Method and device for verifying rollover stability, equipment, medium and product

Abstract

The invention discloses a rollover stability verification method and device, equipment, a medium and a product, and relates to the technical field of electric digital data processing.The method comprises the steps that a critical state test is conducted on a target tank vehicle, and the maximum lateral acceleration of the target tank vehicle is obtained; wherein a test sample tank is assembled on the target tank type vehicle, and the inner wall of the curved surface of the test sample tank is filled with a lining with the same thickness; determining a critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the gravitational acceleration; based on a preset lateral acceleration change rate set, a preset test vehicle speed set, a preset transition route planning set and the critical lateral acceleration, rollover stability verification is conducted on the target tank vehicle, and a rollover stability verification result is obtained; wherein the rollover stability verification result comprises the stable lateral acceleration change rate corresponding to each test vehicle speed, and the accuracy of the rollover stability verification result of the tank vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the field of electric digital data processing, and particularly to a method, device, equipment, medium and product for verifying rollover stability. Background Art

[0002] As a specialized transportation tool, tank vehicles play an irreplaceable role in the fields of energy transportation and industrial raw material transportation. Although its unique sealed tank structure can effectively reduce loading and unloading losses, affected by the physical properties of the transportation medium and the tank design, the center of mass of the vehicle is generally high. Coupled with the fact that most transportation media are dangerous, rollover accidents may trigger serious secondary disasters, and the rollover stability problem has always been the focus of industry technical research.

[0003] Currently, the industry mainly improves stability through means such as structural optimization, wheelbase adjustment, and mass distribution design, but there are significant technical bottlenecks in the verification link. On the one hand, the stability analysis based on simulation is difficult to truly reflect the dynamic characteristics under complex working conditions, especially there are modeling errors in key factors such as the surge effect of liquid media and non-linear motion states. On the other hand, real vehicle road tests face multiple restrictions: for safety reasons, water media must be used to replace the actual transportation liquid, but the high-density characteristics of water result in limited loading capacity, causing systematic deviations in the center of mass height and mass distribution from the actual working conditions. It can be seen that in the existing technical system, when verifying the rollover stability of tank vehicles, the accuracy of the verification results obtained is relatively low. Summary of the Invention

[0004] The purpose of the present application is to provide a method, device, equipment, medium and product for verifying rollover stability, which can improve the accuracy of the rollover stability verification results of tank vehicles.

[0005] To achieve the above purpose, the present application provides the following solutions: In the first aspect, the present application provides a method for verifying rollover stability, including: Conduct a critical state test on a target tank vehicle to obtain the maximum lateral acceleration of the target tank vehicle when it reaches the rollover critical state; wherein, a test sample tank is assembled on the target tank vehicle, the test sample tank is a hollow elliptical cylinder structure, and an inner lining with an equal thickness is filled on the inner wall of the curved surface of the test sample tank; Based on the maximum lateral acceleration and the gravitational acceleration, determine the critical lateral acceleration of the target tank vehicle; Verify the rollover stability of the target tank vehicle based on a preset set of lateral acceleration change rates, a preset set of test vehicle speeds, a preset set of transition route plans, and the critical lateral acceleration, and obtain a rollover stability verification result; wherein, the set of lateral acceleration change rates includes multiple different lateral acceleration change rates, the set of test vehicle speeds includes multiple different test vehicle speeds, and the rollover stability verification result includes the stable lateral acceleration change rates corresponding to each test vehicle speed respectively.

[0006] Optionally, the specific method for determining the thickness of the inner lining is as follows: Obtain the liquid density of the target liquid transported by the target tank vehicle; Obtain the density of the inner lining; Obtain the major semi-axis and minor semi-axis of the test sample tank; Use the liquid density, the density of the inner lining, the major semi-axis, and the minor semi-axis to calculate the thickness of the inner lining; Wherein, the calculation formula for the thickness of the inner lining is: ; Wherein, h is the thickness of the inner lining, is the liquid density, is the density of the inner lining, a1 is the major semi-axis, and b1 is the minor semi-axis.

[0007] Optionally, the critical state test of the target tank vehicle to obtain the maximum lateral acceleration of the target tank vehicle when it reaches the rollover critical state specifically includes: Control the target tank vehicle to travel on the test site at a preset average speed; When the distance traveled by the target tank vehicle at the preset average speed reaches a preset distance, control the target tank vehicle to uniformly increase the steering angle until the target tank vehicle reaches the rollover critical state, and obtain the maximum lateral acceleration of the target tank vehicle when it reaches the rollover critical state; wherein, during the process of uniformly increasing the steering angle of the target tank vehicle, the lateral acceleration increment of the target tank vehicle is less than or equal to a preset increment.

[0008] Optionally, the determination of the critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the gravitational acceleration specifically includes: Use a first preset parameter and the maximum lateral acceleration to calculate a first preset lateral acceleration; Use a second preset parameter and the gravitational acceleration to calculate a second preset lateral acceleration; If the first preset lateral acceleration is greater than or equal to the second preset lateral acceleration, determine the first preset lateral acceleration as the critical lateral acceleration; If the first preset lateral acceleration is less than the second preset lateral acceleration, determine the second preset lateral acceleration as the critical lateral acceleration.

[0009] Optionally, the method for verifying the roll stability of the target tank vehicle based on the preset set of lateral acceleration change rates, the preset set of test vehicle speeds, the preset set of transition route plans, and the critical lateral acceleration to obtain a roll stability verification result specifically includes: Using the preset set of lateral acceleration change rates and the preset set of test vehicle speeds, construct a set of test vehicle speed-lateral acceleration change rate pairs; wherein, each lateral acceleration change rate in the set of lateral acceleration change rates and each test vehicle speed in the set of test vehicle speeds in the set of test vehicle speed-lateral acceleration change rate pairs form a test vehicle speed-lateral acceleration change rate pair; Construct transition route plans corresponding to each test vehicle speed-lateral acceleration change rate pair respectively to obtain a set of transition route plans including multiple transition route plans; Use each test vehicle speed-lateral acceleration change rate pair, the set of transition route plans, and the critical lateral acceleration to verify the roll stability of the target tank vehicle to obtain the vehicle swing amplitude of the target tank vehicle corresponding to each test vehicle speed-lateral acceleration change rate pair; Based on the vehicle swing amplitude of the target tank vehicle corresponding to each test vehicle speed-lateral acceleration change rate pair, determine the roll stability verification result of the target tank vehicle.

[0010] Optionally, the method for determining the roll stability verification result of the target tank vehicle based on the vehicle swing amplitude of the target tank vehicle corresponding to each test vehicle speed-lateral acceleration change rate pair specifically includes: Obtain a target test vehicle speed-lateral acceleration change rate pair from the set of test vehicle speed-lateral acceleration change rate pairs to construct a set of normal test vehicle speed-lateral acceleration change rate pairs; wherein, the vehicle swing amplitude corresponding to the target test vehicle speed-lateral acceleration change rate pair is less than or equal to a preset swing amplitude; Generate the roll stability verification result of the target tank vehicle based on the set of normal test vehicle speed-lateral acceleration change rate pairs.

[0011] In a second aspect, the present application provides a device for verifying roll stability, including: A test unit for performing a critical state test on a target tank vehicle to obtain the maximum lateral acceleration of the target tank vehicle when it reaches the critical rollover state; wherein, a test sample tank is assembled on the target tank vehicle, the test sample tank is of a hollow elliptical cylinder structure, and an inner lining with an equal thickness is filled on the inner wall of the curved surface of the test sample tank; A determination unit for determining the critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the gravitational acceleration; A verification unit for verifying the rollover stability of the target tank vehicle based on a preset set of lateral acceleration change rates, a preset set of test vehicle speeds, a preset set of transition route planning sets, and the critical lateral acceleration, to obtain a rollover stability verification result; wherein, the set of lateral acceleration change rates includes multiple different lateral acceleration change rates, the set of test vehicle speeds includes multiple different test vehicle speeds, and the rollover stability verification result includes the stable lateral acceleration change rates corresponding to each test vehicle speed respectively.

[0012] 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 the processor executes the computer program to implement the steps of the rollover stability verification method described in any one of the above.

[0013] 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, the steps of the rollover stability verification method described in any one of the above are implemented.

[0014] In a fifth aspect, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the rollover stability verification method described in any one of the above are implemented.

[0015] In a sixth aspect, the present application provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, the processor is used to run a program or an instruction, and when the processor executes the program or the instruction, the steps of the rollover stability verification method described in any one of the above are implemented.

[0016] According to the specific embodiments provided by the present application, the following technical effects are disclosed in the present application: The present application provides a method, apparatus, device, medium, and product for verifying rollover stability. By designing a test sample tank with a hollow elliptical cylinder structure and an equal-thickness inner lining, the dynamic characteristics of the real transportation medium are effectively simulated, avoiding the centroid shift and surge risk caused by the traditional water medium substitution, and significantly improving the test safety. At the same time, a composite verification model is constructed by combining multi-dimensional dynamic parameters (lateral acceleration change rate, test vehicle speed, and transition route planning), which can accurately capture the critical rollover state of the vehicle under non-linear driving conditions, thereby improving the accuracy of the rollover stability verification results of tank vehicles. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic flow chart of a method for verifying rollover stability in an embodiment of the present application; Figure 2 It is a schematic cross-sectional view parallel to the elliptical bottom surface of a test sample tank provided in an embodiment of the present application; Figure 3 It is a schematic diagram of a transition route planning provided in an embodiment of the present application; Figure 4 It is a schematic diagram of a rollover stability verification result provided in an embodiment of the present application; Figure 5 It is a schematic diagram of the functional modules of a device for verifying rollover stability provided in an embodiment of the present application; Figure 6 It is a schematic diagram of the structure of a computer device provided in an embodiment of the present application. Detailed Embodiments

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0020] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0021] In an exemplary embodiment, as Figure 1As shown, a method for verifying rollover stability is provided. This method is executed by a computer device, which can be specifically executed by a computer device such as a terminal or a server alone, or jointly executed by a terminal and a server. In the embodiments of the present application, it includes the following steps 101 to 103. Among them: Step 101: Conduct a critical state test on the target tank vehicle to obtain the maximum lateral acceleration of the target tank vehicle when it reaches the rollover critical state.

[0022] In the embodiments of the present application, a test sample tank is assembled on the target tank vehicle. The test sample tank is a hollow elliptical cylinder structure, and the inner wall of the curved surface of the test sample tank is filled with a lining of equal thickness.

[0023] In the embodiments of the present application, the test sample tank assembled on the target tank vehicle can be filled with a target liquid such as fuel or other chemicals. The critical state test can be a constant speed variable steering angle test.

[0024] As an optional implementation manner, the method for determining the thickness of the lining is specifically as follows: Obtain the liquid density of the target liquid transported by the target tank vehicle; Obtain the lining density of the lining; Obtain the major semi-axis and minor semi-axis of the test sample tank; Use the liquid density, the lining density, the major semi-axis, and the minor semi-axis to calculate the thickness of the lining.

[0025] Among them, by implementing this implementation manner, by combining the density of the target liquid, the characteristics of the lining material, and the geometric parameters of the test sample tank, the thickness of the lining is accurately matched through mathematical calculations, ensuring that the dynamic centroid distribution of the test sample tank is highly consistent with the characteristics of the real transportation medium. It not only avoids the centroid deviation error caused by the traditional water medium substitution, but also suppresses the uncontrollable risk of liquid surging through optimizing the lining design, significantly improving the accuracy of the rollover critical state test.

[0026] Among them, the calculation formula for the thickness of the lining is: ; Among them, h is the thickness of the lining, is the liquid density, is the lining density, a1 is the major semi-axis, and b1 is the minor semi-axis.

[0027] Please refer to Figure 2 , Figure 2 which is a schematic cross-sectional view parallel to the elliptical bottom surface of a test sample tank provided in an embodiment of the present application; among them, Figure 2 The left side is a test sample tank without a lining of equal thickness filled, Figure 2On the right side is a test sample tank filled with a lining of equal thickness, that is, the gray part is the lining of equal thickness filled on the inner wall of the curved surface of the test sample tank. The major semi-axis and minor semi-axis of the internal space of the test sample tank without the lining of equal thickness are a1 and b1, and the major semi-axis and minor semi-axis of the internal space of the test sample tank filled with the lining of equal thickness are a2 and b2, and the thickness of the lining is h.

[0028] The length of the tank body of the test sample tank is C. It can be seen that the volume of the tank body of the test sample tank is: S1 = π×a1×b1×C; When the target liquid completely fills the test sample tank without the lining of equal thickness, the centroid is located at the intersection of a1 and b1, and the mass of the target liquid is: M1 = ρ1×S1.

[0029] The lining density of the lining material is ρ2. As long as the lining mass M2 of the increased lining material part is equal to the target liquid mass M1, the centroid position when the target liquid completely fills the test sample tank without the lining of equal thickness is the same as that of the test sample tank (with the lining), and the mass of the test sample tank when the target liquid completely fills the test sample tank without the lining of equal thickness is exactly the same as the mass of the test sample tank (with the lining). Therefore, the mass distribution state of the whole vehicle is also exactly the same.

[0030] Since the volume of the lining is: S2 = π×(a1 - a2)×(b1 - b2)×C; Therefore, the lining mass M2 = ρ2×S2; When M1 = M2, then ρ1×π×a1×b1×C = ρ2×π×(a1 - a2)×(b1 - b2)×C. Since a1 - a2 = b1 - b2 = h, therefore: ; As an alternative implementation manner, the method for step 101 to perform a critical state test on the target tank vehicle and obtain the maximum lateral acceleration of the target tank vehicle when reaching the rollover critical state may include: Control the target tank vehicle to travel on the test site at a preset average speed; When the traveling distance of the target tank vehicle at the preset average speed reaches a preset distance, control the target tank vehicle to uniformly increase the steering angle until the target tank vehicle reaches the rollover critical state, and obtain the maximum lateral acceleration of the target tank vehicle when reaching the rollover critical state; wherein, during the process of uniformly increasing the steering angle of the target tank vehicle, the lateral acceleration increment of the target tank vehicle is less than or equal to a preset increment.

[0031] Among them, when implementing this implementation method, through the coordinated control of the preset average speed and the uniform steering angle increment, the rollover critical point is gradually approached on the premise of ensuring the stable driving state of the vehicle. This not only avoids the out-of-control risk caused by sudden steering in traditional dynamic tests but also accurately captures the critical threshold through the linearly increasing lateral acceleration, significantly improving the controllability of the test process and the repeatability of the results, and providing a safer and more accurate standardized dynamic test paradigm for verifying the rollover stability of tank vehicles.

[0032] In the embodiment of the present application, the test site is a flat and dry asphalt or cement road surface, with a slope not exceeding 2% in any direction, the test environment wind speed not greater than 3 m / s, the temperature ranging from 0 to 40 °C, and the deviation of the atmospheric pressure from the standard atmospheric pressure not exceeding 7.5%.

[0033] In the embodiment of the present application, the preset average speed can be 50 km / h, the preset distance can be 5 km, and the preset increment can be 0.5 m / s 2 。

[0034] For example, by controlling the target tank vehicle to travel at a speed of 50 km / h for no less than 5 km, the target tank vehicle is preheated to the normal operating temperature. The test vehicle starts from a small steering wheel angle at an average speed of 50 km / h and gradually increases the steering angle. The increment of the steering wheel angle should be slow and uniform to ensure that the resulting increment of the lateral acceleration does not exceed 0.5 m / s 2 until the vehicle reaches the critical state.

[0035] Step 102: Determine the critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the gravitational acceleration.

[0036] As an optional implementation method, the method for determining the critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the gravitational acceleration in step 102 may include: Calculate the first preset lateral acceleration using the first preset parameter and the maximum lateral acceleration; Calculate the second preset lateral acceleration using the second preset parameter and the gravitational acceleration; If the first preset lateral acceleration is greater than or equal to the second preset lateral acceleration, then determine the first preset lateral acceleration as the critical lateral acceleration; If the first preset lateral acceleration is less than the second preset lateral acceleration, then determine the second preset lateral acceleration as the critical lateral acceleration.

[0037] Among them, when implementing this implementation method, through the dual-parameterization calculation and dynamic threshold comparison mechanism, the safety threshold associated with the measured maximum lateral acceleration and the theoretical gravitational acceleration is adaptively matched. This not only overcomes the limitations of traditional methods that rely on single test data or static theoretical values, but also ensures through two-way verification that the determination of the critical lateral acceleration always leans towards a more conservative safety boundary, effectively avoiding misjudgments of stability caused by test errors or extreme working conditions, and significantly improving the scientificity and reliability of critical parameters.

[0038] In the embodiments of the present application, the first preset parameter can be 0.5, 0.7, etc., and the embodiments of the present application do not limit this. The first preset lateral acceleration can be the product of the first preset parameter and the maximum lateral acceleration. The second preset parameter is 0.2, 0.3, etc., and the embodiments of the present application do not limit this. The second preset lateral acceleration can be the product of the second preset parameter and the gravitational acceleration.

[0039] Step 103: Based on the preset set of lateral acceleration change rates, the preset set of test vehicle speeds, the preset set of transition route plans, and the critical lateral acceleration, verify the rollover stability of the target tank vehicle to obtain a rollover stability verification result.

[0040] In the embodiments of the present application, the set of lateral acceleration change rates contains multiple different lateral acceleration change rates, the set of test vehicle speeds contains multiple different test vehicle speeds, and the rollover stability verification result contains the stable lateral acceleration change rates corresponding to each test vehicle speed. A steering robot, a gyroscope, or a VBOX (or other device that can measure lateral acceleration in real time and provide signal output) can be installed on the target tank vehicle, and the steering robot can control the target tank vehicle to steer.

[0041] As an alternative implementation method, the manner in which step 103 verifies the rollover stability of the target tank vehicle based on the preset set of lateral acceleration change rates, the preset set of test vehicle speeds, the preset set of transition route plans, and the critical lateral acceleration to obtain a rollover stability verification result may include the following steps: 1. Use the preset set of lateral acceleration change rates and the preset set of test vehicle speeds to construct a set of test vehicle speed - lateral acceleration change rate pairs; wherein, the set of test vehicle speed - lateral acceleration change rate pairs contains the test vehicle speed - lateral acceleration change rate pairs formed by each lateral acceleration change rate in the set of lateral acceleration change rates and each test vehicle speed in the set of test vehicle speeds.

[0042] For example, the preset set of lateral acceleration change rates may include 1.0 m / s 3 、1.5 m / s 3 、2.0 m / s3 , 2.5 m / s 3 , 3.0 m / s 3 and other lateral acceleration change rates. The preset test vehicle speed set may include test vehicle speeds such as 50 km / h, 70 km / h, 85 km / h, 100 km / h, etc. The test vehicle speed - lateral acceleration change rate pairs included in the set may include: (1.0 m / s 3 , 50 km / h), (1.0 m / s 3 , 70 km / h), (1.0 m / s 3 , 85 km / h), (1.0 m / s 3 , 100 km / h), (1.5 m / s 3 , 50 km / h), (1.5 m / s 3 , 70 km / h), (1.5 m / s 3 , 85 km / h), (1.5 m / s 3 , 100 km / h), (2.0 m / s 3 , 50 km / h), (2.0 m / s 3 , 70 km / h), (2.0 m / s 3 , 85 km / h), (2.0 m / s 3 , 100 km / h), (2.5 m / s 3 , 50 km / h), (2.5 m / s 3 , 70 km / h), (2.5 m / s 3 , 85 km / h), (2.5 m / s 3 , 100 km / h), (3.0 m / s 3 , 50 km / h), (3.0 m / s 3 , 70 km / h), (3.0 m / s 3 , 85 km / h), (3.0 m / s 3 , 100 km / h).

[0043] 2. Construct the transition route plans corresponding to each test vehicle speed - lateral acceleration change rate pair respectively to obtain a transition route plan set including multiple transition route plans.

[0044] Please refer to Figure 3 , Figure 3 which is a schematic diagram of a transition route plan provided by an embodiment of the present application; as Figure 3 shown, simulate the target tank vehicle driving from left to right, the vehicle travels at a constant speed (such as 50 km / h) throughout the journey, gradually transitions from a straight section to a circle, and during the transition from the straight section to the circle Figure 3The solid line part L in [description] is the transition route plan, and the lateral acceleration change rate of the vehicle (e.g., 1.0 m / s 3 ) remains constant. Figure 3 shows the driving trajectory of the vehicle. The positioning of the vehicle at each position on the solid line part L can be represented in the Cartesian coordinate system by the real-time heading angle (v) of the vehicle at this position and the distance (length s) traveled along the solid line part L, that is:

[0045]

[0046] where the heading angle can be obtained based on the integral of the curvature of the curve changing with distance: ν = ; According to the mathematical expression of the curve, the path curvature can be expressed as k = kc·s, where kc is the real-time curvature. Since the path is obtained from the vehicle's movement, kc is related to the test speed Vx of the vehicle and the lateral acceleration change rate ka, and the mutual relationship is:

[0047] Based on the above, by converting the curve represented in the Cartesian coordinate system, we can get:

[0048]

[0049] Since the acceleration change rate ka in each test is a fixed value (1.0 m / s 3 , 1.5 m / s 3 , 2.0 m / s 3 , 2.5 m / s 3 , 3.0 m / s 3 ), and the test vehicle speed Vx is also a fixed value (50 km / h, 70 km / h, 85 km / h, 100 km / h), the coordinate system can be simplified to an expression of the path distance s. Compile the curve represented in this Cartesian coordinate system into the transition path plan of the steering robot. Based on this plan, combined with the negative feedback mechanism of the constant real-time lateral acceleration change rate, control the actual driving attitude of the vehicle.

[0050] 3. Use each test vehicle speed - lateral acceleration change rate pair, the set of the transition route plans, and the critical lateral acceleration to verify the roll stability of the target tank vehicle, and obtain the vehicle swing amplitude of the target tank vehicle corresponding to each test vehicle speed - lateral acceleration change rate pair respectively.

[0051] In the embodiments of the present application, when using different test vehicle speed - lateral acceleration change rate pairs to verify the roll stability, the verification conditions should be as close as possible. For example, the temperature difference does not exceed ±5°C.

[0052] The process of verifying the rollover stability of the target tank vehicle can be specifically as follows: Starting from straight-line motion, the steering robot steers the target tank vehicle according to the pre-simulated transition path planning, making the driving trajectory of the target tank vehicle gradually transition to a circle. During the whole test process, the vehicle speed remains unchanged. During the driving process of the vehicle from straight line to circle, the lateral acceleration of the vehicle is recorded in real time by using a gyroscope or VBOX, and this signal is output to the steering robot and used as the control signal of negative feedback to correct the steering angle of the steering robot for the steering wheel (reflected to the vehicle as the heading angle) to ensure that the change rate of the lateral acceleration of the vehicle remains constant. The first test is at 1.0 m / s 3 。

[0053] Increase the change rate of the lateral acceleration in steps of 0.5 m / s 3 , and repeat four times, that is, test 1.0 m / s 3 , 1.5 m / s 3 , 2.0 m / s 3 , 2.5 m / s 3 , 3.0 m / s 3 respectively. When the vehicle smoothly transitions to a stable circular motion that meets the above conditions (that is, the sway amplitude of the vehicle is less than or equal to the preset sway amplitude) at the corresponding test speed and the corresponding acceleration change rate, it is recorded that the vehicle runs stably under the conditions of this speed and this acceleration change rate. If the vehicle is about to roll over or yaw unstably during this period (that is, the sway amplitude of the vehicle is greater than the preset sway amplitude), it is correspondingly recorded that the vehicle runs unstably (reaching the critical state) under the conditions of this speed and this acceleration change rate. The test terminates when the vehicle reaches the critical state or the change rate of the lateral acceleration reaches 3.0 m / s 3 (whichever comes first).

[0054] Increase the test speed during vehicle driving, and repeat the above test at speeds of 70 km / h, 85 km / h, and 100 km / h, so as to obtain the vehicle sway amplitudes of the target tank vehicle corresponding to each test vehicle speed - lateral acceleration change rate pair respectively.

[0055] 4. Obtain the target test vehicle speed - lateral acceleration change rate pair from the set of test vehicle speed - lateral acceleration change rate pairs, and construct a set of normal test vehicle speed - lateral acceleration change rate pairs; wherein, the vehicle sway amplitude corresponding to the target test vehicle speed - lateral acceleration change rate pair is less than or equal to the preset sway amplitude.

[0056] 5. Generate the rollover stability verification result of the target tank vehicle based on the set of normal test vehicle speed - lateral acceleration change rate pairs.

[0057] In the embodiments of the present application, the rollover stability verification results can be output in the form of charts or in the form of text. The embodiments of the present application do not make any limitations in this regard.

[0058] Among them, by implementing this implementation method, by constructing a multi-dimensional dynamic coupling test matrix (vehicle speed - acceleration change rate - route planning), comprehensively covering the stability boundary conditions under different driving conditions, and combining the real-time monitoring and adaptive screening mechanism of the vehicle swing amplitude, not only the refined quantitative evaluation of the rollover risk under the non-linear driving state of the tank vehicle is realized, but also by screening out the set of parameter pairs that meet the safety threshold, directly output the stable lateral acceleration change rate interval adapted to different vehicle speeds, providing a high-confidence dynamic stability mapping diagram for vehicle structure optimization and driving control strategy formulation.

[0059] Please refer to Figure 4 , Figure 4 which is a schematic diagram of the rollover stability verification results provided by an embodiment of the present application; as can be seen from Figure 4 it, the rollover stability verification results of the target tank vehicle are as follows: when the vehicle speed is 50 km / h, the lateral acceleration can reach up to 3.0 m / s 3 and the vehicle still runs stably; when the vehicle speed is 70 km / h, the lateral acceleration reaches 2.5 m / s 3 and the vehicle still runs stably, but when the lateral acceleration reaches 3.0 m / s 3 the vehicle loses stability; when the vehicle speed is 85 km / h, the lateral acceleration reaches 2.0 m / s 3 and the vehicle still runs stably, but when the lateral acceleration reaches 2.5 m / s 3 the vehicle loses stability; when the vehicle speed is 100 km / h, the lateral acceleration can only reach 1.0 m / s 3 for the vehicle to run stably, and when the lateral acceleration reaches 1.5 m / s 3 the vehicle loses stability.

[0060] Implementing the above steps 101 to 103, by designing a test sample tank with a hollow elliptical cylinder structure and an equal-thickness inner lining, the dynamic characteristics of the real transportation medium are effectively simulated, avoiding the centroid offset and surge risks caused by the traditional water medium substitution, and significantly improving the test safety. At the same time, a composite verification model is constructed by combining multi-dimensional dynamic parameters (lateral acceleration change rate, test vehicle speed, and transition route planning), which can accurately capture the critical rollover state of the vehicle under non-linear driving conditions, thereby improving the accuracy of the rollover stability verification results of the tank vehicle. In addition, this application can also improve the accuracy of the critical rollover state test. In addition, this application can also improve the controllability of the test process and the repeatability of the results, providing a safer and more accurate standardized dynamic test paradigm for the rollover stability verification of tank vehicles. In addition, this application can also avoid misjudgment of stability caused by test errors or extreme working conditions, significantly improving the scientificity and reliability of the critical parameters. In addition, this application can also provide a high-confidence dynamic stability mapping atlas for vehicle structure optimization and driving control strategy formulation.

[0061] Based on the same inventive concept, an embodiment of this application also provides a rollover stability verification device for implementing the rollover stability verification method involved above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the rollover stability verification device provided below can refer to the limitations on the rollover stability verification method in the above text and will not be repeated here.

[0062] In an exemplary embodiment, as Figure 5 shown, a rollover stability verification device is provided, including: A test unit 501, configured to perform a critical state test on a target tank vehicle to obtain the maximum lateral acceleration of the target tank vehicle when it reaches the critical rollover state; wherein, a test sample tank is assembled on the target tank vehicle, the test sample tank has a hollow elliptical cylinder structure, and an equal-thickness inner lining is filled on the inner wall of the curved surface of the test sample tank; A determination unit 502, configured to determine the critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the gravitational acceleration; A verification unit 503, configured to perform rollover stability verification on the target tank vehicle based on a preset set of lateral acceleration change rates, a preset set of test vehicle speeds, a preset set of transition route plans, and the critical lateral acceleration to obtain a rollover stability verification result; wherein, the set of lateral acceleration change rates includes multiple different lateral acceleration change rates, the set of test vehicle speeds includes multiple different test vehicle speeds, and the rollover stability verification result includes the stable lateral acceleration change rates corresponding to each test vehicle speed respectively.

[0063] As an alternative implementation, the method for determining the thickness of the inner lining is specifically as follows: Obtain the liquid density of the target liquid transported by the target tank vehicle; Obtain the density of the inner lining; Obtain the major semi-axis and minor semi-axis of the test sample tank; Use the liquid density, the density of the inner lining, the major semi-axis, and the minor semi-axis to calculate the thickness of the inner lining.

[0064] Among them, when implementing this implementation, by combining the density of the target liquid, the characteristics of the inner lining material, and the geometric parameters of the test sample tank, the thickness of the inner lining is precisely matched through mathematical calculations, ensuring that the dynamic centroid distribution of the test sample tank is highly consistent with the characteristics of the real transportation medium. This not only avoids the centroid deviation error caused by the traditional water medium substitution but also suppresses the uncontrollable risk of liquid surge through optimizing the inner lining design, significantly improving the accuracy of the rollover critical state test.

[0065] As an alternative implementation, the method by which the testing unit 501 conducts a critical state test on the target tank vehicle to obtain the maximum lateral acceleration of the target tank vehicle when it reaches the rollover critical state can be specifically as follows: Control the target tank vehicle to travel on the test site at a preset average speed; When the distance that the target tank vehicle travels at the preset average speed reaches a preset distance, control the target tank vehicle to uniformly increase the steering angle until the target tank vehicle reaches the rollover critical state, and obtain the maximum lateral acceleration of the target tank vehicle when it reaches the rollover critical state; among them, during the process of the target tank vehicle uniformly increasing the steering angle, the lateral acceleration increment of the target tank vehicle is less than or equal to a preset increment.

[0066] Among them, when implementing this implementation, through the coordinated control of the preset average speed and the uniform steering angle increment, approaching the rollover critical point step by step on the premise of ensuring the stable driving state of the vehicle, this not only avoids the out-of-control risk caused by sudden steering in traditional dynamic tests but also precisely captures the critical threshold through the linearly increasing lateral acceleration, significantly improving the controllability of the test process and the repeatability of the results, providing a safer and more accurate standardized dynamic test paradigm for verifying the rollover stability of tank vehicles.

[0067] As an alternative implementation, the method by which the determination unit 502 determines the critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the gravitational acceleration can be specifically as follows: Use a first preset parameter and the maximum lateral acceleration to calculate a first preset lateral acceleration; Using the second preset parameter and the gravity acceleration, a second preset lateral acceleration is calculated; If the first preset lateral acceleration is greater than or equal to the second preset lateral acceleration, determining the first preset lateral acceleration as a critical lateral acceleration; If the first preset lateral acceleration is less than the second preset lateral acceleration, the second preset lateral acceleration is determined as a critical lateral acceleration.

[0068] Among them, the implementation of this implementation method, through dual parameterized calculation and dynamic threshold comparison mechanism, the safety threshold associated with the measured maximum lateral acceleration is adaptively matched with the theoretical gravity acceleration, which not only overcomes the limitations of traditional methods that rely on single test data or static theoretical values, but also ensures through two-way verification that the judgment of critical lateral acceleration always tends to a more conservative safety boundary, effectively avoiding stability misjudgment caused by test errors or extreme working conditions, and significantly improving the scientificity and reliability of critical parameters.

[0069] As an optional implementation, the verification unit 503 performs rollover stability verification on the target tank vehicle based on a preset lateral acceleration change rate set, a preset test vehicle speed set, a preset transition route planning set, and the critical lateral acceleration. The rollover stability verification result may be obtained by: Using a preset lateral acceleration change rate set and a preset test vehicle speed set, a test vehicle speed-lateral acceleration change rate pair set is constructed; wherein the test vehicle speed-lateral acceleration change rate pair set includes a test vehicle speed-lateral acceleration change rate pair consisting of each lateral acceleration change rate in the lateral acceleration change rate set and each test vehicle speed in the test vehicle speed set; Constructing transition route planning corresponding to each test vehicle speed-lateral acceleration change rate pair, and obtaining a transition route planning set including multiple transition route planning; Using each test vehicle speed-lateral acceleration change rate pair, the transition route planning set and the critical lateral acceleration, the rollover stability of the target tank vehicle is verified to obtain the vehicle sway amplitude of the target tank vehicle corresponding to each test vehicle speed-lateral acceleration change rate pair; Obtaining a target test vehicle speed-lateral acceleration change rate pair from the test vehicle speed-lateral acceleration change rate pair set, and constructing a normal test vehicle speed-lateral acceleration change rate pair set; wherein the vehicle sway amplitude corresponding to the target test vehicle speed-lateral acceleration change rate pair is less than or equal to a preset sway amplitude; A rollover stability verification result of the target tank vehicle is generated based on the normal test vehicle speed-lateral acceleration change rate pair set.

[0070] Among them, by implementing this implementation method, by constructing a multi-dimensional dynamic coupling test matrix (vehicle speed - acceleration change rate - route planning), the stability boundary conditions under different driving conditions are comprehensively covered. Combining the real-time monitoring and adaptive screening mechanism of the vehicle sway amplitude, not only the refined quantitative evaluation of the rollover risk of the tank vehicle under non-linear driving conditions is realized, but also by screening out the set of parameter pairs that meet the safety threshold, the stable lateral acceleration change rate interval adapted to different vehicle speeds is directly output, providing a high-confidence dynamic stability mapping diagram for vehicle structure optimization and driving control strategy formulation.

[0071] By implementing the above implementation method, by designing a test sample tank with a hollow elliptical cylinder structure and an equal-thickness inner lining, the dynamic characteristics of the real transportation medium are effectively simulated, avoiding the centroid offset and surge risk caused by the traditional water medium substitution, and significantly improving the test safety. At the same time, by combining multi-dimensional dynamic parameters (lateral acceleration change rate, test vehicle speed, and transition route planning) to construct a composite verification model, the critical rollover state of the vehicle can be accurately captured under non-linear driving conditions, thereby improving the accuracy of the rollover stability verification results of the tank vehicle. In addition, this application can also improve the accuracy of the critical rollover state test. In addition, this application can also improve the controllability of the test process and the repeatability of the results, providing a safer and more accurate standardized dynamic test paradigm for the rollover stability verification of tank vehicles. In addition, this application can also avoid the misjudgment of stability caused by test errors or extreme working conditions, significantly improving the scientificity and reliability of critical parameters. In addition, this application can also provide a high-confidence dynamic stability mapping diagram for vehicle structure optimization and driving control strategy formulation.

[0072] In an exemplary embodiment, a computer device is provided. The computer device can be a server or a terminal, and its internal structure diagram can be as Figure 6 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. 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 the verification data of rollover stability. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication 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, a method for verifying rollover stability is implemented.

[0073] Those skilled in the art can understand that Figure 6 The structure shown in Figure 6 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.

[0074] In an exemplary embodiment, a computer device is further provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0075] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0076] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0077] In an exemplary embodiment, a chip is provided. The chip includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the steps in the above method embodiments, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0078] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-chip, system chip, chip system, or system-on-chip, etc.

[0079] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0080] 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, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0081] The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0082] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise 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.

[0083] Specific examples are used in this article to elaborate on the principles and implementation manners of the present application. The descriptions of the above embodiments are only used to help understand the methods and core ideas of the present application; at the same time, for those of ordinary skill in the art, according to the ideas of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A method for verifying rollover stability, characterized in that The method for verifying rollover stability includes: Conducting a critical state test on the target tank vehicle to obtain the maximum lateral acceleration of the target tank vehicle when it reaches the rollover critical state; wherein, a test sample tank is assembled on the target tank vehicle, the test sample tank is a hollow elliptical cylinder structure, and a lining with an equal thickness is filled on the inner wall of the curved surface of the test sample tank; Determining the critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the gravitational acceleration; Verifying the rollover stability of the target tank vehicle based on a preset set of lateral acceleration change rates, a preset set of test vehicle speeds, a preset set of transition route planning sets, and the critical lateral acceleration to obtain a rollover stability verification result; wherein, the set of lateral acceleration change rates contains multiple different lateral acceleration change rates, the set of test vehicle speeds contains multiple different test vehicle speeds, and the rollover stability verification result contains the stable lateral acceleration change rates corresponding to each test vehicle speed respectively.

2. The method for verifying rollover stability according to claim 1, wherein The specific method for determining the thickness of the lining is as follows: Obtaining the liquid density of the target liquid transported by the target tank vehicle; Obtaining the lining density of the lining; Obtaining the major semi-axis and minor semi-axis of the test sample tank; Calculating the thickness of the lining using the liquid density, the lining density, the major semi-axis, and the minor semi-axis; Wherein, the calculation formula for the thickness of the lining is: ； where h is the thickness of the inner lining, is the liquid density, is the density of the inner lining, a1 is the major semi-axis, and b1 is the minor semi-axis.

3. The verification method for rollover stability according to claim 2, characterized in that, The conducting a critical state test on the target tank vehicle to obtain the maximum lateral acceleration of the target tank vehicle when it reaches the rollover critical state specifically includes: Controlling the target tank vehicle to travel at a preset average speed on a test site; When the distance traveled by the target tank vehicle at the preset average speed reaches a preset distance, controlling the target tank vehicle to uniformly increase the steering angle until the target tank vehicle reaches the rollover critical state, and obtaining the maximum lateral acceleration of the target tank vehicle when it reaches the rollover critical state; wherein, during the process of uniformly increasing the steering angle of the target tank vehicle, the lateral acceleration increment of the target tank vehicle is less than or equal to a preset increment.

4. The method for verifying rollover stability according to claim 1, wherein The determining the critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the gravitational acceleration specifically includes: Calculating a first preset lateral acceleration using a first preset parameter and the maximum lateral acceleration; Calculating a second preset lateral acceleration using a second preset parameter and the gravitational acceleration; If the first preset lateral acceleration is greater than or equal to the second preset lateral acceleration, then determining the first preset lateral acceleration as the critical lateral acceleration; If the first preset lateral acceleration is less than the second preset lateral acceleration, then determining the second preset lateral acceleration as the critical lateral acceleration.

5. The method for verifying rollover stability according to any one of claims 1 to 4, characterized in that The verifying the rollover stability of the target tank vehicle based on a preset set of lateral acceleration change rates, a preset set of test vehicle speeds, a preset set of transition route planning sets, and the critical lateral acceleration to obtain a rollover stability verification result specifically includes: Using a preset set of lateral acceleration change rates and a preset set of test vehicle speeds, construct a set of test vehicle speed - lateral acceleration change rate pairs; wherein, each lateral acceleration change rate in the set of lateral acceleration change rates and each test vehicle speed in the set of test vehicle speeds in the set of test vehicle speed - lateral acceleration change rate pairs form a test vehicle speed - lateral acceleration change rate pair. Construct transition route plans corresponding to each of the test vehicle speed - lateral acceleration change rate pairs, and obtain a set of transition route plans including a plurality of transition route plans. Use each test vehicle speed - lateral acceleration change rate pair, the set of transition route plans, and the critical lateral acceleration to verify the rollover stability of the target tanker vehicle, and obtain the vehicle swing amplitude of the target tanker vehicle corresponding to each test vehicle speed - lateral acceleration change rate pair. Based on the vehicle swing amplitude of the target tanker vehicle corresponding to each test vehicle speed - lateral acceleration change rate pair, determine the rollover stability verification result of the target tanker vehicle.

6. The method for verifying rollover stability according to claim 5, wherein The determining the rollover stability verification result of the target tanker vehicle based on the vehicle swing amplitude of the target tanker vehicle corresponding to each test vehicle speed - lateral acceleration change rate pair specifically includes: Obtain a target test vehicle speed - lateral acceleration change rate pair from the set of test vehicle speed - lateral acceleration change rate pairs, and construct a set of normal test vehicle speed - lateral acceleration change rate pairs; wherein, the vehicle swing amplitude corresponding to the target test vehicle speed - lateral acceleration change rate pair is less than or equal to a preset swing amplitude. Generate the rollover stability verification result of the target tanker vehicle based on the set of normal test vehicle speed - lateral acceleration change rate pairs.

7. A verification device for rollover stability, characterized in that, The rollover stability verification device includes: A testing unit for performing a critical state test on the target tanker vehicle to obtain the maximum lateral acceleration of the target tanker vehicle when reaching the rollover critical state; wherein, a test sample tank is assembled on the target tanker vehicle, the test sample tank is a hollow elliptical cylinder structure, and an inner lining with an equal thickness is filled on the inner wall of the curved surface of the test sample tank. A determining unit for determining the critical lateral acceleration of the target tanker vehicle based on the maximum lateral acceleration and the gravitational acceleration. A verification unit for verifying the rollover stability of the target tanker vehicle based on a preset set of lateral acceleration change rates, a preset set of test vehicle speeds, a preset set of transition route plans, and the critical lateral acceleration, and obtaining a rollover stability verification result; wherein, the set of lateral acceleration change rates includes a plurality of different lateral acceleration change rates, the set of test vehicle speeds includes a plurality of different test vehicle speeds, and the rollover stability verification result includes the stable lateral acceleration change rates corresponding to each test vehicle speed.

8. A computer device, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the rollover stability verification method according to any one of claims 1 - 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the rollover stability verification method described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the rollover stability verification method described in any one of claims 1-6.

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