle body height at the leaf spring, thereby determining multiple vehicle state data. This avoids the problem of needing to collect multiple data to determine multiple vehicle state data, which not only reduces the computational burden on the vehicle controller but also helps to reduce the cost of the vehicle.

[0101] A further embodiment of the present invention also discloses a vehicle.

[0102] In some embodiments, the vehicle includes a vehicle status data determination system 1000 as described in any of the above embodiments of the present invention.

[0103] In other embodiments, the vehicle includes a processor, a memory, and a vehicle state data determination program stored in the memory and executable on the processor, wherein the vehicle state data determination program, when executed by the processor, implements the vehicle state data determination method as described in any of the above embodiments of the present invention.

[0104] In a specific embodiment, the vehicle includes, but is not limited to, electric vehicles, hybrid vehicles, etc., and the vehicle is used to implement the above-described method for determining vehicle status data.

[0105] According to an embodiment of the present invention, the method for determining vehicle state data of the present invention first obtains the angle between the leaf spring and the vehicle body 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, the vehicle body height at the leaf spring is determined as the basis for determining vehicle state data; finally, based on the determined vehicle body height at the leaf spring, at least one of the vehicle's load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state is determined to complete the determination of vehicle state data. According to the method for determining vehicle state data of the present invention, only the angle between the leaf spring and the vehicle body needs to be collected to determine the vehicle body height at the leaf spring, thereby determining multiple vehicle state data, avoiding the problem of needing to collect multiple data to determine multiple vehicle state data, thus not only reducing the computational burden on the vehicle controller, but also helping to reduce vehicle costs.

[0106] A further embodiment of the present invention discloses a computer-readable storage medium storing a vehicle status data determination program. When the vehicle status data determination program is executed by a processor, it implements the vehicle status data determination method as described in any of the above embodiments of the present invention.

[0107] According to an embodiment of the present invention, when a program for determining vehicle state data stored thereon is executed by a processor, the method for determining vehicle state data according to the present invention is implemented. First, the angle between the leaf spring and the vehicle body 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, 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 vehicle's load capacity, pitch angle, roll angle, shock absorber state, and leaf spring state is determined, thus completing the determination of the vehicle state data. According to the method for determining vehicle state data according to the present invention, only the angle between the leaf spring and the vehicle body needs to be collected to determine the vehicle body height at the leaf spring, thereby determining multiple vehicle state data. This avoids the problem of needing to collect multiple data points to determine multiple vehicle state data, thus not only reducing the computational burden on the vehicle controller but also helping to reduce vehicle costs.

[0108] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0109] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for determining vehicle status data, characterized in that, include: Obtain the angle between the vehicle's leaf springs and the vehicle body; Determine the vehicle height at the leaf spring location based on the angle between the leaf spring and the vehicle body. Based on the vehicle height at the leaf spring, determine the vehicle status data, wherein the status data includes at least one of the following: load, pitch angle, roll angle, shock absorber status, and leaf spring status. The determination of the vehicle body height at the leaf spring based on 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 height mapping table, wherein the angle-vehicle height mapping 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. The step of determining the state of the shock absorber based on the vehicle height at the leaf spring includes: if, within a first set time period, 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, then the shock absorber corresponding to any leaf spring is determined to be faulty, wherein the first threshold is less than the second threshold.

2. The method for determining vehicle status data according to claim 1, characterized in that, The load capacity of the vehicle is determined based on the vehicle body height at the leaf spring location, including: Based on the elastic stiffness of the leaf spring, the unloaded height of the vehicle, and the vehicle height at the leaf spring, determine the single-wheel load capacity corresponding to any leaf spring; The load capacity of the vehicle is determined based on the load capacity of all single wheels of the vehicle.

3. The method for determining vehicle status data according to claim 1, characterized in that, The vehicle's leaf springs include a first leaf spring located on either front wheel and a second leaf spring located on the same side as the front wheel at the rear wheel. The vehicle's pitch angle is determined based on the vehicle's height at the leaf spring locations, including: The pitch angle of the vehicle is determined based on the vehicle's wheelbase, the vehicle height at the first leaf spring, and the vehicle height at the second leaf spring.

4. The method for determining vehicle status data according to claim 1, characterized in that, The vehicle's leaf springs include a third leaf spring located on either left wheel and a fourth leaf spring located on the right wheel, coaxial with either left wheel. The vehicle's roll angle is determined based on the vehicle's height at the leaf spring locations, including: The roll angle of the vehicle is determined based on the vehicle's track width, the vehicle height at the third leaf spring, and the vehicle height at the fourth leaf spring.

5. The method for determining vehicle status data according to claim 4, characterized in that, The state of the leaf spring is determined based on the vehicle height at the leaf spring location, including: If there is a height difference between the vehicle height at the third leaf spring and the vehicle height at the fourth leaf spring, and the height difference continues to exceed the third threshold for a second set time, then the third leaf spring and / or the fourth leaf spring is determined to be faulty.

6. A system for determining vehicle status data, characterized in that, include: The acquisition module is used to acquire the angle between the leaf spring and the vehicle body; The first processing module is used to determine the vehicle height at the leaf spring based on the angle between the leaf spring and the vehicle body. The second processing module is used to determine vehicle status data based on the vehicle height at the leaf spring, wherein the status data includes at least one of load, pitch angle, roll angle, shock absorber status and leaf spring status. When determining the vehicle height at the leaf spring based on the angle between the leaf spring and the vehicle body, the first processing module is used to: obtain the vehicle height at the leaf spring corresponding to the angle between the leaf spring and the vehicle body based on a preset angle-vehicle height mapping table, wherein the angle-vehicle height mapping table includes the corresponding mapping relationship between the angle between the leaf spring and the vehicle body and the vehicle height at the leaf spring. When determining the state of the shock absorber based on the vehicle height at the leaf spring, the second processing module is configured to: if, within a first set time period, 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, then determine that the shock absorber corresponding to any leaf spring has failed, wherein the first threshold is less than the second threshold.

7. A vehicle, characterized in that, include: The vehicle status data determination system as described in claim 6; or, A processor, a memory, and a program for determining vehicle state data stored in the memory and executable on the processor, wherein the program for determining vehicle state data, when executed by the processor, implements the method for determining vehicle state data as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program for determining vehicle status data, which, when executed by a processor, implements the method for determining vehicle status data as described in any one of claims 1-5.

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