Vehicle state determination method, device and equipment

Abstract

The invention provides a vehicle state determination method, device and equipment. The vehicle state determination method comprises the steps of obtaining a target motion working condition of a vehicle at a first moment; obtaining a target method corresponding to the target motion working condition and a value of the first state parameter at the first moment; wherein the target method comprises a kinematics method and / or a dynamics method; the first state parameters comprise the longitudinal speed and the front wheel turning angle of the vehicle; and at least one of a torque and a lateral force of the vehicle; determining an initial value of a target state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment by adopting a target method; wherein the target state parameters comprise at least one of the yaw velocity, the roll angle velocity, the roll angle and the lateral velocity; and determining a target value of the target state parameter at the first moment according to the initial value of the target state parameter at the first moment. The target state parameter value of the vehicle can be accurately determined according to different motion working conditions of the vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to a method, device and equipment for determining vehicle states. Background Art

[0002] With the wide application of vehicle active safety technologies, such as electronic stability control technology and active roll control technology, the demand for real-time estimation of vehicle state parameters, such as yaw rate, lateral velocity, roll rate, and roll angle, is increasing day by day.

[0003] However, currently, vehicle state parameters are mostly obtained through sensors equipped on the vehicle. However, due to the complexity of vehicle motion conditions and the limitations of factors such as sensor cost and accuracy, vehicle state parameters cannot be accurately and reliably obtained through sensors. Summary of the Invention

[0004] The main purpose of the embodiments of the present application is to propose a method, device and equipment for determining vehicle states, aiming to accurately determine the target values of vehicle state parameters for different vehicle motion conditions.

[0005] The present application provides a method for determining vehicle states, including: obtaining the target motion condition of the vehicle at a first moment; obtaining the target method corresponding to the target motion condition and the value of a first state parameter at the first moment; wherein, the target method includes at least one of a kinematic method and a dynamic method; when the target method includes the kinematic method, the first state parameter includes the longitudinal velocity and front wheel angle of the vehicle; when the target method includes the dynamic method, the first state parameter includes at least one of the torque and lateral force of the vehicle; using the target method, determining the initial value of the target state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment; wherein, the target state parameter includes at least one of yaw rate, roll rate, roll angle and lateral velocity; determining the target value of the target state parameter at the first moment according to the initial value of the target state parameter at the first moment.

[0006] In one embodiment, obtaining the target motion condition of the vehicle at the first moment includes: obtaining the value of the longitudinal speed of the vehicle at the first moment; when the value of the longitudinal speed at the first moment is less than the first preset speed value, the target motion condition is a low-speed motion condition; the target method is the kinematic method; when the value of the longitudinal speed at the first moment is greater than the second preset speed value, the target motion condition is a high-speed motion condition; the target method is the dynamic method; the second preset speed value is greater than the first preset speed value; when the value of the longitudinal speed at the first moment is within the first target interval, the target motion condition is a medium-speed motion condition; the target method is the kinematic method and the dynamic method; the first target interval is a closed interval composed of the first preset speed value and the second preset speed value.

[0007] In one embodiment, when the target motion condition is a high-speed motion condition, the target method is the dynamic method; adopting the target method to determine the initial value of the target state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment includes: using the dynamic equilibrium equation corresponding to the first state parameter to determine the value of the second state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment; wherein, the second state parameter includes at least one of yaw angular acceleration, roll angular acceleration and lateral acceleration; determining the initial value of the target state parameter of the vehicle at the first moment according to the value of the target state parameter at the second moment and the value of the second state parameter at the first moment; wherein, the second moment is earlier than the first moment.

[0008] In one embodiment, the torque includes yaw torque and roll torque; using the dynamic equilibrium equation corresponding to the first state parameter to determine the value of the second state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment includes: using the vehicle yaw torque dynamic equilibrium equation and the vehicle roll torque dynamic equilibrium equation to determine at least one of the yaw angular acceleration and the roll angular acceleration at the first moment according to the values of the yaw torque and the roll torque at the first moment; and / or using the vehicle lateral force dynamic equilibrium equation to determine the value of the lateral acceleration at the first moment according to the value of the lateral force at the first moment.

[0009] In one embodiment, when the target motion condition is a low-speed motion condition, the target method is the kinematic method; adopting the target method to determine the initial value of the target state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment includes: using the Ackermann kinematic model to determine at least one of the yaw rate and the lateral velocity at the first moment according to the value of the first state parameter of the vehicle at the first moment.

[0010] In one embodiment, when the target motion condition is a medium-speed motion condition, the target method is the kinematic method and the dynamic method; adopting the target method to determine the initial value of the target state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment includes: based on the kinematic method, determining the first value of the target state parameter at the first moment according to the value of the first target parameter in the first state parameter at the first moment; wherein, the first target parameter includes the longitudinal velocity and the front wheel angle of the vehicle; based on the dynamic method, determining the second value of the target state parameter at the first moment according to the value of the second target parameter in the first state parameter at the first moment; wherein, the second target parameter includes at least one of the torque and the lateral force of the vehicle; fusing the first value of the target state parameter at the first moment and the second value of the target state parameter at the first moment according to a preset fusion weight to obtain the initial value of the target state parameter at the first moment.

[0011] In one embodiment, the torque includes yaw torque and roll torque; in the case where the target method includes the dynamic method, the obtaining of the target method corresponding to the target motion condition and the value of the first state parameter at the first moment includes: based on the generation principle of the vehicle lateral force, determining the value of the lateral force at the first moment according to the value of the third state parameter of the vehicle at the first moment and the value of the yaw angular velocity at the second moment, where the second moment is earlier than the first moment; the third state parameter includes longitudinal velocity, front axle lateral force, rear axle lateral force, front axle longitudinal force, and front wheel steering angle; and / or using the mechanical relationship of the vehicle in the first plane, determining the value of the yaw torque at the first moment according to the values of the vehicle wheel longitudinal force and the front wheel steering angle at the first moment; and using the mechanical relationship of the vehicle in the second plane, determining the value of the roll torque at the first moment according to the values of the yaw angular velocity, the roll angular velocity, and the roll angle at the second moment, and the value of the longitudinal velocity at the first moment, where the first plane is parallel to the driving road surface of the vehicle at the first moment; the second plane is perpendicular to the driving road surface of the vehicle at the first moment.

[0012] In one embodiment, the determining of the target value of the target state parameter at the first moment according to the initial value of the target state parameter at the first moment includes: obtaining the limit value of the target state parameter at the first moment; according to the relationship between the initial value of the target state parameter at the first moment and the limit value of the target state parameter at the first moment, determining the initial value of the target parameter at the first moment or the limit value of the target state parameter at the first moment as the target value of the target state parameter at the first moment.

[0013] In one embodiment, obtaining the limit value of the target state parameter at the first moment includes: when the target state parameter includes the lateral speed, determining the limit value of the lateral speed at the first moment according to the maximum allowable side slip angle value of the vehicle and the value of the longitudinal speed of the vehicle at the first moment; when the target state parameter includes the yaw rate, determining the limit value of the yaw rate at the first moment according to the acquired value of the yaw rate at the first moment and a first difference; the first difference is the difference between the maximum allowable yaw rate value of the vehicle and the acquired value of the yaw rate at the first moment; when the target state parameter includes the roll angle, determining the limit value of the roll angle at the first moment according to the maximum allowable roll angle value of the vehicle; when the target state parameter includes the roll angular velocity, determining the limit value of the roll angular velocity at the first moment according to the acquired value of the roll angular velocity at the first moment and a second difference; the second difference is the difference between the maximum allowable roll angular velocity value of the vehicle and the acquired value of the roll angular velocity at the first moment.

[0014] This application also provides a vehicle state determination device, including a first acquisition module, a second acquisition module, a first determination module, and a second determination module; the first acquisition module is configured to acquire the target motion condition of the vehicle at the first moment; the second acquisition module is configured to acquire the target method corresponding to the target motion condition and the value of the first state parameter at the first moment; wherein, the target method includes at least one of a kinematic method and a dynamic method; when the target method includes the kinematic method, the first state parameter includes the longitudinal speed of the vehicle and the front wheel steering angle; when the target method includes the dynamic method, the first state parameter includes at least one of the torque of the vehicle and the lateral force; the first determination module is configured to adopt the target method and determine the initial value of the target state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment; wherein, the target state parameter includes at least one of a yaw rate, a roll angular velocity, a roll angle, and a lateral speed; the second determination module is configured to determine the target value of the target state parameter at the first moment according to the initial value of the target state parameter at the first moment.

[0015] This application also provides a vehicle state determination device. The vehicle state determination device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the above vehicle state determination method is implemented.

[0016] A method, device, and equipment for determining a vehicle state provided by the present application can accurately determine the value of the target state parameter of the vehicle for different driving conditions of the vehicle by obtaining the target driving condition of the vehicle at the first moment and using the target method corresponding to the target driving condition to determine the value of the target state parameter of the vehicle at the first moment according to the value of the first state parameter corresponding to the target driving condition at the first moment. Description of the Drawings

[0017] Figure 1 is a schematic flowchart of the method for determining the vehicle state provided by the embodiment of the present application;

[0018] Figure 2 is a schematic flowchart of step S103 provided by the embodiment of the present application Figure 1 ;

[0019] Figure 3 is a schematic flowchart of step S103 provided by the embodiment of the present application Figure 2 ;

[0020] Figure 4 is a schematic structural diagram of the device for determining the vehicle state provided by the embodiment of the present application;

[0021] Figure 5 is a schematic structural diagram of the equipment for determining the vehicle state provided by the embodiment of the present application Figure 1 ;

[0022] Figure 6 is a schematic structural diagram of the equipment for determining the vehicle state provided by the embodiment of the present application Figure 2 . Detailed Embodiments

[0023] Next, the technical solutions in the embodiments of the present application will be clearly described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0024] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually of the same category, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally represents an "or" relationship between the associated objects before and after.

[0025] The vehicle state determination method provided by the embodiments of the present application can be applied to a vehicle state determination device, which can be a vehicle or an electronic device. Among them, the electronic device can be a terminal or a server. In some embodiments, the terminal can be a smart phone, a tablet computer, a notebook computer, a desktop computer, etc.; the server can be configured as an independent physical server, or as a server cluster or distributed system composed of multiple physical servers, or as a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. Further, the vehicle state determination method provided by the embodiments of the present application can also be applied to the software of the vehicle state determination device. The software can be an application that implements the vehicle state determination method, etc., but is not limited to the above forms.

[0026] The following will combine the accompanying drawings and use specific embodiments to describe in detail the vehicle state determination method provided by the embodiments of the present application.

[0027] Please refer to Figure 1 , a vehicle state determination method provided by the embodiments of the present application may include:

[0028] Step S101: Obtain the target motion condition of the vehicle at the first moment;

[0029] Step S102: Obtain the target method corresponding to the target motion condition and the value of the first state parameter at the first moment; wherein, the target method includes at least one of a kinematic method and a dynamic method; when the target method includes a kinematic method, the first state parameter includes the longitudinal speed and the front wheel angle of the vehicle; when the target method includes a dynamic method, the first state parameter includes at least one of the torque and the lateral force of the vehicle;

[0030] Step S103: Use the target method to determine the initial value of the target state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment; wherein, the target state parameter includes at least one of a yaw angular velocity, a roll angular velocity, a roll angle, and a lateral velocity;

[0031] Step S104: Determine the target value of the target state parameter at the first moment according to the initial value of the target state parameter at the first moment.

[0032] In the embodiment of the present application, by obtaining the target motion condition of the vehicle at the first moment and adopting the target method corresponding to the target motion condition, and determining the value of the target state parameter of the vehicle at the first moment according to the value of the first state parameter corresponding to the target motion condition at the first moment, it is possible to accurately determine the value of the target state parameter of the vehicle for different motion conditions of the vehicle.

[0033] Among them, the above target motion condition can be the target condition in the motion condition related to the vehicle speed, or the target condition in the motion condition related to the road surface flatness. It is worth mentioning that the present application does not limit the motion condition to which the target motion condition belongs, and the motion condition to which the target motion condition belongs only needs to conform to the actual motion situation of the vehicle. Among them, the motion conditions related to the vehicle speed can include high-speed motion conditions, medium-speed motion conditions, and low-speed motion conditions. Further, the target motion condition of the vehicle at the first moment can be determined according to the relationship between the value of the longitudinal speed of the vehicle at the first moment and the preset speed value, or according to the relationship between the value of the motor speed or engine speed of the vehicle at the first moment and the preset speed value, or according to the driving position of the vehicle at the first moment. For example, if the driving position of the vehicle at the first moment is on a high-speed section, the target motion condition of the vehicle at the first moment can be determined as a high-speed motion condition; if the driving position of the vehicle at the first moment is on a non-high-speed section and the congestion level at this driving position is higher than the preset level, the target motion condition of the vehicle at the first moment can be determined as a low-speed motion condition; if the driving position of the vehicle at the first moment is on a non-high-speed section and the congestion level at this driving position is less than or equal to the preset level, the target motion condition of the vehicle at the first moment can be determined as a medium-speed motion condition.

[0034] The above first moment can be the current moment or a historical moment. When the above first moment is the current moment, the vehicle state determination method provided by the embodiment of the present application can determine the target value of the target state parameter at the current moment based on the relevant data obtained in real time; when the above first moment is a historical moment, the vehicle state determination method provided by the embodiment of the present application can also determine the target value of the target state parameter at the historical moment based on the relevant historical data stored in advance.

[0035] Optionally, when the above target motion condition is a high-speed motion condition, the above target method is a dynamics method. When the above target motion condition is a low-speed motion condition, the above target motion method is a kinematics method. When the above target motion condition is a medium-speed motion condition, the above target motion method is a kinematics method and a dynamics method.

[0036] Specifically, when the target motion condition is a low-speed motion condition, the overall vehicle dynamic characteristics are not obvious, but it can meet the assumption that the front wheel speed of the vehicle only exists in the direction of the front wheel steering angle. Therefore, the kinematic method can be used to accurately determine the value of the target state parameter at the first moment; when the target motion condition is a high-speed motion condition, the overall vehicle dynamic characteristics are obvious and no longer meet the assumption that the front wheel speed of the vehicle only exists in the direction of the front wheel steering angle. The error of using the kinematic method to determine the value of the target state parameter at the first moment is large. Therefore, the dynamic method can be used to accurately determine the value of the target state parameter at the first moment; when the target motion condition is a medium-speed motion condition, the overall vehicle dynamic characteristics are obvious and can meet the assumption that the front wheel speed of the vehicle only exists in the direction of the front wheel steering angle. Therefore, a method that combines the kinematic method and the dynamic method can be used to accurately determine the value of the target state parameter at the first moment.

[0037] Optionally, the above preset speed values include a first preset speed value and a second preset speed value, and the second preset speed value is greater than the first preset speed value.

[0038] In one embodiment, obtaining the target motion condition of the vehicle at the first moment in step S101 includes:

[0039] Obtaining the value of the longitudinal speed of the vehicle at the first moment;

[0040] When the value of the longitudinal speed at the first moment is less than the first preset speed value, the target motion condition is a low-speed motion condition; the target method is the kinematic method;

[0041] When the value of the longitudinal speed at the first moment is greater than the second preset speed value, the target motion condition is a high-speed motion condition; the target method is the dynamic method;

[0042] When the value of the longitudinal speed at the first moment is within the first target interval, the target motion condition is a medium-speed motion condition; the target method is the kinematic method and the dynamic method; the first target interval is a closed interval composed of the first preset speed value and the second preset speed value.

[0043] Among them, the first preset speed value and the second preset speed value can be obtained through calibration according to actual needs. Optionally, the first preset speed value is 10 kph and the second preset speed value is 15 kph.

[0044] By comparing the value of the longitudinal speed at the first moment with the first preset speed value and the second preset speed value in the embodiments of the present application, and based on the comparison result, the target motion condition of the vehicle at the first moment is determined, which can improve the accuracy of determining the target motion condition of the vehicle at the first moment, and further improve the accuracy of determining the value of the target state parameter of the vehicle for the target motion condition.

[0045] Optionally, the torque of the vehicle in step S102 above includes the yaw torque and the roll torque of the vehicle.

[0046] In an embodiment, when the above target method includes a dynamic method, obtaining the target method corresponding to the target motion condition and the value of the first state parameter at the first moment in step S102 above includes:

[0047] Based on the generation principle of the vehicle lateral force, determining the value of the lateral force at the first moment according to the value of the third state parameter of the vehicle at the first moment and the value of the yaw angular velocity at the second moment; wherein, the second moment is earlier than the first moment; the third state parameter includes the longitudinal speed, the front axle lateral force, the rear axle lateral force, the front axle longitudinal force, and the front wheel steering angle; and / or

[0048] Using the mechanical relationship of the vehicle in the first plane, determining the value of the yaw torque at the first moment according to the values of the wheel longitudinal force and the front wheel steering angle of the vehicle at the first moment; and using the mechanical relationship of the vehicle in the second plane, determining the value of the roll torque at the first moment according to the values of the yaw angular velocity, the roll angular velocity and the roll angle at the second moment, and the value of the longitudinal speed at the first moment; wherein, the first plane is parallel to the driving road surface of the vehicle at the first moment; the second plane is perpendicular to the driving road surface of the vehicle at the first moment.

[0049] Specifically, based on the generation principle of the vehicle lateral force, the formula (1) can be used to determine the value of the lateral force of the vehicle at the first moment:

[0050] F y =F yf *cosθ f +F yr +m*V x *W z '+F xf *sinθ f (1)

[0051] Wherein, F y is the value of the lateral force of the vehicle at the first moment, F yf is the value of the front axle lateral force of the vehicle at the first moment, F yr is the value of the rear axle lateral force of the vehicle at the first moment, F xf is the value of the front axle longitudinal force of the vehicle at the first moment, m is the total mass of the vehicle, V x is the value of the longitudinal speed of the vehicle at the first moment, W z ' is the value of the yaw angular velocity of the vehicle at the second moment, θ f is the value of the front wheel steering angle of the vehicle at the first moment.

[0052] Wherein, F xfis equal to the sum of the longitudinal forces of the left front wheel and the right front wheel of the vehicle at the first moment; F yf 、F yr can be determined using the brush tire model.

[0053] Specifically, in case, formula (2) can be used to determine F yf :

[0054]

[0055] In case, formula (3) can be used to determine F yf :

[0056] F yf =F zf *μ*sign(α f ) (3)

[0057] In case, formula (4) can be used to determine F yt :

[0058]

[0059] In case, formula (5) can be used to determine F yr :

[0060] F yr =F zr *μ*sign(α r ) (5)

[0061] Where α f 、α r are the values of the sideslip angles of the front and rear axles of the vehicle at the first moment respectively, F zf 、F zr are the values of the vertical forces of the front and rear axles of the vehicle at the first moment respectively, C f 、C r are the sideslip stiffnesses of the front and rear axles of the vehicle respectively, L f 、L r are the distances from the center of mass of the vehicle to the front and rear axles respectively, g is the acceleration due to gravity, μ is the road surface adhesion coefficient, ms is the sprung mass of the vehicle, mu is the unsprung mass of the vehicle, and sig is the sign function.

[0062] Specifically, the mechanical relationship of the vehicle in the first plane can be used, and formula (6) can be adopted to determine the value of the yaw torque of the vehicle at the first moment:

[0063]

[0064] Among them, M z is the value of the yaw torque of the vehicle at the first moment, and F xFL , F xFR , F xRL , F xRR are respectively the values of the longitudinal force of the left front wheel, the longitudinal force of the right front wheel, the longitudinal force of the left rear wheel, and the longitudinal force of the right rear wheel of the vehicle at the first moment. W f , W r are respectively the lengths of the front and rear axles of the vehicle.

[0065] Specifically, the mechanical relationship of the vehicle in the second plane can be utilized, and formula (7) can be adopted to determine the value of the roll torque of the vehicle at the first moment:

[0066] M x = ms * V x * W z ' * hs + ms * g * sinθ′ x * hs - K d * θ x2 - D d * W x ' (7)

[0067] Among them, M x is the value of the roll torque of the vehicle at the first moment, θ′ x is the value of the roll angle of the vehicle at the second moment, W x ' is the value of the roll angular velocity of the vehicle at the second moment, hs is the height of the center of mass of the vehicle relative to the X-axis of the vehicle body coordinate system, K d is the roll stiffness coefficient of the vehicle, D d is the roll damping coefficient of the vehicle. Optionally, the X-axis of the vehicle body coordinate system is located on the plane where the wheel contacts the ground, and the direction of the X-axis is the longitudinal direction of the vehicle.

[0068] Based on the generation principle of the lateral force of the vehicle, according to the value of the third state parameter of the vehicle at the first moment and the value of the yaw angular velocity at the second moment, the embodiments of the present application can accurately determine the value of the lateral force of the vehicle at the first moment, and / or utilize the mechanical relationship of the vehicle in the first plane, and according to the values of the longitudinal force of the vehicle's wheels and the front wheel steering angle at the first moment, can accurately determine the value of the yaw torque of the vehicle at the first moment, and / or utilize the mechanical relationship of the vehicle in the second plane, according to the values of the yaw angular velocity, roll angular velocity and roll angle at the second moment, and the value of the longitudinal velocity at the first moment, can accurately determine the value of the roll torque of the vehicle at the first moment, thereby being able to improve the accuracy of determining the value of the target state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment when the above target method includes a dynamic method.

[0069] Please refer toFigure 2 When the above target motion condition is a high-speed motion condition, the above target method is a dynamics method; the step of using the target method in step S103 to determine the initial value of the target state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment may include:

[0070] Step S201: Using the dynamic equilibrium equation corresponding to the first state parameter, determine the value of the second state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment; wherein, the second state parameter includes at least one of yaw angular acceleration, roll angular acceleration and lateral acceleration;

[0071] Step S202: Determine the initial value of the target state parameter of the vehicle at the first moment according to the value of the target state parameter at the second moment and the value of the second state parameter at the first moment; wherein, the second moment is earlier than the first moment.

[0072] Optionally, the dynamic equilibrium equation corresponding to the first state parameter includes at least one of the vehicle torque dynamic equilibrium equation and the vehicle lateral force dynamic equilibrium equation. Among them, the vehicle torque dynamic equilibrium equation may include the vehicle yaw torque dynamic equilibrium equation and the vehicle roll torque dynamic equilibrium equation.

[0073] Optionally, the vehicle yaw torque dynamic equilibrium equation is formula (8):

[0074]

[0075] Optionally, the vehicle roll torque dynamic equilibrium equation is formula (9):

[0076]

[0077] Optionally, the vehicle lateral force dynamic equilibrium equation is formula (10):

[0078] F y =m*a y (10)

[0079] wherein, α z is the value of the yaw angular acceleration of the vehicle at the first moment, α x is the value of the roll angular acceleration of the vehicle at the first moment, a y is the value of the lateral acceleration of the vehicle at the first moment, I zz is the moment of inertia of the vehicle about the Z-axis of the body coordinate system, I xz is the product of inertia of the vehicle corresponding to the XZ-axis of the body coordinate system, I x is the moment of inertia of the vehicle about the X-axis of the body coordinate system. Optionally, the contact plane between the wheel and the ground is perpendicular to the Z-axis of the body coordinate system.

[0080] In the case where the target motion condition is a high-speed motion condition, by using the dynamic equilibrium equation corresponding to the first state parameter and according to the value of the first state parameter at the first moment, the value of the second state parameter of the vehicle at the first moment can be accurately determined. Further, according to the value of the target state parameter at the second moment and the value of the second state parameter at the first moment, the initial value of the target state parameter of the vehicle at the first moment can be accurately determined, thereby improving the accuracy of determining the target value of the target state parameter of the vehicle at the first moment in the case where the target motion condition is a high-speed motion condition.

[0081] Optionally, the torque of the vehicle in step S102 includes the yaw torque of the vehicle and the roll torque of the vehicle.

[0082] In one embodiment, the step of using the dynamic equilibrium equation corresponding to the first state parameter and determining the value of the second state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment in step S201 includes:

[0083] Using the vehicle yaw torque dynamic equilibrium equation and the vehicle roll torque dynamic equilibrium equation, and determining at least one of the yaw angular acceleration and the roll angular acceleration at the first moment according to the values of the yaw torque and the roll torque at the first moment; and / or

[0084] Using the vehicle lateral force dynamic equilibrium equation and determining the value of the lateral acceleration at the first moment according to the value of the lateral force at the first moment.

[0085] Specifically, formulas (6)-(9) can be used to determine the value of the yaw angular acceleration α of the vehicle at the first moment z and / or the value of the roll angular acceleration α of the vehicle at the first moment; formulas (1), (2) or (3), (4) or (5), and (10) can be used to determine the value of the lateral acceleration a at the first moment x ; y

[0086] Specifically, (8)-(10) can be written in matrix form to obtain formula (11):

[0087]

[0088] Further, formula (11) can be converted into an inverse matrix to obtain formula (12):

[0089]

[0090] Further, the value of the lateral force F of the vehicle at the first moment determined based on formulas (1)-(7) y and the value of the yaw torque M of the vehicle at the first moment​z and the value M of the roll torque of the vehicle at the first moment x Substitute into formula (12) to obtain the value α of the yaw angular acceleration of the vehicle at the first moment z and the value α of the roll angular acceleration of the vehicle at the first moment x and the value a of the lateral acceleration of the vehicle at the first moment y .

[0091] In the embodiment of the present application, by using the vehicle yaw torque dynamic balance equation and the vehicle roll torque dynamic balance equation, according to the values of the yaw torque and the roll torque at the first moment, the values of the yaw angular acceleration and the roll angular acceleration at the first moment can be accurately determined. By using the vehicle lateral force dynamic balance equation, according to the value of the lateral force at the first moment, the value of the lateral acceleration at the first moment can be accurately determined, and further, the accuracy of determining the value of the target state parameter of the vehicle at the first moment in the case where the target motion condition is a high-speed motion condition can be improved.

[0092] The determining the initial value of the target state parameter of the vehicle at the first moment according to the value of the target state parameter at the second moment and the value of the second state parameter at the first moment in step S202 above may include at least one of the following:

[0093] Determine the initial value of the lateral velocity of the vehicle at the first moment according to the value of the lateral velocity of the vehicle at the second moment, the value of the lateral acceleration of the vehicle at the first moment, and a preset time interval; the preset time interval is equal to the interval duration between the first moment and the second moment;

[0094] Determine the initial value of the yaw angular velocity of the vehicle at the first moment according to the value of the yaw angular velocity of the vehicle at the second moment, the value of the lateral acceleration of the vehicle at the first moment, and a preset time interval;

[0095] Determine the initial value of the roll angular velocity of the vehicle at the first moment according to the value of the roll angular velocity of the vehicle at the second moment, the value of the lateral acceleration of the vehicle at the first moment, and a preset time interval;

[0096] Optionally, when the second moment is the initial moment when the vehicle is powered on, the values of the lateral velocity, yaw angular velocity, and roll angular velocity of the vehicle at the second moment are 0.

[0097] Specifically, in the case where the target motion condition is a high-speed motion condition, formulas (13) to (15) can be respectively used to determine the initial value of the yaw angular velocity of the vehicle at the first moment, the initial value of the roll angular velocity of the vehicle at the first moment, and the initial value of the lateral velocity of the vehicle at the first moment:

[0098] V y = ∫a y dt = ay *Ts + V y ' (13)

[0099] W z =∫a z dt = a z *Ts + W z ' (14)

[0100] W x =∫a x dt = a x *Ts + W x ' (15)

[0101] Wherein, W z is the initial value of the yaw rate of the vehicle at the first moment, W x is the initial value of the roll rate of the vehicle at the first moment, V y is the initial value of the lateral velocity of the vehicle at the first moment, V y ' is the value of the lateral velocity of the vehicle at the second moment, and Ts is the preset time interval.

[0102] Determining the initial value of the target state parameter of the vehicle at the first moment according to the value of the target state parameter at the second moment and the value of the second state parameter at the first moment in step S202 above may further include:

[0103] Determining the initial value of the roll angle of the vehicle at the first moment according to the value of the roll angle of the vehicle at the second moment, the value of the roll rate of the vehicle at the first moment, and the preset time interval.

[0104] Optionally, when the second moment is the initial moment when the vehicle is powered on, the value of the roll angle of the vehicle at the second moment is 0.

[0105] Specifically, when the target motion condition is a high-speed motion condition, formula (16) can be used to determine the initial value of the roll angle of the vehicle at the first moment:

[0106] θ x =∫W x dt = W x *Ts + θ x ' (16)

[0107] Wherein, θ x is the initial value of the roll angle of the vehicle at the first moment.

[0108] Specifically, formulas (13) to (16) can be written in matrix form to obtain formula (17):

[0109]

[0110] Among them, Y dyn represents a matrix composed of the initial values of the target state parameters of the vehicle determined under the condition that the target motion condition is a high-speed motion condition at the first moment.

[0111] Furthermore, under the condition that the target motion condition is a high-speed motion condition, the value α of the yaw angular acceleration of the vehicle at the first moment determined based on formulas (1) to (7), (12) z , the value α of the roll angular acceleration of the vehicle at the first moment x and the value a of the lateral acceleration of the vehicle at the first moment y can be correspondingly substituted into formulas (15) and (17) to obtain the initial value matrix Y of the target state parameters of the vehicle at the first moment under the condition that the target motion condition is a high-speed motion condition dyn .

[0112] The embodiment of the present application adopts an integration method. According to the value of the target state parameter at the second moment and the value of the second state parameter at the first moment, the initial value of the target state parameter of the vehicle at the first moment can be accurately determined, and further, the accuracy of determining the target value of the target state parameter of the vehicle at the first moment under the condition that the target motion condition is a high-speed motion condition can be improved.

[0113] Optionally, under the condition that the above target motion condition is a low-speed motion condition, the above target method is a kinematic method; the step of using the target method in S103 to determine the initial value of the target state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment may include:

[0114] Using the Ackermann kinematic model, according to the value of the first state parameter of the vehicle at the first moment, determine the initial value of at least one of the yaw angular velocity and the lateral velocity at the first moment.

[0115] Specifically, under the condition that the above target motion condition is a low-speed motion condition, the initial value of the yaw angular velocity of the vehicle at the first moment and the value of the lateral velocity of the vehicle at the first moment can be determined respectively through formulas (18) and (19):

[0116]

[0117] Among them, W z is the initial value of the yaw angular velocity of the vehicle at the first moment, V y is the initial value of the lateral velocity of the vehicle at the first moment, V x is the value of the longitudinal velocity of the vehicle at the first moment, θ f is the value of the front wheel angle of the vehicle at the first moment, V y ' is the value of the lateral velocity of the vehicle at the second moment, L f, L r are the distances from the center of mass of the vehicle to the front and rear axles respectively.

[0118] In addition, when the above target motion condition is a low-speed motion condition, the initial value of the roll angular velocity of the vehicle at the first moment and the initial value of the roll angle of the vehicle at the first moment are small. The initial value W of the roll angular velocity of the vehicle at the first moment x and the initial value θ of the roll angle of the vehicle at the first moment x can be assigned 0. It is worth mentioning that when the above target motion condition is a low-speed motion condition, the values of the roll angular velocity and the roll angle of the vehicle at the first moment are not limited to this, as long as they conform to the kinematic characteristics of the vehicle.

[0119] Furthermore, equations (18) and (19) can be written in matrix form to obtain equation (20):

[0120]

[0121] where Y kin represents the matrix composed of the initial values of the target state parameters of the vehicle determined at the first moment when the above target motion condition is a low-speed motion condition.

[0122] Furthermore, V x , θ f , V y ', L f and L r are substituted into equation (20) to obtain the initial value matrix Y of the target state parameters of the vehicle at the first moment when the above target motion condition is a low-speed motion condition kin .

[0123] In the embodiment of the present application, when the target motion condition is a low-speed motion condition, by using the Ackermann kinematic model and according to the values of the first state parameters of the vehicle at the first moment, the initial values of the yaw angular velocity and the lateral velocity at the first moment can be accurately determined, and further the accuracy of determining the target values of the target state parameters of the vehicle at the first moment when the target motion condition is a low-speed motion condition can be improved.

[0124] Please refer to Figure 3 , when the above target motion condition is a medium-speed motion condition, the above target method is a kinematic method and a dynamic method; the step of using the target method in step S103 to determine the initial value of the target state parameters of the vehicle at the first moment according to the values of the first state parameters at the first moment may include:

[0125] Step S301: Based on the kinematic method, determine the first value of the target state parameter at the first moment according to the value of the first target parameter in the first state parameter of the vehicle; the first target parameter includes the longitudinal speed and the front wheel angle of the vehicle.

[0126] Step S302: Based on the dynamic method, determine the second value of the target state parameter at the first moment according to the value of the second target parameter in the first state parameter of the vehicle; the second target parameter includes at least one of the torque and the lateral force of the vehicle.

[0127] Step S303: According to the preset fusion weight, fuse the first value of the target state parameter at the first moment and the second value of the target state parameter at the first moment to obtain the initial value of the target state parameter at the first moment.

[0128] Optionally, the preset fusion weight is determined based on the first preset speed value and the second preset speed value.

[0129] Among them, the specific implementation processes of Step S301 and Step S302 can refer to the above embodiments and will not be elaborated here.

[0130] For Step S303, the initial value of the target state parameter at the first moment can be determined through Formulas (21) and (22):

[0131] Y = Y kin + A * (Y dyn - Y kin ) (21)

[0132]

[0133] Among them, Y is the matrix composed of the initial value of the yaw rate of the vehicle at the first moment, the initial value of the lateral speed of the vehicle at the first moment, the initial value of the roll rate of the vehicle at the first moment, and the initial value of the roll angle of the vehicle at the first moment determined under the condition that the target motion condition is the medium-speed motion condition; A is the preset fusion weight; B is the first preset speed value; C is the second preset speed value.

[0134] In the embodiment of the present application, under the condition that the target motion condition is the medium-speed motion condition, according to the preset fusion weight, fuse the first value of the target state parameter determined based on the kinematic method and the second value of the target state parameter determined based on the dynamic method at the first moment, which can accurately determine the initial value of the target state parameter at the first moment, and further improve the accuracy of determining the target value of the target state parameter of the vehicle at the first moment under the condition that the target motion condition is the medium-speed motion condition.

[0135] In one embodiment, the above-mentioned step S104: determining the target value of the target state parameter at the first moment according to the initial value of the target state parameter at the first moment includes:

[0136] Obtaining the limit value of the target state parameter at the first moment;

[0137] According to the relationship between the initial value of the target state parameter at the first moment and the limit value of the target state parameter at the first moment, determine the initial value of the target parameter at the first moment or the limit value of the target state parameter at the first moment as the target value of the target state parameter at the first moment.

[0138] Optionally, the limit value of the target state parameter at the first moment includes the first limit value of the target state parameter at the first moment and the second limit value of the target state parameter at the first moment, and the first limit value of the target state parameter at the first moment is less than the second limit value of the target state parameter at the first moment.

[0139] The above-mentioned determining the initial value of the target parameter at the first moment or the limit value of the target state parameter at the first moment as the target value of the target state parameter at the first moment according to the relationship between the initial value of the target state parameter at the first moment and the limit value of the target state parameter at the first moment may include:

[0140] When the initial value of the target state parameter at the first moment is within the second target interval, determine the initial value of the target state parameter at the first moment as the target value of the target state parameter at the first moment; the second target interval is a closed interval composed of the first limit value of the target state parameter at the first moment and the second limit value of the target state parameter at the first moment;

[0141] When the initial value of the target state parameter at the first moment is greater than the second limit value of the target state parameter at the first moment, determine the second limit value of the target state parameter at the first moment as the target value of the target state parameter at the first moment;

[0142] When the initial value of the target state parameter at the first moment is less than the first limit value of the target state parameter at the first moment, determine the first limit value of the target state parameter at the first moment as the target value of the target state parameter at the first moment.

[0143] Based on the relationship between the initial value of the target state parameter at the first moment and the limit value of the target state parameter at the first moment, the embodiments of the present application determine the initial value of the target parameter at the first moment or the limit value of the target state parameter at the first moment as the target value of the target state parameter at the first moment, which can ensure the rationality of the target value of the target state parameter at the first moment, and further improve the safety of electronically stabilizing the vehicle or actively controlling roll based on the target value of the target state parameter at the first moment.

[0144] In one embodiment, obtaining the limit value of the target state parameter at the first moment includes:

[0145] When the target state parameter includes the lateral speed, determine the limit value of the lateral speed at the first moment according to the maximum allowable side slip angle value of the vehicle and the value of the longitudinal speed of the vehicle at the first moment;

[0146] When the target state parameter includes the yaw angular velocity, determine the limit value of the yaw angular velocity at the first moment according to the collected value of the yaw angular velocity at the first moment and the first difference; the first difference is the difference between the maximum allowable yaw angular velocity value of the vehicle and the collected value of the yaw angular velocity at the first moment;

[0147] When the target state parameter includes the roll angle, determine the limit value of the roll angle at the first moment according to the maximum allowable roll angle value of the vehicle;

[0148] When the target state parameter includes the roll angular velocity, determine the limit value of the roll angular velocity at the first moment according to the collected value of the roll angular velocity at the first moment and the second difference; the second difference is the difference between the maximum allowable roll angular velocity value of the vehicle and the collected value of the roll angular velocity at the first moment.

[0149] Specifically, when the limit value of the target state parameter at the first moment includes the first limit value and the second limit value, the limit value of the lateral speed of the vehicle at the first moment can be determined by formulas (23) and (24) respectively:

[0150]

[0151] Wherein, are respectively the first limit value and the second limit value of the lateral speed of the vehicle at the first moment; V x is the value of the longitudinal speed of the vehicle at the first moment; α max is the maximum allowable side slip angle value of the vehicle.

[0152] The limit value of the yaw angular velocity of the vehicle at the first moment can be determined by formulas (25) and (26) respectively:

[0153]

[0154] Wherein, are respectively the first limit value and the second limit value of the yaw angular velocity of the vehicle at the first moment; W z_snsr is the collected value of the yaw angular velocity of the vehicle at the first moment; W z_Lim is the difference between the maximum allowable yaw angular velocity value of the vehicle and the collected value of the yaw angular velocity at the first moment, that is, the first difference.

[0155] The limit values of the roll angle of the vehicle at the first moment can be determined respectively by formulas (27) and (28):

[0156]

[0157] wherein, are respectively the first limit value and the second limit value of the roll angle of the vehicle at the first moment; θ x_max is the maximum allowable roll angle value of the vehicle.

[0158] The limit values of the roll angular velocity of the vehicle at the first moment can be determined respectively by formulas (29) and (30):

[0159]

[0160] wherein, are respectively the first limit value and the second limit value of the roll angular velocity of the vehicle at the first moment; W x_snsr is the acquired value of the roll angular velocity of the vehicle at the first moment; W x_Lim is the difference between the maximum allowable roll angular velocity value of the vehicle and the acquired value of the roll angular velocity of the vehicle at the first moment, that is, the second difference.

[0161] In the embodiment of the present application, according to the maximum allowable side slip angle value of the vehicle and the value of the longitudinal speed of the vehicle at the first moment, the limit value of the lateral speed at the first moment can be accurately determined; according to the acquired value of the yaw angular velocity at the first moment, and the difference between the maximum allowable yaw angular velocity value of the vehicle and the acquired value of the yaw angular velocity at the first moment, the limit value of the yaw angular velocity at the first moment can be accurately determined; according to the maximum allowable roll angle value of the vehicle, the limit value of the roll angle at the first moment can be determined; according to the acquired value of the roll angular velocity at the first moment, and the difference between the maximum allowable roll angular velocity value of the vehicle and the acquired value of the roll angular velocity at the first moment, the limit value of the roll angular velocity at the first moment can be accurately determined, thereby being able to ensure the rationality of determining the target value of the target state parameter at the first moment based on the relationship between the initial value and the limit value of the target state parameter at the first moment, and thus being able to improve the safety of electronically stabilizing the vehicle or actively controlling roll based on the target value of the target state parameter at the first moment.

[0162] The vehicle state determination method provided by the embodiments of the present application, for the target motion condition of the vehicle at the first moment, determines the initial value of the target state parameter of the vehicle at the first moment under the target motion condition by based on the selected kinematic method and / or dynamic method corresponding to the target motion condition, and the value of the first state parameter corresponding to the target motion condition at the first moment, so that the vehicle state determination method provided by the embodiments of the present application can be unrestricted by the vehicle motion condition. In any case where the vehicle is in any motion condition, by using the vehicle state determination method provided by the embodiments of the present application, the value of the target state parameter of the vehicle at the first moment can be accurately determined; further, by based on the relationship between the initial value of the target state parameter at the first moment and the limit value of the target state parameter at the first moment, the initial value of the target parameter at the first moment or the limit value of the target state parameter at the first moment is determined as the target value of the target state parameter at the first moment, which can ensure the rationality of the value of the target state parameter at the first moment, and further improve the safety of electronic stability control or active roll control of the vehicle based on the value of the target state parameter at the first moment; in addition, for a vehicle not equipped with a responsive vehicle-mounted gyro sensor, by using the vehicle state determination method provided by the embodiments of the present application, the values of yaw rate, roll rate, roll angle, and lateral velocity can be accurately obtained.

[0163] Please refer to Figure 4 , the embodiments of the present application further provide a vehicle state determination device 400, which can implement the above vehicle state determination method. The device includes: a first acquisition module 401, a second acquisition module 402, a first determination module 403, and a second determination module 404.

[0164] Among them, the first acquisition module 401 is used to acquire the target motion condition of the vehicle at the first moment;

[0165] The second acquisition module 402 is used to acquire the target method corresponding to the target motion condition and the value of the first state parameter at the first moment; among them, the target method includes at least one of a kinematic method and a dynamic method; when the target method includes a kinematic method, the first state parameter includes the longitudinal speed and the front wheel angle of the vehicle; when the target method includes a dynamic method, the first state parameter includes at least one of the torque and the lateral force of the vehicle;

[0166] The first determination module 403 is used to adopt the target method and determine the initial value of the target state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment; among them, the target state parameter includes at least one of yaw rate, roll rate, roll angle, and lateral velocity;

[0167] The second determination module 404 is used to determine the target value of the target state parameter at the first moment according to the initial value of the target state parameter at the first moment.

[0168] The vehicle state determination device provided by the embodiments of the present application can implement each step of the vehicle state determination method embodiments described above and can achieve the same technical effects. To avoid repetition, details are not described herein again.

[0169] Please refer to Figure 5 , the embodiments of the present application further provide a vehicle state determination device 500, including a processor 501 and a memory 502. A program or instruction that can run on the processor 501 is stored on the memory 502. When the program or instruction is executed by the processor 501, each step of the vehicle state determination method embodiments described above is implemented, and the same technical effects can be achieved. To avoid repetition, details are not described herein again. It should be noted that the vehicle state determination device in the embodiments of the present application includes a mobile vehicle state determination device and a non-mobile vehicle state determination device.

[0170] Figure 6 For the hardware structure schematic diagram of the vehicle state determination device of the embodiments of the present application, the vehicle state determination device includes:

[0171] A processor 601, which can be implemented by using a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits, etc., and is used to execute relevant programs to implement the technical solutions provided by the embodiments of the present application;

[0172] A memory 602, which can be implemented in the form of a read only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM), etc. The memory 602 can store an operating system and other application programs. When implementing the technical solutions provided by the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 602, and the processor 601 is called to execute the vehicle state determination method of the embodiments of the present application;

[0173] An input / output interface 603, which is used to implement information input and output;

[0174] A communication interface 604, which is used to implement communication interaction between this device and other devices, and can implement communication through a wired method (such as USB, network cable, etc.) or through a wireless method (such as mobile network, WIFI, Bluetooth, etc.);

[0175] A bus 605 transmits information between various components of the device (such as a processor 601, a memory 602, an input / output interface 603, and a communication interface 604);

[0176] Among them, the processor 601, the memory 602, the input / output interface 603, and the communication interface 604 achieve communication connections with each other inside the device through the bus 605.

[0177] The vehicle state determination device provided by the embodiments of the present application can implement each step of the above-mentioned vehicle state determination method embodiments and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0178] The embodiments of the present application further provide a computer-readable storage medium. A program or instruction is stored on the computer-readable storage medium. When the program or instruction is executed by a processor, it implements each step of the above-mentioned vehicle state determination method embodiments and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0179] Among them, the processor is the processor in the vehicle state determination device described in the above embodiments. The computer-readable storage medium includes computer-readable storage media such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk, or an optical disc, etc.

[0180] The embodiments of the present application further provide a chip. The chip includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run a program or instruction to implement each step of the above-mentioned vehicle state determination method embodiments and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0181] It should be understood that the chip mentioned in the embodiments of the present application can also be referred to as a system-on-chip, a system chip, a chip system, or a system-on-chip, etc.

[0182] The embodiments of the present application provide a computer program product. The program product is stored in a storage medium. The program product is executed by at least one processor to implement each step of the vehicle state determination method embodiments as described above and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0183] It should be noted that in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising such element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0184] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc) and includes several instructions for causing a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0185] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Those of ordinary skill in the art, under the inspiration of the present application and without departing from the spirit of the present application and the scope protected by the claims, can still make many forms, all of which fall within the protection scope of the present application.

Claims

1. A method for determining a vehicle state, characterized in that: include: Obtain the target motion condition of the vehicle at the first moment; Obtaining a target method and a value of a first state parameter corresponding to the target motion condition at the first moment; wherein the target method includes at least one of a kinematic method and a dynamic method; when the target method includes the kinematic method, the first state parameter includes a longitudinal speed and a front wheel angle of the vehicle; when the target method includes the dynamic method, the first state parameter includes at least one of a torque and a lateral force of the vehicle; Using the target method, according to the value of the first state parameter at the first moment, determining the initial value of the target state parameter of the vehicle at the first moment; wherein the target state parameter includes at least one of the yaw angular velocity, the roll angular velocity, the roll angle and the lateral velocity; According to the initial value of the target state parameter at the first moment, a target value of the target state parameter at the first moment is determined.

2. The vehicle state determination method according to claim 1, characterized in that: The obtaining of the target motion condition of the vehicle at the first moment includes: Obtaining a value of the longitudinal velocity of the vehicle at the first moment; In the case where the value of the longitudinal speed at the first moment is less than the first preset speed value, the target motion condition is a low-speed motion condition; and the target method is the kinematic method; In the case where the value of the longitudinal speed at the first moment is greater than the second preset speed value, the target motion condition is a high-speed motion condition; the target method is the dynamic method; and the second preset speed value is greater than the first preset speed value; When the value of the longitudinal speed at the first moment is within the first target interval, the target motion condition is a medium-speed motion condition; the target method is the kinematic method and the dynamic method; and the first target interval is a closed interval consisting of the first preset speed value and the second preset speed value.

3. The vehicle state determination method according to claim 1, characterized in that: In the case where the target motion condition is a high-speed motion condition, the target method is the dynamic method; The adopting the target method to determine the initial value of the target state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment includes: Determining a value of a second state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment by using a dynamic equilibrium equation corresponding to the first state parameter; wherein the second state parameter includes at least one of yaw angular acceleration, roll angular acceleration and lateral acceleration; The initial value of the target state parameter of the vehicle at the first moment is determined according to the value of the target state parameter at the second moment and the value of the second state parameter at the first moment; wherein the second moment is earlier than the first moment.

4. The vehicle state determination method according to claim 3, characterized in that: The torque includes yaw torque and roll torque; The determining, using the dynamic equilibrium equation corresponding to the first state parameter and according to the value of the first state parameter at the first moment, the value of the second state parameter of the vehicle at the first moment includes: Determining the value of at least one of the yaw angular acceleration and the roll angular acceleration at the first moment according to the values ​​of the yaw torque and the roll torque at the first moment using the vehicle yaw torque dynamic balance equation and the vehicle roll torque dynamic balance equation; and / or The value of the lateral acceleration at the first moment is determined according to the value of the lateral force at the first moment by using the vehicle lateral force dynamics equilibrium equation.

5. The vehicle state determination method according to claim 1, characterized in that: When the target motion condition is a low-speed motion condition, the target method is the kinematic method; The adopting the target method to determine the initial value of the target state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment includes: An Ackerman kinematic model is used to determine an initial value of at least one of the yaw velocity and the lateral velocity at the first moment according to a value of a first state parameter of the vehicle at the first moment.

6. The vehicle state determination method according to claim 1, characterized in that: When the target motion condition is a medium-speed motion condition, the target method is the kinematic method and the dynamic method; The adopting the target method to determine the initial value of the target state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment includes: Based on the kinematic method, determining a first value of the target state parameter at the first moment according to a value of a first target parameter in the first state parameter at the first moment; wherein the first target parameter includes a longitudinal speed and a front wheel steering angle of the vehicle; Based on the dynamic method, determining a second value of the target state parameter at the first moment according to a value of a second target parameter in the first state parameter at the first moment; wherein the second target parameter includes at least one of the torque and the lateral force of the vehicle; According to a preset fusion weight, a first value of the target state parameter at the first moment and a second value of the target state parameter at the first moment are fused to obtain an initial value of the target state parameter at the first moment.

7. The vehicle state determination method according to claim 1, characterized in that: The torque includes yaw torque and roll torque; In the case where the target method includes the dynamic method, the step of obtaining the target method corresponding to the target motion condition and the value of the first state parameter at the first moment includes: Based on the generation principle of the vehicle lateral force, the value of the lateral force at the first moment is determined according to the value of the third state parameter of the vehicle at the first moment and the value of the yaw angular velocity at the second moment; wherein the second moment is earlier than the first moment; the third state parameter includes longitudinal velocity, front axle lateral force, rear axle lateral force, front axle longitudinal force and front wheel turning angle; and / or Using the mechanical relationship of the vehicle in the first plane, the value of the yaw torque at the first moment is determined according to the values ​​of the longitudinal force of the vehicle's wheels and the front wheel angle at the first moment; and using the mechanical relationship of the vehicle in the second plane, the value of the roll torque at the first moment is determined according to the values ​​of the yaw angular velocity, the roll angular velocity and the roll angle at the second moment, and the value of the longitudinal velocity at the first moment; wherein the first plane is parallel to the road surface on which the vehicle is traveling at the first moment; and the second plane is perpendicular to the road surface on which the vehicle is traveling at the first moment.

8. The vehicle state determination method according to claim 1, characterized in that: The determining, according to the initial value of the target state parameter at the first moment, the target value of the target state parameter at the first moment comprises: Obtaining a limit value of the target state parameter at the first moment; According to the relationship between the initial value of the target state parameter at the first moment and the limited value of the target state parameter at the first moment, the initial value of the target parameter at the first moment or the limited value of the target state parameter at the first moment is determined as the target value of the target state parameter at the first moment.

9. The vehicle state determination method according to claim 8, characterized in that: The obtaining the limited value of the target state parameter at the first moment includes: In a case where the target state parameter includes the lateral speed, determining a limit value of the lateral speed at the first moment according to a maximum allowable sideslip angle value of the vehicle and a value of the longitudinal speed of the vehicle at the first moment; In a case where the target state parameter includes the yaw rate, determining a limit value of the yaw rate at the first moment according to a collected value of the yaw rate at the first moment and a first difference; the first difference is a difference between a maximum allowable yaw rate value of the vehicle and a collected value of the yaw rate at the first moment; In a case where the target state parameter includes the roll angle, determining a limit value of the roll angle at the first moment according to a maximum allowable roll angle value of the vehicle; In a case where the target state parameter includes the roll angular velocity, a limit value of the roll angular velocity at the first moment is determined based on a collected value of the roll angular velocity at the first moment and a second difference; the second difference is a difference between a maximum allowable roll angular velocity value of the vehicle and a collected value of the roll angular velocity at the first moment.

10. A vehicle state determination device, characterized in that: It includes a first acquisition module, a second acquisition module, a first determination module and a second determination module; The first acquisition module is used to acquire the target motion condition of the vehicle at the first moment; The second acquisition module is used to obtain the target method corresponding to the target motion condition and the value of the first state parameter at the first moment; wherein the target method includes at least one of a kinematic method and a dynamic method; when the target method includes the kinematic method, the first state parameter includes the longitudinal speed and the front wheel angle of the vehicle; when the target method includes the dynamic method, the first state parameter includes at least one of the torque and the lateral force of the vehicle; The first determination module is used to determine the initial value of the target state parameter of the vehicle at the first moment according to the value of the first state parameter at the first moment by using the target method; wherein the target state parameter includes at least one of the yaw angular velocity, the roll angular velocity, the roll angle and the lateral velocity; The second determination module is used to determine the target value of the target state parameter at the first moment according to the initial value of the target state parameter at the first moment.

11. A vehicle state determination device, characterized in that: The vehicle state determination device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the vehicle state determination method according to any one of claims 1 to 9 when executing the computer program.

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