Wheel vertical load calculation method and system, electronic equipment, medium and vehicle

Abstract

The invention relates to the technical field of suspension control, and discloses a wheel vertical load calculation method and system, electronic equipment, a medium and a vehicle. According to the method, the roll angle and the pitch angle of a target vehicle and the tower top acceleration and the unsprung acceleration of each wheel are obtained, and the vertical load of each wheel is calculated according to the tower top acceleration and the roll angle of each wheel; determining a first wheel tower top force of each wheel, determining a first vertical force variation of each wheel based on the first wheel tower top force of each wheel and the unsprung acceleration of each wheel, and determining a second wheel tower top force of each wheel according to the tower top acceleration and the pitch angle of each wheel, based on the second wheel tower top force of each wheel and the unsprung acceleration of each wheel, determining a second vertical force variable quantity of each wheel, and based on the gravity distribution value of each wheel, the first vertical force variable quantity of each wheel and the second vertical force variable quantity of each wheel, obtaining a wheel vertical load of each wheel; through the method, the accuracy of wheel vertical load calculation is improved.

Description

Technical Field

[0001] The present application relates to the technical field of suspension control, and particularly relates to a method, a system, an electronic device, a medium and a vehicle for calculating the vertical load of a wheel. Background Art

[0002] As a key factor affecting the handling performance, braking performance and tire wear of a vehicle, the accurate identification or calculation of the dynamic load of a wheel is of great significance for vehicle dynamic control and safety warning.

[0003] However, during the actual driving process of a vehicle, especially in dangerous working conditions such as sudden acceleration and sharp turning, due to the influence of vehicle roll and acceleration / deceleration, etc., the suspension load and its distribution will change greatly, and there will be a large difference between the suspension stiffness and the initial value, resulting in a large deviation between the vehicle dynamics model calibrated according to the initial state and the actual state, thus affecting the accuracy of vehicle state estimation. Obviously, there is an urgent need for a new method for calculating the vertical load of a wheel to solve at least one of the above problems.

[0004] It should be noted that the above content only provides background technical information related to the present application and does not necessarily constitute prior art. Summary of the Invention

[0005] In view of the above-mentioned disadvantages of the prior art, the present application provides a method, a system, an electronic device, a medium and a vehicle for calculating the vertical load of a wheel, which can improve the accuracy of calculating the vertical load of a wheel by considering the influence of vehicle roll, pitch, acceleration and deceleration, etc. on the suspension load.

[0006] Other features and advantages of the present application will become apparent through the following detailed description, or will be partially learned through the practice of the present application.

[0007] According to one aspect of the embodiments of the present application, a method for calculating the vertical load of a wheel is provided, including: obtaining the roll angle and pitch angle of a target vehicle, as well as the tower-top acceleration and under-spring acceleration of each wheel; determining the first wheel tower-top force of each wheel during vehicle roll according to the tower-top acceleration of each wheel and the roll angle, and determining the first vertical force change amount of each wheel based on the first wheel tower-top force of each wheel and the under-spring acceleration of each wheel; determining the second wheel tower-top force of each wheel during vehicle pitch according to the tower-top acceleration of each wheel and the pitch angle, and determining the second vertical force change amount of each wheel based on the second wheel tower-top force of each wheel and the under-spring acceleration of each wheel; calculating based on the gravity distribution value of each wheel, the first vertical force change amount of each wheel and the second vertical force change amount of each wheel to obtain the vertical load of each wheel.

[0008] In one embodiment of the present application, based on the foregoing solution, the first wheel top force of each wheel during vehicle roll is determined according to the top acceleration and the roll angle of each wheel, including: obtaining the body mass of the target vehicle, the distance from the center of mass to the roll center, and the lateral acceleration; according to the top acceleration, the roll angle, the body mass, the distance from the center of mass to the roll center, and the lateral acceleration of each wheel, combining the force balance relationship and the moment balance relationship, determining the first wheel top force of each wheel.

[0009] In one embodiment of the present application, based on the foregoing solution, the first vertical force change of each wheel is determined based on the first wheel top force of each wheel and the unsprung acceleration of each wheel, including: obtaining the vehicle mass of the target vehicle and the unsprung mass of each wheel; based on the first wheel top force, the unsprung mass, and the unsprung acceleration of each wheel, determining the first wheel vertical load of each wheel during vehicle roll; calculating based on the first wheel vertical load of each wheel and the vehicle mass to obtain the first vertical force change of each wheel.

[0010] In one embodiment of the present application, based on the foregoing solution, the second wheel top force of each wheel during vehicle pitch is determined according to the top acceleration and the pitch angle of each wheel, including: obtaining the distance from the center of mass to the pitch center and the longitudinal acceleration of the target vehicle; according to the top acceleration, the pitch angle, the body mass of the target vehicle, the distance from the center of mass to the pitch center, and the longitudinal acceleration, combining the force balance relationship and the moment balance relationship, determining the second wheel top force of each wheel.

[0011] In one embodiment of the present application, based on the foregoing solution, the second vertical force change of each wheel is determined based on the second wheel top force of each wheel and the unsprung acceleration of each wheel, including: based on the second wheel top force, the unsprung mass, and the unsprung acceleration of each wheel, determining the second wheel vertical load of each wheel during vehicle pitch; calculating based on the second wheel vertical load of each wheel and the vehicle mass of the target vehicle to obtain the second vertical force change of each wheel.

[0012] In one embodiment of the present application, based on the foregoing solution, the gravity distribution value of each wheel is calculated by the following method: calculating the gravity distribution value of each wheel based on the vehicle mass of the target vehicle and the distance from the center of mass to the rear axle, or calculating the gravity distribution value of each wheel based on the vehicle mass of the target vehicle and the distance from the center of mass to the front axle.

[0013] According to one aspect of the embodiments of the present application, a wheel vertical load calculation system is provided, including: a data acquisition module, configured to acquire the roll angle and pitch angle of a target vehicle, as well as the top acceleration and under-spring acceleration of each wheel; a first calculation module, configured to determine the first wheel top force of each wheel during vehicle roll according to the top acceleration and the roll angle of each wheel, and determine the first vertical force change amount of each wheel based on the first wheel top force and the under-spring acceleration of each wheel; a second calculation module, configured to determine the second wheel top force of each wheel during vehicle pitch according to the top acceleration and the pitch angle of each wheel, and determine the second vertical force change amount of each wheel based on the second wheel top force and the under-spring acceleration of each wheel; a third calculation module, configured to perform calculations based on the gravity distribution value of each wheel, the first vertical force change amount of each wheel, and the second vertical force change amount of each wheel to obtain the wheel vertical load of each wheel.

[0014] According to one aspect of the embodiments of the present application, an electronic device is provided. The electronic device includes: one or more processors; a storage device, configured to store one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the wheel vertical load calculation method according to any one of the above embodiments.

[0015] The present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer is made to execute the wheel vertical load calculation method according to any one of the above embodiments.

[0016] According to one aspect of the embodiments of the present application, a vehicle is provided. The vehicle includes the wheel vertical load calculation system according to any one of the above embodiments or the electronic device according to any one of the above embodiments.

[0017] Advantages of the present application: By acquiring the roll angle and pitch angle of a target vehicle, as well as the top acceleration and under-spring acceleration of each wheel, the present application determines the first wheel top force of each wheel during vehicle roll according to the top acceleration and the roll angle of each wheel, determines the first vertical force change amount of each wheel based on the first wheel top force and the under-spring acceleration of each wheel, determines the second wheel top force of each wheel during vehicle pitch according to the top acceleration and the pitch angle of each wheel, determines the second vertical force change amount of each wheel based on the second wheel top force and the under-spring acceleration of each wheel, and performs calculations based on the gravity distribution value of each wheel, the first vertical force change amount of each wheel, and the second vertical force change amount of each wheel to obtain the wheel vertical load of each wheel. By considering the influence of vehicle roll, pitch, acceleration and deceleration, etc. on the suspension load, the accuracy of wheel vertical load calculation is improved.

[0018] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and should not limit this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings herein are incorporated into the specification and form a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application. Obviously, the drawings in the following description are only some embodiments of this application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts. In the drawings: Figure 1 is a schematic diagram of an exemplary system architecture shown in an exemplary embodiment of this application; Figure 2 is a schematic flowchart of a method for calculating wheel vertical load shown in an exemplary embodiment of this application; Figure 3 is a schematic diagram of the force analysis when the vehicle rolls in the method for calculating wheel vertical load shown in an exemplary embodiment of this application; Figure 4 is a schematic diagram of the force analysis of the single-wheel vertical load in the method for calculating wheel vertical load shown in an exemplary embodiment of this application; Figure 5 is a schematic diagram of the force analysis when the vehicle pitches in the method for calculating wheel vertical load shown in an exemplary embodiment of this application; Figure 6 is a block diagram of a system for calculating wheel vertical load shown in an exemplary embodiment of this application; Figure 7 shows a schematic diagram of the structure of a computer system of an electronic device suitable for implementing the embodiments of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The following will describe the embodiments of this application with reference to the drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be understood that the preferred embodiments are only for explaining this application, rather than for limiting the protection scope of this application.

[0021] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner. Therefore, only the components related to the present application are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The types, quantities, and proportions of the components in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0022] In the following description, numerous details are explored to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0023] First of all, it should be noted that the unsprung weight refers to the part of the vehicle suspension system that is not supported by elastic elements (such as springs and shock absorbers), mainly including components such as wheels, hubs, brake calipers, brake discs, steering knuckles, and tires, and these components move together with the suspension. In addition, the total vehicle mass of the vehicle consists of the body mass and the unsprung weight.

[0024] Figure 1 It is a schematic diagram of an exemplary system architecture shown in an exemplary embodiment of the present application.

[0025] Refer to Figure 1As shown in the figure, the system architecture may include a data acquisition device 101 and a computer device 102. Among them, the computer device 102 may be at least one of a desktop Graphics Processing Unit (GPU) computer, a GPU computing cluster, a neural network computer, etc. The data acquisition device 101 is used to acquire the roll angle and pitch angle of the target vehicle, as well as the top acceleration and under-spring acceleration of each wheel. In this embodiment, after the data acquisition device 101 obtains the above data, it provides them to the computer device 102 for processing. Relevant technicians can use the computer device 102 to determine the first wheel top force of each wheel during vehicle roll based on the top acceleration and roll angle of each wheel, determine the first vertical force change of each wheel based on the first wheel top force and under-spring acceleration of each wheel, determine the second wheel top force of each wheel during vehicle pitch based on the top acceleration and pitch angle of each wheel, determine the second vertical force change of each wheel based on the second wheel top force and under-spring acceleration of each wheel, and calculate based on the gravity distribution value, the first vertical force change and the second vertical force change of each wheel to obtain the wheel vertical load of each wheel. It should be noted that the data acquisition device 101 and the computer device 102 provided in this embodiment are only examples and should not impose any limitations on the functions and usage scopes of the embodiments of the present application.

[0026] It should be noted that the wheel vertical load calculation method provided in the embodiments of the present application is generally executed by the computer device 102. Correspondingly, the wheel vertical load calculation system is generally set in the computer device 102.

[0027] Figure 2 is a schematic flowchart of the wheel vertical load calculation method shown in an exemplary embodiment of the present application. The wheel vertical load calculation method can be executed by a computing and processing device, and the computing and processing device can be Figure 1 the computer device 102 shown in Figure 2 As shown, the wheel vertical load calculation method at least includes steps S210 to S240, which are introduced in detail as follows: In step S210, the roll angle and pitch angle of the target vehicle, as well as the top acceleration and under-spring acceleration of each wheel are obtained.

[0028] In one embodiment of the present application, the roll angle and pitch angle of the target vehicle can be obtained through sensors. For example, the angular velocity can be measured by an IMU (Inertial Measurement Unit) integrated with a three-axis gyroscope, the linear acceleration can be measured by a three-axis accelerometer, and the data can be fused through Kalman filtering to output the attitude angle, which includes the roll angle and pitch angle. The roll angle and pitch angle of the target vehicle can also be obtained by using the optical measurement system method. Specifically, the vehicle body attitude can be calculated through the antenna phase difference, or reflective marking points can be arranged on the vehicle body, and the spatial position can be calculated through multi-camera triangulation to obtain the roll angle and pitch angle of the target vehicle. It can be understood that the above methods for obtaining the roll angle and pitch angle of the target vehicle are only examples, and the present application does not limit this.

[0029] In one embodiment of the present application, the top acceleration and under-spring acceleration of each wheel can be obtained through an acceleration sensor. For example, the under-spring acceleration of each wheel can be obtained through an under-spring acceleration sensor, and the top acceleration of each wheel can be obtained through a top acceleration sensor. In some embodiments, the top acceleration and under-spring acceleration of each wheel can also be obtained through a virtual acceleration measurement point defined in a multi-body dynamics model and a virtual sensor obtained after verifying the model accuracy by comparing with physical test data; the top acceleration and under-spring acceleration of each wheel can also be deduced through a vehicle body attitude sensor (such as an inertial measurement unit) in combination with the suspension geometry relationship. It can be understood that the above methods for obtaining the top acceleration and under-spring acceleration of each wheel are only examples, and the present application does not limit this.

[0030] In step S220, based on the top acceleration and roll angle of each wheel, the first wheel top force of each wheel during vehicle roll is determined, and based on the first wheel top force of each wheel and the under-spring acceleration of each wheel, the first vertical force change amount of each wheel is determined.

[0031] In one embodiment of the present application, the process of determining the first wheel top force of each wheel during vehicle roll based on the top acceleration and roll angle of each wheel includes the following steps: obtaining the vehicle body mass, the distance from the center of mass to the roll center, and the lateral acceleration of the target vehicle; based on the top acceleration, roll angle, vehicle body mass, the distance from the center of mass to the roll center, and lateral acceleration of each wheel, and combining the force balance relationship and moment balance relationship, determining the first wheel top force of each wheel.

[0032] In this embodiment, the wheelbase, front track, rear track, distance from the center of mass to the rear axle, and distance from the center of mass to the front axle of the target vehicle are obtained; according to the top acceleration of the front wheels of the target vehicle, roll angle, vehicle body mass, distance from the center of mass to the roll center, lateral acceleration, wheelbase, front track, and distance from the center of mass to the rear axle, in combination with the force balance relationship and moment balance relationship, the first wheel top force of the front wheels of the target vehicle is determined; according to the top acceleration of the rear wheels of the target vehicle, roll angle, vehicle body mass, distance from the center of mass to the roll center, lateral acceleration, wheelbase, rear track, and distance from the center of mass to the front axle, in combination with the force balance relationship and moment balance relationship, the first wheel top force of the rear wheels of the target vehicle is determined. Among them, the front wheels of the target vehicle include the left front wheel and the right front wheel, and the rear wheels of the target vehicle include the left rear wheel and the right rear wheel. The wheelbase refers to the distance from the front axle of the target vehicle to the rear axle of the target vehicle.

[0033] In this embodiment, refer to Figure 3 as shown Figure 3 is a schematic diagram of the force analysis during vehicle roll of the wheel vertical load calculation method shown in an exemplary embodiment of the present application. It can be understood that there are force balance and moment balance relationships during vehicle roll. In combination with Figure 3 as shown Equation (1) Equation (2) In Equation (1) and Equation (2), F11 is the first wheel top force of the left front wheel, F13 is the first wheel top force of the right front wheel, b is the distance from the center of mass to the rear axle, L is the wheelbase, g is the acceleration due to gravity, mb is the vehicle body mass, azs1 is the top acceleration of the left front wheel, azs3 is the top acceleration of the right front wheel, B1 is the front track, drc is the distance from the center of mass to the roll center, θ is the roll angle, and ay is the lateral acceleration.

[0034] By solving the equations (1) and (2) simultaneously, the first vehicle top force F11 of the left front wheel during vehicle roll and the first vehicle top force F13 of the right front wheel during vehicle roll are obtained.

[0035] Similarly, the first vehicle top force F12 of the left rear wheel during vehicle roll and the first vehicle top force F14 of the right rear wheel during vehicle roll can be obtained, and specifically, they can be calculated through the following equations: Equation (3) Equation (4) In Equations (3) and (4), F12 is the first wheel top force of the left rear wheel, F14 is the first wheel top force of the right rear wheel, a is the distance from the center of mass to the front axle, L is the wheelbase, g is the acceleration due to gravity, mb is the vehicle body mass, azs2 is the top acceleration of the left rear wheel, azs4 is the top acceleration of the right rear wheel, B2 is the rear track, drc is the distance from the center of mass to the roll center, θ is the roll angle, and ay is the lateral acceleration.

[0036] In an embodiment of the present application, the process of determining the first vertical force change of each wheel based on the first wheel top force of each wheel and the unsprung acceleration of each wheel includes the following steps: obtaining the vehicle mass of the target vehicle and the unsprung mass of each wheel; determining the first wheel vertical load of each wheel during vehicle roll based on the first wheel top force of each wheel, the unsprung mass of each wheel, and the unsprung acceleration of each wheel; and calculating the first vertical force change of each wheel based on the first wheel vertical load of each wheel and the vehicle mass.

[0037] In this embodiment, referring to Figure 4 as shown, Figure 4 is a schematic diagram of the single-wheel vertical load force analysis of the wheel vertical load calculation method shown in an exemplary embodiment of the present application. As can be seen from Figure 4 , the vertical load on the tire is the sum of the unsprung gravity and the top force (suspension force), that is, Fzi = Fi + mti×(g + azt i), where Fzi is the wheel vertical load of the i-th wheel, Fi is the wheel top force (suspension force) of the i-th wheel, mti is the unsprung mass of the i-th wheel, g is the acceleration due to gravity, azt i is the unsprung acceleration of the i-th wheel, and i = 1, 2, 3, 4, representing the left front wheel, left rear wheel, right front wheel, and right rear wheel respectively. Generally, the unsprung mass is a fixed value, so usually, it is necessary to calculate the top force on the wheel and then obtain the wheel vertical load. When calculating the top force, the load transfer of the vehicle body during pitching and rolling needs to be considered.

[0038] Continuing to refer to Figure 3 as shown, the first wheel vertical load of each wheel when the target vehicle is in pure roll can be calculated by the following formula: Fz11 = F11 + mt1(g + azt1) Equation (5) Fz12 = F12 + mt2(g + azt2) Equation (6) Fz13 = F13 + mt3(g + azt3) Equation (7) Fz14 = F14 + mt4(g + azt4) Equation (8) In Equations (5) to (8), Fz11 is the first wheel vertical load of the left front wheel, F11 is the first wheel top force of the left front wheel, mt1 is the unsprung mass of the left front wheel, azt1 is the unsprung acceleration of the left front wheel, g is the acceleration due to gravity, Fz12 is the first wheel vertical load of the left rear wheel, F12 is the first wheel top force of the left rear wheel, mt2 is the unsprung mass of the left rear wheel, azt2 is the unsprung acceleration of the left rear wheel, Fz13 is the first wheel vertical load of the right front wheel, F13 is the first wheel top force of the right front wheel, mt3 is the unsprung mass of the right front wheel, azt3 is the unsprung acceleration of the right front wheel, Fz14 is the first wheel vertical load of the right rear wheel, F14 is the first wheel top force of the right rear wheel, mt4 is the unsprung mass of the right rear wheel, and azt4 is the unsprung acceleration of the right rear wheel.

[0039] The first vertical force change of each wheel of the target vehicle caused by vehicle roll can be calculated by the following formula: Equation (9) Equation (10) Equation (11) Equation (12) In Equations (9) to (12), is the first vertical force change of the left front wheel, Fz11 is the first wheel vertical load of the left front wheel, b is the distance from the center of mass to the rear axle, L is the wheelbase, mv is the vehicle mass, and g is the acceleration due to gravity. is the first vertical force change of the left rear wheel, and Fz12 is the first wheel vertical load of the left rear wheel. is the first vertical force change of the right front wheel, and Fz13 is the first wheel vertical load of the right front wheel. is the first vertical force change of the right rear wheel, and Fz14 is the first wheel vertical load of the right rear wheel.

[0040] In step S230, according to the top acceleration and pitch angle of each wheel, determine the second wheel top force of each wheel during vehicle pitch. Based on the second wheel top force of each wheel and the unsprung acceleration of each wheel, determine the second vertical force change of each wheel.

[0041] In an embodiment of the present application, the process of determining the second wheel top force of each wheel during vehicle pitch according to the top acceleration and pitch angle of each wheel includes the following steps: obtaining the distance from the center of mass of the target vehicle to the pitch center and the longitudinal acceleration; according to the top acceleration, pitch angle, body mass of the target vehicle, distance from the center of mass to the pitch center, and longitudinal acceleration of each wheel, and combining the force balance relationship and the moment balance relationship, determine the second wheel top force of each wheel.

[0042] In this embodiment, according to the tower top acceleration, pitch angle, body mass, distance from the center of mass to the pitch center, longitudinal acceleration, wheelbase, distance from the center of mass to the rear axle, and distance from the center of mass to the front axle of the left wheel of the target vehicle, in combination with the force balance relationship and moment balance relationship, the second wheel tower top force of the left wheel of the target vehicle is determined; according to the tower top acceleration, pitch angle, body mass, distance from the center of mass to the pitch center, longitudinal acceleration, wheelbase, distance from the center of mass to the rear axle, and distance from the center of mass to the front axle of the right wheel of the target vehicle, in combination with the force balance relationship and moment balance relationship, the second wheel tower top force of the right wheel of the target vehicle is determined. Among them, the left wheels of the target vehicle include the left front wheel and the left rear wheel, and the right wheels of the target vehicle include the right front wheel and the right rear wheel.

[0043] In this embodiment, referring to Figure 5 , Figure 5 is a schematic diagram of the force analysis when the vehicle pitches in the wheel vertical load calculation method shown in an exemplary embodiment of the present application. It can be understood that there are force and moment balance relationships when the vehicle pitches. Considering the long-wave road condition during the pitching condition, the vehicle is also subject to vertical centripetal force at this time, and the direction of the resultant external force is vertical. Considering the influence of the suspension force, the following equations can be listed: Equation (13) Equation (14) In Equations (13) and (14), F21 is the second wheel tower top force of the left front wheel, F22 is the second wheel tower top force of the left rear wheel, mb is the body mass, g is the acceleration due to gravity, azs1 is the tower top acceleration of the left front wheel, b is the distance from the center of mass to the rear axle, L is the wheelbase, azs2 is the tower top acceleration of the left rear wheel, a is the distance from the center of mass to the front axle, ax is the longitudinal acceleration, is the pitch angle, that is, the pitch angle, and dpc is the distance from the center of mass to the pitch center.

[0044] By solving the equations (13) and (14) simultaneously, the second vehicle tower top force F21 of the left front wheel when the vehicle pitches and the second vehicle tower top force F22 of the left rear wheel when the vehicle pitches are obtained.

[0045] Similarly, the second vehicle tower top force F23 of the right front wheel when the vehicle pitches and the second vehicle tower top force F24 of the right rear wheel when the vehicle pitches can be obtained, and specifically, they can be calculated through the following equations: Equation (15) Equation (16) In Equations (15) and (16), F23 is the second wheel top force of the right front wheel, F24 is the second wheel top force of the right rear wheel, mb is the vehicle body mass, g is the acceleration due to gravity, azs3 is the top acceleration of the right front wheel, b is the distance from the center of mass to the rear axle, L is the wheelbase, azs4 is the top acceleration of the right rear wheel, a is the distance from the center of mass to the front axle, ax is the longitudinal acceleration, is the pitch angle, and dpc is the distance from the center of mass to the pitch center.

[0046] In an embodiment of the present application, the process of determining the second vertical force change of each wheel based on the second wheel top force of each wheel and the unsprung acceleration of each wheel includes the following steps: determining the second wheel vertical load of each wheel during vehicle pitch based on the second wheel top force of each wheel, the unsprung mass of each wheel, and the unsprung acceleration of each wheel; calculating based on the second wheel vertical load of each wheel and the vehicle mass of the target vehicle to obtain the second vertical force change of each wheel.

[0047] In this embodiment, continue to refer to Figure 5 As shown, the second wheel vertical load of each wheel when the target vehicle is in pure pitch can be calculated by the following formula: Fz21 = F21 + mt1(g + azt1) Equation (17) Fz22 = F22 + mt2(g + azt2) Equation (18) Fz23 = F23 + mt3(g + azt3) Equation (19) Fz24 = F24 + mt4(g + azt4) Equation (20) In Equations (17) to (20), Fz21 is the second wheel vertical load of the left front wheel, F21 is the second wheel top force of the left front wheel, mt1 is the unsprung mass of the left front wheel, azt1 is the unsprung acceleration of the left front wheel, g is the acceleration due to gravity, Fz22 is the second wheel vertical load of the left rear wheel, F22 is the second wheel top force of the left rear wheel, mt2 is the unsprung mass of the left rear wheel, azt2 is the unsprung acceleration of the left rear wheel, Fz23 is the second wheel vertical load of the right front wheel, F23 is the second wheel top force of the right front wheel, mt3 is the unsprung mass of the right front wheel, azt3 is the unsprung acceleration of the right front wheel, Fz24 is the second wheel vertical load of the right rear wheel, F24 is the second wheel top force of the right rear wheel, mt4 is the unsprung mass of the right rear wheel, and azt4 is the unsprung acceleration of the right rear wheel.

[0048] The second vertical force change of each wheel of the target vehicle caused by vehicle pitch can be calculated by the following formula: Equation (21) Equation (22) Equation (23) Equation (24) In Equations (21) to (24), is the second vertical force change of the left front wheel, Fz11 is the second wheel vertical load of the left front wheel, b is the distance from the center of mass to the rear axle, L is the wheelbase, mv is the vehicle mass, and g is the acceleration due to gravity. is the second vertical force change of the left rear wheel, and Fz12 is the second wheel vertical load of the left rear wheel. is the second vertical force change of the right front wheel, and Fz13 is the second wheel vertical load of the right front wheel. is the second vertical force change of the right rear wheel, and Fz14 is the second wheel vertical load of the right rear wheel.

[0049] It should be noted that the execution sequence between step S220 and step S230 is not limited here, and it can also be understood that there is no fixed execution order between step S220 and step S230. Step S220 can be executed first and then step S230, step S230 can be executed first and then step S220, or step S220 and step S230 can be executed simultaneously.

[0050] In step S240, calculations are performed based on the gravity distribution values of each wheel, the first vertical force change of each wheel, and the second vertical force change of each wheel to obtain the wheel vertical load of each wheel.

[0051] In an embodiment of the present application, the gravity distribution values of each wheel are calculated in the following manner: the gravity distribution values of each wheel are calculated based on the vehicle mass of the target vehicle and the distance from the center of mass to the rear axle, or the gravity distribution values of each wheel are calculated based on the vehicle mass of the target vehicle and the distance from the center of mass to the front axle.

[0052] In this embodiment, calculations are performed based on the vehicle mass of the target vehicle and the distance from the center of mass to the rear axle to obtain the gravity distribution values of the front wheels of the target vehicle; calculations are performed based on the vehicle mass of the target vehicle and the distance from the center of mass to the front axle to obtain the gravity distribution values of the rear wheels of the target vehicle.

[0053] In this embodiment, the tire vertical load is the sum of the gravity distribution on the four wheels and the vertical force changes caused by vehicle body roll and pitch. The tire vertical load of each wheel can be calculated by the following equations: Equation (25) Equation (26) Equation (27) Equation (28) In Equations (25) to (28), Fz1 is the wheel vertical load of the left front wheel, ∆Fzr1 is the first vertical force change of the left front wheel, ∆Fzp1 is the second vertical force change of the left front wheel, Fz2 is the wheel vertical load of the left rear wheel, ∆Fzr2 is the first vertical force change of the left rear wheel, ∆Fzp2 is the second vertical force change of the left rear wheel, Fz3 is the wheel vertical load of the right front wheel, ∆Fzr3 is the first vertical force change of the right front wheel, ∆Fzp3 is the second vertical force change of the right front wheel, Fz4 is the wheel vertical load of the right rear wheel, ∆Fzr4 is the first vertical force change of the right rear wheel, ∆Fzp4 is the second vertical force change of the right rear wheel, a is the distance from the center of mass to the front axle, b is the distance from the center of mass to the rear axle, L is the wheelbase, mv is the vehicle mass, and g is the acceleration due to gravity.

[0054] The suspension force is obtained by multiplying the suspension stiffness by the suspension displacement. During the vehicle's movement, the suspension stiffness has a time-varying characteristic. As vehicle control gradually develops towards domain control, most of the vehicle's sensor information is collected by the domain controller. Based on the fusion of the acceleration under the spring and the acceleration sensor information at the top of the tower, this application calculates the real-time force under the spring and the force at the top of the tower (suspension force), making the estimation of the wheel dynamic load more accurate.

[0055] Figure 6 is a block diagram of a wheel vertical load calculation system shown in an exemplary embodiment of this application. This device can be applied to Figure 1 the shown implementation environment and is specifically configured in the computer device 102. This device can also be applicable to other exemplary implementation environments and is specifically configured in other devices. This embodiment does not limit the implementation environment applicable to this device.

[0056] As Figure 6 shown, this exemplary wheel vertical load calculation system includes: a data acquisition module 610, a first calculation module 620, a second calculation module 630, and a third calculation module 640.

[0057] Among them, the data acquisition module 610 is used to obtain the roll angle and pitch angle of the target vehicle, as well as the tower top acceleration and under-spring acceleration of each wheel; the first calculation module 620 is used to determine the first wheel tower top force of each wheel during vehicle roll according to the tower top acceleration and roll angle of each wheel, and determine the first vertical force change of each wheel based on the first wheel tower top force of each wheel and the under-spring acceleration of each wheel; the second calculation module 630 is used to determine the second wheel tower top force of each wheel during vehicle pitch according to the tower top acceleration and pitch angle of each wheel, and determine the second vertical force change of each wheel based on the second wheel tower top force of each wheel and the under-spring acceleration of each wheel; the third calculation module 640 is used to calculate based on the gravity distribution value of each wheel, the first vertical force change of each wheel and the second vertical force change of each wheel to obtain the wheel vertical load of each wheel.

[0058] It should be noted that the wheel vertical load calculation system provided in the above embodiment and the wheel vertical load calculation method provided in the above embodiment belong to the same concept. The specific ways in which each module and unit perform operations have been described in detail in the method embodiment, and will not be repeated here. In practical applications, the wheel vertical load calculation system provided in the above embodiment can, according to needs, allocate the above functions to different functional modules, that is, divide the internal structure of the system into different functional modules to complete all or part of the functions described above. This is not limited here either.

[0059] An embodiment of the present application also provides an electronic device, including: one or more processors; a storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the wheel vertical load calculation method provided in each of the above embodiments.

[0060] Figure 7 The structural schematic diagram of a computer system of an electronic device suitable for implementing the embodiments of the present application is shown. It should be noted that Figure 7 The computer system 700 of the electronic device shown is only an example and should not bring any limitation to the functions and usage scope of the embodiments of the present application.

[0061] Such as Figure 7As shown, the computer system 700 includes a Central Processing Unit (CPU) 701, which can perform various appropriate actions and processes according to a program stored in a Read-Only Memory (ROM) 702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703, such as executing the methods provided in the above respective embodiments. In the RAM 703, various programs and data required for system operations are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An Input / Output (I / O) interface 705 is also connected to the bus 704.

[0062] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc. and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed so that a computer program read from it can be installed into the storage section 708 as needed.

[0063] Specifically, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 709, and / or installed from the removable medium 711. When the computer program is executed by a Central Processing Unit (CPU) 701, various functions defined in the system of the present application are executed.

[0064] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0065] The embodiments of the present application further provide a vehicle, including a wheel vertical load calculation system in the above-mentioned various embodiments or an electronic device in the above-mentioned various embodiments.

[0066] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code, and the above-mentioned module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0067] The units involved in the embodiments described in this application can be implemented in software or in hardware, and the described units can also be provided in a processor. Among them, the names of these units do not constitute a limitation to the unit itself in some cases.

[0068] Another aspect of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer is enabled to execute the wheel vertical load calculation method provided in each of the above embodiments. The computer-readable storage medium can be included in the electronic device described in the above embodiments, or can exist alone without being assembled into the electronic device.

[0069] It should be noted that although several modules or units of a device for action execution are mentioned in the above detailed description, such a division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of the two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0070] Another aspect of the present application further provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the wheel vertical load calculation method provided in each of the above embodiments.

[0071] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described here can be implemented in software or in a manner of software combined with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.

[0072] After considering the specification and practicing the disclosed embodiments here, those skilled in the art will easily think of other implementation manners of the present application. The present application aims to cover any variations, uses, or adaptive changes of the present application, and these variations, uses, or adaptive changes follow the general principles of the present application and include common general knowledge or conventional technical means in the technical field not disclosed in the present application.

[0073] The above embodiments merely illustrate the principles and effects of the present application by way of example, and are not intended to limit the present application. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those of ordinary skill in the art without departing from the spirit and technical idea disclosed by the present application should still be covered by the claims of the present application.

Claims

1. A method for calculating the vertical load of a wheel, characterized in that, Including: Obtain the roll angle and pitch angle of the target vehicle, as well as the top acceleration and unsprung acceleration of each wheel; Based on the top acceleration of each wheel and the roll angle, determine the first wheel top force of each wheel during vehicle roll. Based on the first wheel top force of each wheel and the unsprung acceleration of each wheel, determine the first vertical force change of each wheel; Based on the top acceleration of each wheel and the pitch angle, determine the second wheel top force of each wheel during vehicle pitch. Based on the second wheel top force of each wheel and the unsprung acceleration of each wheel, determine the second vertical force change of each wheel; Perform calculations based on the gravity distribution value of each wheel, the first vertical force change of each wheel, and the second vertical force change of each wheel to obtain the wheel vertical load of each wheel.

2. The wheel vertical load calculation method according to claim 1, wherein Based on the top acceleration of each wheel and the roll angle, determine the first wheel top force of each wheel during vehicle roll, including: Obtain the body mass of the target vehicle, the distance from the center of mass to the roll center, and the lateral acceleration; Based on the top acceleration of each wheel, the roll angle, the body mass, the distance from the center of mass to the roll center, and the lateral acceleration of the target vehicle, and combining the force balance relationship and the moment balance relationship, determine the first wheel top force of each wheel.

3. The wheel vertical load calculation method according to claim 1, characterized in that Based on the first wheel top force of each wheel and the unsprung acceleration of each wheel, determine the first vertical force change of each wheel, including: Obtain the vehicle mass of the target vehicle and the unsprung mass of each wheel; Based on the first wheel top force of each wheel, the unsprung mass of each wheel, and the unsprung acceleration of each wheel, determine the first wheel vertical load of each wheel during vehicle roll; Perform calculations based on the first wheel vertical load of each wheel and the vehicle mass to obtain the first vertical force change of each wheel.

4. The method for calculating the vertical load of a wheel according to any one of claims 1 to 3, characterized in that, Based on the top acceleration of each wheel and the pitch angle, determine the second wheel top force of each wheel during vehicle pitch, including: Obtain the distance from the center of mass to the pitch center and the longitudinal acceleration of the target vehicle; Based on the top acceleration of each wheel, the pitch angle, the body mass of the target vehicle, the distance from the center of mass to the pitch center, and the longitudinal acceleration, and combining the force balance relationship and the moment balance relationship, determine the second wheel top force of each wheel.

5. The method for calculating the vertical load of a wheel according to any one of claims 1 to 3, characterized in that, Based on the second wheel top force of each wheel and the unsprung acceleration of each wheel, determine the second vertical force change of each wheel, including: Based on the second wheel top force of each wheel, the unsprung mass of each wheel, and the unsprung acceleration of each wheel, determine the second wheel vertical load of each wheel during vehicle pitch; Perform calculations based on the second wheel vertical load of each wheel and the vehicle mass of the target vehicle to obtain the second vertical force change of each wheel.

6. The method for calculating the vertical load of a wheel according to any one of claims 1 to 3, characterized in that, Calculate the gravity distribution value of each wheel by the following method: Calculate the gravity distribution value of each wheel based on the vehicle mass of the target vehicle and the distance from the center of mass to the rear axle, or calculate the gravity distribution value of each wheel based on the vehicle mass of the target vehicle and the distance from the center of mass to the front axle.

7. A vertical wheel load calculation system, characterized in that, Including: A data acquisition module, configured to obtain the roll angle and pitch angle of a target vehicle, as well as the top acceleration and under-spring acceleration of each wheel; A first calculation module, configured to determine a first wheel top force of each wheel during vehicle roll according to the top acceleration and the roll angle of each wheel, and determine a first vertical force change amount of each wheel based on the first wheel top force of each wheel and the under-spring acceleration of each wheel; A second calculation module, configured to determine a second wheel top force of each wheel during vehicle pitch according to the top acceleration and the pitch angle of each wheel, and determine a second vertical force change amount of each wheel based on the second wheel top force of each wheel and the under-spring acceleration of each wheel; A third calculation module, configured to perform calculations based on the gravity distribution value of each wheel, the first vertical force change amount of each wheel, and the second vertical force change amount of each wheel, to obtain the wheel vertical load of each wheel.

8. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device, configured to store one or more programs, which when executed by the one or more processors, cause the electronic device to implement the wheel vertical load calculation method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, A computer program is stored thereon, which when executed by a processor of a computer, causes the computer to execute the wheel vertical load calculation method according to any one of claims 1 to 6.

10. A vehicle, characterized in that, The vehicle includes the wheel vertical load calculation system according to claim 7 or the electronic device according to claim 8.

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