Mass center position determination method and device, computer equipment and storage medium
By collecting vehicle motion parameters and environmental parameters, determining the static equilibrium conditions and calculating the current center of mass position, the problem that changes in the vehicle center of mass position affect the measurement accuracy is solved, and the reliability of safe driving of the vehicle is improved.
Patent Information
- Application Number
- CN202510340123.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-21
- Publication Date
- 2025-06-20
AI Technical Summary
When the vehicle faces complex working conditions, the center of mass position may change, but the sensor calibration still uses the initial center of mass position, resulting in a reduced measurement accuracy and reliability, affecting the safe driving of the vehicle.
By collecting the motion parameters and environmental parameters of the vehicle in different directions, it is determined that the vehicle meets the static equilibrium conditions in different directions, obtains the current load distribution, and calculates the current position of the vehicle's centroid based on the load distribution.
It improves the accuracy of the position of the vehicle center of mass, ensures the measurement accuracy and reliability of the sensor, thereby ensuring the safe driving of the vehicle.
Smart Images
Figure CN120176927A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of vehicle control, and particularly to a method and device for determining the centroid position, a computer device, and a storage medium. Background Art
[0002] With the continuous development of technology, many current vehicle functions are related to the vehicle attitude, such as the external parameter calibration of intelligent driving sensors, the adjustment of the height position of vehicle headlights, etc. During the development process of the vehicle, the external parameters of the sensors are input and calibrated based on the centroid position, and remain unchanged during the use of the vehicle. However, the vehicle faces a complex and diverse range of working conditions, and its centroid position may also change accordingly. For example, when the vehicle is accelerating, decelerating, turning, the distribution and number of occupants change, or the air suspension is adjusted, the centroid position will change, while the centroid position used for sensor calibration is still the initial centroid position, which is inconsistent with the actual centroid position, affecting the measurement accuracy and reliability of the sensors, and further affecting the safe driving of the vehicle. Summary of the Invention
[0003] Based on this, a method and device for determining the centroid position, a computer device, and a storage medium are provided to solve the problem in the related art that the vehicle faces a complex and diverse range of working conditions, and its centroid position may also change accordingly, while the centroid position used for sensor calibration is still the initial centroid position, which is inconsistent with the actual centroid position, affecting the measurement accuracy and reliability of the sensors, and further affecting the safe driving of the vehicle.
[0004] In a first aspect, the present application provides a method for determining the centroid position, the method comprising:
[0005] Collecting the motion parameters and / or environmental parameters of the vehicle in different directions;
[0006] In response to determining that the vehicle satisfies the static balance conditions in different directions according to the motion parameters and / or environmental parameters in different directions, obtaining the current load distribution of the vehicle;
[0007] Calculating the current positions of the vehicle centroid in different directions according to the current load distribution.
[0008] In one embodiment, the determining that the vehicle satisfies the static balance conditions in different directions according to the motion parameters and / or environmental parameters in different directions includes:
[0009] Obtaining the first acceleration of the vehicle in the first direction, the slope where the vehicle is located, and the four-wheel suspension positions of the vehicle, where the first direction is the length direction of the vehicle;
[0010] If the first acceleration is less than or equal to a first threshold, the slope is less than or equal to a first preset slope, and the duration for which the difference between the four-wheel suspension positions is less than a preset threshold reaches a preset duration, it is determined that the vehicle satisfies the static balance condition in the first direction.
[0011] In one embodiment, the determining that the vehicle satisfies the static balance conditions in the different directions according to the motion parameters and / or environmental parameters in the different directions further includes:
[0012] Obtain a second acceleration, a roll angular velocity, a sideslip angle of the vehicle, and four-wheel suspension positions of the vehicle in a second direction, where the second direction is the width direction of the vehicle;
[0013] If the second acceleration is less than or equal to a second threshold, the roll angular velocity is less than or equal to a third threshold, the sideslip angle is less than or equal to a fourth threshold, and the duration for which the difference between the four-wheel suspension positions is less than a preset threshold reaches a preset duration, it is determined that the vehicle satisfies the static balance condition in the second direction.
[0014] In one embodiment, the determining that the vehicle satisfies the static balance conditions in the different directions according to the motion parameters and / or environmental parameters in the different directions further includes:
[0015] Obtain the acceleration of the vehicle and the slope at which the vehicle is located, where the acceleration includes a first acceleration of the vehicle in a first direction and a second acceleration of the vehicle in a second direction;
[0016] If the acceleration belongs to a preset range and the slope is greater than or equal to a second preset slope, it is determined that the vehicle satisfies the static balance condition in a third direction, where the third direction is the height direction of the vehicle.
[0017] In one embodiment, the calculating the current positions of the vehicle's center of mass in the different directions according to the current load distribution includes:
[0018] Obtain the wheelbase of the vehicle and the pressures of each suspension;
[0019] According to the wheelbase and the pressures of each suspension, calculate the distances between the vehicle's center of mass and the front and rear axles in the first direction respectively, so as to obtain the current position of the vehicle's center of mass in the first direction.
[0020] In one embodiment, the calculating the current positions of the vehicle's center of mass in the different directions according to the current load distribution further includes:
[0021] Obtain the track width of the vehicle and the pressures of each suspension;
[0022] Calculate the distances between the vehicle's center of mass and the left and right wheels respectively in the second direction based on the track width and the suspension pressures of each wheel, so as to obtain the current position of the vehicle's center of mass in the second direction.
[0023] In one embodiment, the calculating the current positions of the vehicle's center of mass in different directions according to the current load distribution further includes:
[0024] Obtain the wheelbase of the vehicle, the suspension pressures of each wheel, and the inclination angle corresponding to the vehicle;
[0025] Calculate the current position of the vehicle's center of mass in the third direction according to the wheelbase, the suspension pressures of each wheel, and the inclination angle.
[0026] In a second aspect, the present application provides a device for determining the center of mass position, and the device includes:
[0027] An acquisition module, configured to acquire the motion parameters and / or environmental parameters of the vehicle in different directions;
[0028] A determination module, configured to obtain the current load distribution of the vehicle in response to determining that the vehicle satisfies the static balance conditions in different directions according to the motion parameters and / or environmental parameters in different directions;
[0029] A calculation module, configured to calculate the current positions of the vehicle's center of mass in different directions according to the current load distribution.
[0030] In a third aspect, the present application provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, it implements the method for determining the center of mass position in the first aspect above.
[0031] In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the method for determining the center of mass position in the first aspect above.
[0032] The above method, device, computer device, and storage medium for determining the center of mass position collect the motion parameters and / or environmental parameters of the vehicle in different directions, monitor the motion state and environment of the vehicle in real time, and when it is determined according to the motion parameters and / or environmental parameters that the vehicle satisfies the static balance conditions in different directions, combine the current load distribution to dynamically calculate the current positions of the vehicle's center of mass in different directions, improve the accuracy of the vehicle's center of mass position, ensure the measurement accuracy and reliability of the sensor, and thus ensure the safe driving of the vehicle. Description of the Drawings
[0033] Figure 1Schematic flowchart of the centroid position determination method provided by the embodiment of the present application;
[0034] Figure 2 Schematic diagram of the vehicle direction provided by the embodiment of the present application;
[0035] Figure 3 Schematic diagram of the centroid position of the vehicle in the first direction provided by the embodiment of the present application;
[0036] Figure 4 Schematic diagram of the centroid position of the vehicle in the second direction provided by the embodiment of the present application;
[0037] Figure 5 Schematic diagram of the centroid position of the vehicle in the third direction provided by the embodiment of the present application;
[0038] Figure 6 Structure block diagram of the centroid position determination device provided by the embodiment of the present application;
[0039] Figure 7 Internal structure diagram of the computer device provided by the embodiment of the present application. Detailed implementation manners
[0040] In order to make the objectives, technical solutions, and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings. The specific operation methods in the method embodiments can also be applied to the device embodiments or system embodiments. It should be noted that in the description of the present application, "a plurality of" is understood as "at least two". "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist, and B exists alone. The connection between A and B may represent: A is directly connected to B and A is connected to B through C. In addition, in the description of the present application, terms such as "first" and "second" are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.
[0041] For the convenience of those skilled in the art to understand, the technical terms involved in the embodiments of the present application will be explained first.
[0042] (1) The Vehicle Control Unit (VCU) is the core electronic control system in new energy electric vehicles. It is responsible for the power distribution, energy management, and driving control of the vehicle. It can calculate motion parameters such as the acceleration of the vehicle and send the calculated motion parameters to other control systems through the bus.
[0043] (2) The Electric Power Steering (EPS) is a motor-based steering assist system that helps the driver complete the steering operation through the motor. It can calculate motion parameters related to steering, such as the yaw rate and sideslip angle of the vehicle, and send these parameters to other control systems via the bus.
[0044] In the technical solution of this application, the acquisition, transmission, storage, use, etc. of data all comply with the requirements of relevant national laws and regulations.
[0045] Before introducing the centroid position determination method provided by the embodiments of this application, for the convenience of understanding, the technical background of the embodiments of this application will be introduced in detail below.
[0046] The working conditions faced by vehicles are complex and diverse, and their centroid positions may also change accordingly. For example, for the same vehicle, the centroid position will be different due to the different positions and weights of the passengers and cargo; during the vehicle's driving, the passengers on the vehicle may leave their seats or move back and forth, and at this time the centroid position will also change; during the vehicle's driving, due to vehicle jolts, the positions of the cargo or items may shift, and at this time the centroid position will also change. Under such working conditions, the centroid position used for sensor calibration is still the initial centroid position, which is not consistent with the actual centroid position, affecting the measurement accuracy and reliability of the sensor, and further affecting the safe driving of the vehicle.
[0047] In view of this, the embodiments of this application provide a centroid position determination method, device, computer device, and storage medium to solve the problem in the related art that the working conditions faced by vehicles are complex and diverse, and their centroid positions may also change accordingly, while the centroid position used for sensor calibration is still the initial centroid position, which is not consistent with the actual centroid position, affecting the measurement accuracy and reliability of the sensor, and further affecting the safe driving of the vehicle.
[0048] The technical solutions provided by the embodiments of this application will be described in detail below in conjunction with the accompanying drawings and specific implementation manners.
[0049] Figure 1 It is a schematic flowchart of the centroid position determination method provided by the embodiments of this application. This process can be executed by the centroid position determination device, which can be implemented in software, hardware, or a combination of software and hardware. As Figure 1 shown, this process includes the following steps:
[0050] S101, collect the motion parameters and / or environmental parameters of the vehicle in different directions;
[0051] S102. In response to determining that the vehicle meets the static balance conditions in different directions based on the motion parameters and / or environmental parameters in different directions, obtain the current load distribution of the vehicle.
[0052] S103. Calculate the current positions of the vehicle's center of mass in different directions according to the current load distribution.
[0053] Among them, the motion parameters and / or environmental parameters in different directions can be obtained from the VCU, EPS, sensors, etc. through the bus. The vehicle in the embodiments of the present application has an electro-hydraulic suspension or an air suspension.
[0054] The different directions of the vehicle are the first direction, the second direction, and the third direction. Figure 2 For the schematic diagram of the vehicle directions provided in the embodiments of the present application, as Figure 2 shown, the first direction is the length direction of the vehicle (the head direction is the positive direction of the first direction. Among the wheels in the first direction, the wheels close to the driver belong to the front wheels, and the wheels close to the vehicle tail belong to the rear wheels), the second direction is the width direction of the vehicle (the left hand side of the driver is the positive direction of the second direction. The driver is located on the left side of the vehicle, and the right hand side of the driver belongs to the right side of the vehicle), and the third direction is the height direction of the vehicle (the upper part of the vehicle is the positive direction of the third direction).
[0055] In S102, by way of example, determining that the vehicle meets the static balance conditions in different directions based on the motion parameters and / or environmental parameters in different directions includes, but is not limited to:
[0056] Determine that the vehicle meets the static balance conditions in the first direction according to the motion parameters and / or environmental parameters in the first direction.
[0057] Optionally, obtain the first acceleration of the vehicle in the first direction (reflecting the dynamic response of the vehicle during acceleration, deceleration, or braking). If the first acceleration is less than or equal to the first threshold, it indicates that the change in the first acceleration of the vehicle during driving is small and it is in a relatively stable acceleration or deceleration state, then determine that the vehicle meets the static balance conditions in the first direction. Among them, the first threshold can be 0.4, and the specific value depends on the situation and is not limited here.
[0058] Optionally, obtain the slope of the road where the vehicle is located (describing the inclination angle of the current road surface where the vehicle is located and reflecting the attitude change of the vehicle when going uphill, downhill, or on an uneven road surface). If the slope is less than or equal to the first preset slope, it indicates that the road slope where the vehicle is driving is gentle, then determine that the vehicle meets the static balance conditions in the first direction. Among them, the first preset slope can be 1%, and the specific value depends on the situation and is not limited here.
[0059] Optionally, obtain the four-wheel suspension positions of the vehicle (describing the amount of compression or extension of the suspension systems of the four wheels of the vehicle in the current state, reflecting the behavior of the suspension systems of the vehicle under different loads, road conditions, or dynamic working conditions). If the duration for which the difference between the four-wheel suspension positions is less than a preset threshold reaches a preset duration (for example, the duration for which the difference between the four-wheel suspension positions is less than 4% reaches 0.1 second, and the specific values depend on the circumstances and are not limited herein), it indicates that the suspension system of the vehicle is working properly, and then it is determined that the vehicle meets the static balance condition in the first direction.
[0060] Optionally, obtain the first acceleration of the vehicle in the first direction, the slope where the vehicle is located, and the four-wheel suspension positions of the vehicle. If the first acceleration is less than or equal to a first threshold, the slope is less than or equal to a first preset slope, and the duration for which the difference between the four-wheel suspension positions is less than a preset threshold reaches a preset duration, then it is determined that the vehicle meets the static balance condition in the first direction.
[0061] By using the above method to determine whether the vehicle meets the static balance condition in the first direction, it can ensure that the calculation of the centroid position in the first direction satisfies the condition that the front and rear axles of the vehicle are in a horizontal position, thereby guaranteeing the reliability and accuracy of the centroid position calculation in the first direction.
[0062] Determine that the vehicle meets the static balance condition in the second direction according to the motion parameters and / or environmental parameters in the second direction.
[0063] Optionally, obtain the second acceleration of the vehicle in the second direction (reflecting the dynamic response of the vehicle when turning or changing lanes). If the second acceleration is less than or equal to a second threshold, it indicates that the lateral force received by the vehicle when turning or changing lanes is small and the vehicle can maintain good stability, and then it is determined that the vehicle meets the static balance condition in the second direction. Among them, the second threshold can be 0.05, and the specific values depend on the circumstances and are not limited herein;
[0064] Optionally, obtain the yaw rate of the vehicle in the second direction (describing the angular velocity of the vehicle rotating around the third direction, reflecting the speed of the vehicle's steering or direction change). If the yaw rate is less than or equal to a third threshold, it indicates that the rotation speed of the vehicle around the third direction is appropriate and there is no excessive steering or fishtailing phenomenon, and then it is determined that the vehicle meets the static balance condition in the second direction. Among them, the third threshold can be 3%, and the specific values depend on the circumstances and are not limited herein.
[0065] Optionally, obtain the sideslip angle of the vehicle (describing the angle between the driving direction of the vehicle and the actual direction pointed by the wheels, reflecting the lateral force acting between the tire and the road surface). If the sideslip angle is less than or equal to the fourth threshold, it indicates that the angle between the driving direction of the vehicle and the actual direction pointed by the wheels is small, and the wheels can better track the driving trajectory of the vehicle. Then, it is determined that the vehicle meets the static balance condition in the second direction. Among them, the fourth threshold can be 2%, and the specific value depends on the situation and is not limited here.
[0066] Optionally, obtain the four-wheel suspension positions of the vehicle (describing the compression or extension of the suspension systems of the four wheels of the vehicle in the current state, reflecting the behavior of the suspension system of the vehicle under different loads, road conditions or dynamic working conditions). If the duration for which the difference between the four-wheel suspension positions is less than the preset threshold reaches the preset duration (for example, the duration for which the difference between the four-wheel suspension positions is less than 4% reaches 0.1 second, and the specific value depends on the situation and is not limited here), it indicates that the suspension system of the vehicle is working normally. Then, it is determined that the vehicle meets the static balance condition in the second direction.
[0067] Optionally, obtain the second acceleration, yaw rate, sideslip angle of the vehicle, and four-wheel suspension positions in the second direction. If the second acceleration is less than or equal to the second threshold, the yaw rate is less than or equal to the third threshold, the sideslip angle is less than or equal to the fourth threshold, and the duration for which the difference between the four-wheel suspension positions is less than the preset threshold reaches the preset duration, then it is determined that the vehicle meets the static balance condition in the second direction.
[0068] By the above method, judging whether the vehicle meets the static balance condition in the second direction can ensure that the calculation of the centroid position in the second direction satisfies that the left and right wheels of the vehicle are in a horizontal position, thereby ensuring the reliability and accuracy of the calculation of the centroid position in the second direction.
[0069] Determine that the vehicle meets the static balance condition in the third direction according to the motion parameters and / or environmental parameters in the third direction.
[0070] Optionally, obtain the acceleration of the vehicle, including the first acceleration in the first direction and the second acceleration in the second direction. If the acceleration belongs to the preset range, that is, both the first acceleration and the second acceleration belong to the preset range, it indicates that the vehicle is in a state close to uniform speed or slow acceleration and deceleration, and the load distribution and suspension state of the vehicle are relatively stable. Then, it is determined that the vehicle meets the static balance condition in the third direction. Among them, the preset range can be (-0.2, 0.2), and the specific value depends on the situation and is not limited here.
[0071] Optionally, obtain the slope of the vehicle. If the slope is greater than or equal to the second preset slope (to ensure the calculation of the centroid position in the third direction in the vehicle's tilted state), it is determined that the vehicle meets the static balance condition in the third direction. Among them, the second preset slope can be 8%, and the specific value depends on the situation and is not limited here.
[0072] Optionally, obtain the acceleration of the vehicle and the slope it is on. If the acceleration belongs to the preset range and the slope is greater than or equal to the second preset slope, it is determined that the vehicle meets the static balance condition in the third direction.
[0073] Through the above method, the reliability and accuracy of the centroid position calculation in the third direction can be ensured.
[0074] In S103, by way of example, illustrate calculating the current positions of the vehicle's centroid in different directions according to the current load distribution, including but not limited to:
[0075] Calculate the current position of the vehicle's centroid in the first direction according to the current load distribution, including but not limited to: obtain the wheelbase of the vehicle and the pressures of each suspension (which can be obtained through the bus), and calculate the distances between the vehicle's centroid in the first direction and the front and rear axles respectively based on the wheelbase and the pressures of each suspension to obtain the current position of the vehicle's centroid in the first direction.
[0076] For example, Figure 3 is a schematic diagram of the centroid position of the vehicle in the first direction provided by the embodiment of the present application. As Figure 3 shown, D1 represents the distance (in millimeters) between the vehicle's centroid in the first direction and the front axle, D2 represents the distance (in millimeters) between the vehicle's centroid in the first direction and the rear axle, D represents the wheelbase of the vehicle (this parameter is a fixed parameter when the vehicle leaves the factory and can be directly obtained, in millimeters), and D = D1 + D2.
[0077] Obtain the front suspension pressure of the vehicle and Y1 (Y1 = left front suspension pressure + right front suspension pressure, in Newtons) and the total four-wheel suspension pressure F (in Newtons), and calculate D1 based on Y1, F, and D. The calculation method of D1 can be:
[0078]
[0079] Obtain the rear suspension pressure of the vehicle and Y2 (Y2 = left rear suspension pressure + right rear suspension pressure, in Newtons) and the total four-wheel suspension pressure F, and calculate D2 based on Y2, F, and D. The calculation method of D2 can be:
[0080]
[0081] Through the above method, based on the wheelbase of the vehicle and the pressures of each suspension, the current position of the vehicle's center of mass in the first direction is dynamically calculated, providing a real-time and reliable center of mass position in the first direction for the sensor, and the calculation process is simple.
[0082] Calculate the current position of the vehicle's center of mass in the second direction according to the current load distribution, including but not limited to: obtaining the track width of the vehicle and the pressures of each suspension, and calculating the distances between the vehicle's center of mass and the left and right wheels respectively in the second direction based on the track width and the pressures of each suspension to obtain the current position of the vehicle's center of mass in the second direction.
[0083] For example, Figure 4 is a schematic diagram of the vehicle's center of mass position in the second direction provided by an embodiment of the present application. As Figure 4 shown, A1 represents the distance (in millimeters) between the vehicle's center of mass and the left wheel in the second direction, A2 represents the distance (in millimeters) between the vehicle's center of mass and the right wheel in the second direction, A represents the track width of the vehicle (this parameter is a fixed parameter when the vehicle leaves the factory and can be directly obtained, in millimeters), and A = A1 + A2.
[0084] Obtain the left suspension pressure of the vehicle and X1 (X1 = left front suspension pressure + left rear suspension pressure, in Newtons) and the total suspension pressure of the four wheels and F, and calculate A1 based on X1, F, and A. The calculation method of A1 can be:
[0085]
[0086] Obtain the right suspension pressure of the vehicle and X2 (X2 = right front suspension pressure + right rear suspension pressure, in Newtons) and the total suspension pressure of the four wheels and F, and calculate A2 based on X2, F, and A. The calculation method of A2 can be:
[0087]
[0088] Through the above method, based on the track width of the vehicle and the pressures of each suspension, the current position of the vehicle's center of mass in the second direction is dynamically calculated, providing a real-time and reliable center of mass position in the second direction for the sensor, and the calculation process is simple.
[0089] Calculate the current position of the vehicle's center of mass in the third direction according to the current load distribution, including but not limited to: obtaining the wheelbase of the vehicle, the pressures of each suspension, and the tilt angle corresponding to the vehicle (which can be obtained through a sensor, such as a laser sensor), and calculating the current position of the vehicle's center of mass in the third direction based on the wheelbase, the pressures of each suspension, and the tilt angle.
[0090] For example, Figure 5 is a schematic diagram of the vehicle's center of mass position in the third direction provided by an embodiment of the present application. As Figure 5As shown in the figure, D represents the wheelbase of the vehicle, α represents the inclination angle of the vehicle, that is, the acute angle between the first direction and the horizontal direction, and t represents the height by which the raised wheel of the vehicle is raised relative to the wheel of the other axle on the horizontal line (if it is a downhill, it is the height by which the rear wheel is raised relative to the front wheel on the horizontal line; if it is an uphill, it is the height by which the front wheel is raised relative to the rear wheel on the horizontal line), and t = D * sin(α).
[0091] Obtain the four-wheel suspension pressure sum F, the rear suspension pressure sum Y2 of the vehicle, and the distance D1 between the vehicle's center of mass in the first direction and the front axle, and calculate the current position of the vehicle's center of mass in the third direction, that is, the center of mass height z, according to D, α, t, F, Y2, and D1. The calculation method of z can be:
[0092]
[0093] In formula (5), G represents the acceleration due to gravity.
[0094] By the above method, the wheelbase, the suspension pressures in each direction, and the inclination angle are obtained in real time, and the current position of the vehicle's center of mass in the third direction can be dynamically calculated, providing a real-time and reliable center of mass position in the third direction for the sensor, and the calculation process is simple.
[0095] It should be understood that although Figure 1 the steps in the flowchart of Figure 1 are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order restriction, and these steps can be executed in other orders. Moreover,
[0096] In one embodiment, as shown in Figure 6 a center of mass position determination device is provided, including: a collection module 601, a determination module 602, and a calculation module 603, where:
[0097] The collection module 601 is configured to collect the motion parameters and / or environmental parameters of the vehicle in different directions;
[0098] The determination module 602 is configured to obtain the current load distribution of the vehicle in response to determining that the vehicle satisfies the static balance conditions in different directions according to the motion parameters and / or environmental parameters in different directions;
[0099] The calculation module 603 is configured to calculate the current position of the vehicle's center of mass in different directions according to the current load distribution.
[0100] In one embodiment, the determination module 602 is configured to:
[0101] Obtain the first acceleration of the vehicle in the first direction, the slope where the vehicle is located, and the four-wheel suspension positions of the vehicle, where the first direction is the length direction of the vehicle;
[0102] If the first acceleration is less than or equal to the first threshold, the slope is less than or equal to the first preset slope, and the duration for which the difference between the four-wheel suspension positions is less than the preset threshold reaches the preset duration, it is determined that the vehicle satisfies the static balance condition in the first direction.
[0103] In one embodiment, the determination module 602 is further configured to:
[0104] Obtain the second acceleration of the vehicle in the second direction, the roll angular velocity, the sideslip angle of the vehicle, and the four-wheel suspension positions, where the second direction is the width direction of the vehicle;
[0105] If the second acceleration is less than or equal to the second threshold, the roll angular velocity is less than or equal to the third threshold, the sideslip angle is less than or equal to the fourth threshold, and the duration for which the difference between the four-wheel suspension positions is less than the preset threshold reaches the preset duration, it is determined that the vehicle satisfies the static balance condition in the second direction.
[0106] In one embodiment, the determination module 602 is further configured to:
[0107] Obtain the acceleration of the vehicle and the slope where it is located, where the acceleration includes the first acceleration of the vehicle in the first direction and the second acceleration of the vehicle in the second direction;
[0108] If the acceleration belongs to the preset range and the slope is greater than or equal to the second preset slope, it is determined that the vehicle satisfies the static balance condition in the third direction, where the third direction is the height direction of the vehicle.
[0109] In one embodiment, the calculation module 603 is configured to:
[0110] Obtain the wheelbase of the vehicle and the pressures of each suspension;
[0111] According to the wheelbase and the pressures of each suspension, calculate the distances between the vehicle's center of mass and the front and rear axles in the first direction respectively, so as to obtain the current position of the vehicle's center of mass in the first direction.
[0112] In one embodiment, the calculation module 603 is further configured to:
[0113] Obtain the track width of the vehicle and the pressures of each suspension;
[0114] Calculate the distances between the vehicle's center of mass and the left and right wheels respectively in the second direction based on the track width and the pressures of each suspension, so as to obtain the current position of the vehicle's center of mass in the second direction.
[0115] In one embodiment, the calculation module 603 is further configured to:
[0116] Obtain the wheelbase of the vehicle, the pressures of each suspension, and the tilt angle corresponding to the vehicle;
[0117] Calculate the current position of the vehicle's center of mass in the third direction based on the wheelbase, the pressures of each suspension, and the tilt angle.
[0118] For the specific limitations of the center of mass position determination device, reference can be made to the limitations of the center of mass position determination method in the above text, which will not be elaborated here. Each module in the above center of mass position determination device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.
[0119] In one embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 7 shown. The computer device includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store center of mass position determination data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements the center of mass position determination method as described above.
[0120] Those skilled in the art can understand that Figure 7 the structure shown in
[0121] is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.
[0122] Collect the motion parameters and / or environmental parameters of the vehicle in different directions;
[0123] In response to determining that the vehicle satisfies the static balance conditions in different directions according to the motion parameters and / or environmental parameters in different directions, obtain the current load distribution of the vehicle;
[0124] Calculate the current positions of the vehicle's center of mass in different directions according to the current load distribution.
[0125] In one embodiment, when the processor executes the computer program, the following steps are further implemented:
[0126] Obtain the first acceleration of the vehicle in the first direction, the slope where the vehicle is located, and the four-wheel suspension positions of the vehicle, where the first direction is the length direction of the vehicle;
[0127] If the first acceleration is less than or equal to the first threshold, the slope is less than or equal to the first preset slope, and the duration for which the difference between the four-wheel suspension positions is less than the preset threshold reaches the preset duration, it is determined that the vehicle satisfies the static balance condition in the first direction.
[0128] In one embodiment, when the processor executes the computer program, the following steps are further implemented:
[0129] Obtain the second acceleration of the vehicle in the second direction, the roll angular velocity, the sideslip angle of the vehicle, and the four-wheel suspension positions, where the second direction is the width direction of the vehicle;
[0130] If the second acceleration is less than or equal to the second threshold, the roll angular velocity is less than or equal to the third threshold, the sideslip angle is less than or equal to the fourth threshold, and the duration for which the difference between the four-wheel suspension positions is less than the preset threshold reaches the preset duration, it is determined that the vehicle satisfies the static balance condition in the second direction.
[0131] In one embodiment, when the processor executes the computer program, the following steps are further implemented:
[0132] Obtain the acceleration of the vehicle and the slope where it is located, where the acceleration includes the first acceleration of the vehicle in the first direction and the second acceleration of the vehicle in the second direction;
[0133] If the acceleration belongs to the preset range and the slope is greater than or equal to the second preset slope, it is determined that the vehicle satisfies the static balance condition in the third direction, where the third direction is the height direction of the vehicle.
[0134] In one embodiment, when the processor executes the computer program, the following steps are further implemented:
[0135] Obtain the wheelbase of the vehicle and the pressures of each suspension;
[0136] Calculate the distances between the vehicle's center of mass and the front and rear axles in the first direction based on the wheelbase and the suspension pressures of each wheel to obtain the current position of the vehicle's center of mass in the first direction.
[0137] In one embodiment, when the processor executes the computer program, the following steps are further implemented:
[0138] Obtain the track width of the vehicle and the suspension pressures of each wheel;
[0139] Calculate the distances between the vehicle's center of mass and the left and right wheels in the second direction based on the track width and the suspension pressures of each wheel to obtain the current position of the vehicle's center of mass in the second direction.
[0140] In one embodiment, when the processor executes the computer program, the following steps are further implemented:
[0141] Obtain the wheelbase of the vehicle, the suspension pressures of each wheel, and the tilt angle corresponding to the vehicle;
[0142] Calculate the current position of the vehicle's center of mass in the third direction based on the wheelbase, the suspension pressures of each wheel, and the tilt angle.
[0143] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:
[0144] Collect the motion parameters and / or environmental parameters of the vehicle in different directions;
[0145] In response to determining that the vehicle satisfies the static balance conditions in different directions according to the motion parameters and / or environmental parameters in different directions, obtain the current load distribution of the vehicle;
[0146] Calculate the current position of the vehicle's center of mass in different directions according to the current load distribution.
[0147] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:
[0148] Obtain the first acceleration of the vehicle in the first direction, the slope of the vehicle's location, and the four-wheel suspension positions of the vehicle, where the first direction is the length direction of the vehicle;
[0149] If the first acceleration is less than or equal to the first threshold, the slope is less than or equal to the first preset slope, and the duration for which the difference between the four-wheel suspension positions is less than the preset threshold reaches the preset duration, it is determined that the vehicle satisfies the static balance conditions in the first direction.
[0150] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:
[0151] Obtain the second acceleration of the vehicle in the second direction, the yaw rate, the sideslip angle of the vehicle, and the four-wheel suspension positions, where the second direction is the width direction of the vehicle;
[0152] If the second acceleration is less than or equal to a second threshold, the yaw rate is less than or equal to a third threshold, the sideslip angle is less than or equal to a fourth threshold, and the duration for which the difference between the four-wheel suspension positions is less than a preset threshold reaches a preset duration, then it is determined that the vehicle satisfies the static balance condition in the second direction.
[0153] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:
[0154] Obtain the acceleration of the vehicle and the slope at which the vehicle is located, where the acceleration includes the first acceleration of the vehicle in the first direction and the second acceleration of the vehicle in the second direction;
[0155] If the acceleration belongs to a preset range and the slope is greater than or equal to a second preset slope, then it is determined that the vehicle satisfies the static balance condition in the third direction, where the third direction is the height direction of the vehicle.
[0156] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:
[0157] Obtain the wheelbase of the vehicle and the pressures of each suspension;
[0158] According to the wheelbase and the pressures of each suspension, calculate the distances between the vehicle's center of mass and the front and rear axles in the first direction respectively, so as to obtain the current position of the vehicle's center of mass in the first direction.
[0159] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:
[0160] Obtain the track width of the vehicle and the pressures of each suspension;
[0161] According to the track width and the pressures of each suspension, calculate the distances between the vehicle's center of mass and the left and right wheels in the second direction respectively, so as to obtain the current position of the vehicle's center of mass in the second direction.
[0162] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:
[0163] Obtain the wheelbase of the vehicle, the pressures of each suspension, and the tilt angle corresponding to the vehicle;
[0164] According to the wheelbase, the pressures of each suspension, and the tilt angle, calculate the current position of the vehicle's center of mass in the third direction.
[0165] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.
[0166] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.
[0167] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.
Claims
1. A method for determining a centroid position, characterized in that: The method comprises: Collecting motion parameters and / or environmental parameters of the vehicle in different directions; In response to determining that the vehicle satisfies the static balance conditions in the different directions according to the motion parameters and / or environmental parameters in the different directions, obtaining a current load distribution of the vehicle; The current position of the center of mass of the vehicle in the different directions is calculated according to the current load distribution.
2. The method according to claim 1, characterized in that Determining that the vehicle satisfies the static balance conditions in the different directions according to the motion parameters and / or environmental parameters in the different directions includes: Acquire a first acceleration of the vehicle in a first direction, a slope of the vehicle, and a position of a four-wheel suspension of the vehicle, wherein the first direction is a length direction of the vehicle; If the first acceleration is less than or equal to a first threshold, the slope is less than or equal to a first preset slope, and the difference between the four-wheel suspension positions is less than the preset threshold for a preset time, it is determined that the vehicle meets the static balance condition in the first direction.
3. The method according to claim 1, characterized in that The determining that the vehicle satisfies the static balance conditions in the different directions according to the motion parameters and / or environmental parameters in the different directions further includes: Acquire a second acceleration of the vehicle in a second direction, a yaw rate, a sideslip angle of the vehicle, and a four-wheel suspension position, wherein the second direction is a width direction of the vehicle; If the second acceleration is less than or equal to a second threshold, the angular velocity is less than or equal to a third threshold, the sideslip angle is less than or equal to a fourth threshold, and the difference between the four-wheel suspension positions is less than a preset threshold for a preset time, it is determined that the vehicle meets the static balance condition in the second direction.
4. The method according to claim 1, characterized in that: The determining that the vehicle satisfies the static balance conditions in the different directions according to the motion parameters and / or environmental parameters in the different directions further includes: Acquire the acceleration and the slope of the vehicle, wherein the acceleration includes a first acceleration of the vehicle in a first direction and a second acceleration of the vehicle in a second direction; If the acceleration is within a preset range and the slope is greater than or equal to a second preset slope, it is determined that the vehicle satisfies a static balance condition in a third direction, wherein the third direction is a height direction of the vehicle.
5. The method according to claim 1, characterized in that The calculating the current position of the center of mass of the vehicle in the different directions according to the current load distribution includes: Obtaining the wheelbase and various suspension pressures of the vehicle; The distances between the center of mass of the vehicle and the front and rear axles in the first direction are calculated according to the wheelbase and the suspension pressures to obtain the current position of the center of mass of the vehicle in the first direction.
6. The method according to claim 1, characterized in that The calculating the current position of the center of mass of the vehicle in the different directions according to the current load distribution further includes: Obtaining the wheelbase and various suspension pressures of the vehicle; The distances between the center of mass of the vehicle and the left and right wheels in the second direction are calculated according to the wheelbase and the suspension pressures to obtain the current position of the center of mass of the vehicle in the second direction.
7. The method according to claim 1, characterized in that The calculating the current position of the center of mass of the vehicle in the different directions according to the current load distribution further includes: Obtaining the wheelbase of the vehicle, each suspension pressure, and the corresponding tilt angle of the vehicle; A current position of the center of mass of the vehicle in a third direction is calculated according to the wheelbase, the suspension pressures and the tilt angle.
8. A device for determining a center of mass position, characterized in that: The device comprises: A collection module, used to collect motion parameters and / or environmental parameters of the vehicle in different directions; a determination module, configured to obtain a current load distribution of the vehicle in response to determining that the vehicle satisfies the static balance conditions in the different directions according to the motion parameters and / or environmental parameters in the different directions; A calculation module is used to calculate the current position of the center of mass of the vehicle in the different directions according to the current load distribution.
9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.