A method, device, equipment, medium and product for verifying roll stability

Abstract

The application discloses a rollover stability verification method, device, equipment, medium and product, and relates to the technical field of electric digital data processing. The method comprises the following steps: performing critical state testing on a target tank vehicle to obtain the maximum lateral acceleration of the target tank vehicle; wherein, a test sample tank is assembled on the target tank vehicle, and the inner wall of the curved surface of the test sample tank is filled with an inner liner with equal thickness; based on the maximum lateral acceleration and the gravitational acceleration, the critical lateral acceleration of the target tank vehicle is determined; 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 of the target tank vehicle is verified to obtain a rollover stability verification result; wherein, the rollover stability verification result contains the stable lateral acceleration change rate corresponding to each test vehicle speed, and the application can improve the accuracy of the rollover stability verification result of the tank vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of electric digital data processing, and in particular to a rollover stability verification method, device, equipment, medium and product. BACKGROUND

[0002] Tank vehicles, as professional transportation tools, play an irreplaceable role in the field of energy transportation and industrial raw material transportation. Although the unique closed tank structure can effectively reduce loading and unloading loss, the vehicle center of mass is generally high due to the influence of the physical properties of the transported medium and the tank design, and the transported medium is mostly dangerous, so that rollover accidents may cause serious secondary disasters. The rollover stability problem has always been the focus of industry technology research.

[0003] The current industry mainly improves stability through structure optimization, wheel spacing adjustment, mass distribution design and other means, but there are significant technical bottlenecks in the verification link. On the one hand, the stability analysis based on simulation cannot truly reflect the dynamic characteristics under complex working conditions, especially there are modeling errors in key factors such as liquid medium surge effect and nonlinear motion state; on the other hand, real vehicle road test faces multiple restrictions: water medium must be used instead of actual transport liquid for safety reasons, but the high density characteristics of water limit the loading capacity, causing systematic deviation of the center of mass height and mass distribution from the actual working condition. It can be seen that in the existing technical system, the accuracy of the verification result of the rollover stability of the tank vehicle is low. SUMMARY

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

[0005] To achieve the above purpose, the present application provides the following solutions:

[0006] In a first aspect, the present application provides a rollover stability verification method, comprising:

[0007] Performing a critical state test on a target tank vehicle to obtain the maximum lateral acceleration of the target tank vehicle when reaching a rollover critical state; wherein the target tank vehicle is equipped with a test sample tank, the test sample tank is a hollow elliptical cylindrical structure, and the inner wall of the curved surface of the test sample tank is filled with an inner liner with equal thickness;

[0008] Determining the critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the gravitational acceleration;

[0009] The target tank vehicle is subjected to rollover stability verification 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, to obtain a rollover stability verification result; wherein the lateral acceleration change rate set contains multiple different lateral acceleration change rates, the test vehicle speed set contains multiple different test vehicle speeds, and the rollover stability verification result contains a stable lateral acceleration change rate corresponding to each test vehicle speed.

[0010] Optionally, the thickness of the inner liner is determined in the following manner:

[0011] The liquid density of the target liquid transported by the target tank vehicle is obtained;

[0012] The inner liner density of the inner liner is obtained;

[0013] The major semi-axis and the minor semi-axis of the test sample tank are obtained;

[0014] The thickness of the inner liner is calculated using the liquid density, the inner liner density, the major semi-axis and the minor semi-axis;

[0015] The calculation formula of the thickness of the inner liner is as follows:

[0016] ;

[0017] wherein h is the thickness of the inner liner, is the liquid density, is the inner liner density, a1 is the major semi-axis, and b1 is the minor semi-axis.

[0018] Optionally, the target tank vehicle is subjected to critical state testing to obtain the maximum lateral acceleration of the target tank vehicle when reaching the rollover critical state, specifically including:

[0019] The target tank vehicle is controlled to travel at a preset average speed in a test site;

[0020] When the distance traveled by the target tank vehicle at the preset average speed reaches a preset distance, the target tank vehicle is controlled to increase the steering angle at a constant speed until the target tank vehicle reaches the rollover critical state, and the maximum lateral acceleration of the target tank vehicle when reaching the rollover critical state is obtained; wherein the lateral acceleration increment of the target tank vehicle is less than or equal to a preset increment during the process of increasing the steering angle at a constant speed.

[0021] Optionally, the critical lateral acceleration of the target tank vehicle is determined based on the maximum lateral acceleration and the gravitational acceleration, specifically including:

[0022] a first preset lateral acceleration is calculated using the first preset parameter and the maximum lateral acceleration;

[0023] a second preset lateral acceleration is calculated using a second preset parameter and the gravity acceleration;

[0024] if the first preset lateral acceleration is greater than or equal to the second preset lateral acceleration, the first preset lateral acceleration is determined as a critical lateral acceleration;

[0025] if the first preset lateral acceleration is less than the second preset lateral acceleration, the second preset lateral acceleration is determined as the critical lateral acceleration.

[0026] Optionally, based on the preset lateral acceleration rate set, the preset test vehicle speed set, the preset transition route planning set, and the critical lateral acceleration, the target tank vehicle is subjected to rollover stability verification to obtain a rollover stability verification result, specifically including:

[0027] a test vehicle speed-lateral acceleration rate pair set is constructed using the preset lateral acceleration rate set and the preset test vehicle speed set; wherein the test vehicle speed-lateral acceleration rate pair set contains a test vehicle speed-lateral acceleration rate pair formed by each lateral acceleration rate in the lateral acceleration rate set and each test vehicle speed in the test vehicle speed set;

[0028] a transition route planning set containing multiple transition route plans is obtained by constructing a transition route planning corresponding to each test vehicle speed-lateral acceleration rate pair;

[0029] the target tank vehicle is subjected to rollover stability verification using each test vehicle speed-lateral acceleration rate pair, the transition route planning set, and the critical lateral acceleration to obtain a vehicle swing amplitude of the target tank vehicle corresponding to each test vehicle speed-lateral acceleration rate pair;

[0030] based on the vehicle swing amplitude of the target tank vehicle corresponding to each test vehicle speed-lateral acceleration rate pair, a rollover stability verification result of the target tank vehicle is determined.

[0031] Optionally, the rollover stability verification result of the target tank vehicle is determined based on the vehicle swing amplitude of the target tank vehicle corresponding to each test vehicle speed-lateral acceleration rate pair, specifically including:

[0032] obtaining a target test vehicle lateral acceleration rate and lateral acceleration pair from the test vehicle lateral acceleration rate and lateral acceleration rate pair set, and constructing a normal test vehicle lateral acceleration rate and lateral acceleration rate pair set; wherein the target test vehicle lateral acceleration rate and lateral acceleration rate pair corresponds to a vehicle swing amplitude less than or equal to a preset swing amplitude;

[0033] generating a rollover stability verification result of the target tank vehicle based on the normal test vehicle lateral acceleration rate and lateral acceleration rate pair set.

[0034] In a second aspect, the present application provides a rollover stability verification device, comprising:

[0035] a test unit configured to perform a critical state test on a target tank vehicle to obtain a maximum lateral acceleration of the target tank vehicle when reaching a rollover critical state; wherein the target tank vehicle is equipped with a test sample tank, 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 an inner liner with equal thickness;

[0036] a determination unit configured to determine a critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the gravitational acceleration;

[0037] a verification unit configured to perform a rollover stability verification on the target tank vehicle based on a preset lateral acceleration rate set, a preset test vehicle speed set, a preset transition route planning set, and the critical lateral acceleration, to obtain a rollover stability verification result; wherein the lateral acceleration rate set comprises a plurality of different lateral acceleration rates, the test vehicle speed set comprises a plurality of different test vehicle speeds, and the rollover stability verification result comprises a stable lateral acceleration rate corresponding to each test vehicle speed.

[0038] In a third aspect, the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the rollover stability verification method of any one of the above.

[0039] In a fourth aspect, the present application provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executable by a processor to implement the steps of the rollover stability verification method of any one of the above.

[0040] In a fifth aspect, the present application provides a computer program product comprising a computer program, wherein the computer program is executable by a processor to implement the steps of the rollover stability verification method of any one of the above.

[0041] In a sixth aspect, the present application provides a chip, which comprises a processor and a communication interface, the communication interface and the processor are coupled, the processor is used to run programs or instructions, and the processor implements the steps of the rollover stability verification method in any one of the above aspects when executing the programs or instructions.

[0042] According to the specific embodiments provided in the present application, the present application discloses the following technical effects:

[0043] The present application provides a rollover stability verification method, device, equipment, medium and product, by designing a test sample tank with a hollow elliptical cylinder structure and an equal-thickness lining, the dynamic characteristics of the real transportation medium are effectively simulated, the mass center deviation and surge risk caused by the traditional water medium substitution are avoided, and the test safety is significantly improved; meanwhile, a composite verification model is constructed by combining multi-dimensional dynamic parameters (lateral acceleration change rate, test vehicle speed and transition route planning), the vehicle rollover critical state can be accurately captured under the nonlinear driving condition, and thus the accuracy of the rollover stability verification result of the tank vehicle is improved. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0045] Figure 1 A flowchart of a rollover stability verification method in an embodiment of the present application;

[0046] Figure 2 A cross-sectional view of a test sample tank parallel to the elliptical bottom surface of the test sample tank provided in an embodiment of the present application;

[0047] Figure 3 A schematic diagram of a transition route planning provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of a rollover stability verification result provided in an embodiment of the present application;

[0049] Figure 5 A functional module schematic diagram of a rollover stability verification device provided in an embodiment of the present application;

[0050] Figure 6 A structural schematic diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0052] The above-mentioned purposes, features and advantages of the present application will be more apparent and understandable. The present application will be further described in detail below with reference to the drawings and specific embodiments.

[0053] In an exemplary embodiment, as shown in Figure 1 A method for verifying roll stability is provided, which is executed by a computer device, specifically, by a terminal or a server, or by both the terminal and the server. The method comprises the following steps 101-103. In the method, the following steps are performed.

[0054] In step 101, a critical state test is performed on a target tank vehicle to obtain a maximum lateral acceleration of the target tank vehicle when reaching a roll critical state.

[0055] In the embodiments of the present application, a test sample tank is mounted on the target tank vehicle, the test sample tank is a hollow elliptic cylinder structure, and an inner liner with equal thickness is filled on the inner wall of the curved surface of the test sample tank.

[0056] In the embodiments of the present application, the test sample tank mounted 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 vehicle speed variable steering angle test.

[0057] As an optional implementation, the determination of the thickness of the inner liner is specifically as follows:

[0058] The liquid density of the target liquid transported by the target tank vehicle is obtained.

[0059] The inner liner density of the inner liner is obtained.

[0060] The major semi-axis and the minor semi-axis of the test sample tank are obtained.

[0061] The thickness of the inner liner is calculated using the liquid density, the inner liner density, the major semi-axis and the minor semi-axis.

[0062] Wherein, by combining the density of the target liquid, the characteristics of the inner liner material and the geometric parameters of the test sample tank, the thickness of the inner liner is accurately matched through mathematical calculation to ensure that the dynamic centroid distribution of the test sample tank is highly consistent with the characteristics of the real transport medium, thereby avoiding the centroid deviation error caused by the traditional water medium replacement and suppressing the uncontrollable risk of liquid surge through optimized inner liner design, and the accuracy of the rollover critical state test is significantly improved.

[0063] Wherein, the calculation formula of the thickness of the inner liner is:

[0064] ;

[0065] Wherein, h is the thickness of the inner liner, is the density of the liquid, is the density of the inner liner, a1 is the long semi-axis, and b1 is the short semi-axis.

[0066] Please refer to Figure 2 , Figure 2 is a cross-sectional view of a test sample tank provided by an embodiment of the present application, which is parallel to the elliptical bottom surface of the test sample tank; wherein, Figure 2 The left side is a test sample tank without an inner liner with equal thickness, Figure 2 The right side is a test sample tank with an inner liner with equal thickness, that is, the gray part is the inner liner with equal thickness filled on the curved inner wall of the test sample tank. The long semi-axis and the short semi-axis of the internal space of the test sample tank without the inner liner with equal thickness are a1 and b1, the long semi-axis and the short semi-axis of the internal space of the test sample tank with the inner liner with equal thickness are a2 and b2, and the thickness of the inner liner is h.

[0067] The length of the tank body of the test sample tank is C, and it can be seen that the volume of the tank body of the test sample tank is:

[0068] S1=π×a1×b1×C;

[0069] When the target liquid completely fills the test sample tank without the inner liner with equal thickness, the centroid is located at the intersection of a1 and b1, and the mass of the target liquid is: M1=ρ1×S1.

[0070] The inner liner density of the inner liner material is ρ2, as long as the inner liner mass M2 of the increased inner liner material part is equal to the mass M1 of the target liquid, the centroid of the test sample tank without the inner liner with equal thickness when the target liquid completely fills it is the same as the centroid position of the test sample tank (with the inner liner), and the mass of the test sample tank without the inner liner with equal thickness when the target liquid completely fills it is completely consistent with the mass of the test sample tank (with the inner liner), so the mass distribution state of the whole vehicle is also completely consistent.

[0071] Since the volume of the inner liner is: S2=π×(a1-a2)×(b1-b2)×C;

[0072] Therefore, the inner liner quality M2 = ρ2 × S2;

[0073] When M1 = M2, then ρ1 × π × a1 × b1 × C = ρ2 × π × (a1-a2) × (b1-b2) × C, since a1-a2 = b1-b2 = h, thus:

[0074] ;

[0075] As an optional implementation, the manner in which step 101 tests the target tank vehicle for a critical state to obtain the maximum lateral acceleration of the target tank vehicle when reaching a rollover critical state can include:

[0076] controlling the target tank vehicle to travel at a preset average speed on a test site;

[0077] when the distance traveled by the target tank vehicle at the preset average speed reaches a preset distance, controlling the target tank vehicle to increase the steering angle at a constant speed until the target tank vehicle reaches a rollover critical state, and obtaining the maximum lateral acceleration of the target tank vehicle when reaching the rollover critical state; wherein, in the process of increasing the steering angle at a constant speed, the lateral acceleration increment of the target tank vehicle is less than or equal to a preset increment.

[0078] Wherein, by implementing this embodiment, the rollover critical point is gradually approached under the premise of ensuring the stability of the vehicle driving state through the cooperative control of the preset average speed and the constant speed steering angle increment, which not only avoids the risk of loss of control caused by sudden steering in traditional dynamic testing, but also accurately captures the critical threshold through linearly increasing lateral acceleration, significantly improves the controllability of the testing process and the repeatability of the results, and provides a safer, more accurate standardized dynamic testing paradigm for tank vehicle rollover stability verification.

[0079] In the embodiments of the present application, the test site is a flat, dry asphalt or cement pavement, the slope in any direction is not more than 2%, the test environment wind speed is not more than 3 m / s, the temperature is between 0-40℃, and the atmospheric pressure deviation from the standard atmospheric pressure is not more than 7.5%.

[0080] In the embodiments 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 .

[0081] For example, the target tank vehicle is controlled to travel at a speed of 50 km / h for not less than 5 km, so as to preheat the target tank vehicle to a normal use temperature. The test vehicle travels at an average speed of 50 km / h, starts from a small steering wheel angle, and gradually increases the steering angle. The increment of the steering wheel angle should be slow and uniform, and the increment of the lateral acceleration caused should not exceed 0.5 m / s 2 , until the vehicle reaches a critical state.

[0082] In step 102, the critical lateral acceleration of the target tank vehicle is determined based on the maximum lateral acceleration and the gravity acceleration.

[0083] As an optional implementation, the manner in which step 102 determines the critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the gravity acceleration can include:

[0084] A first preset lateral acceleration is calculated using a first preset parameter and the maximum lateral acceleration.

[0085] A second preset lateral acceleration is calculated using a second preset parameter and the gravity acceleration.

[0086] If the first preset lateral acceleration is greater than or equal to the second preset lateral acceleration, the first preset lateral acceleration is determined as the critical lateral acceleration.

[0087] If the first preset lateral acceleration is less than the second preset lateral acceleration, the second preset lateral acceleration is determined as the critical lateral acceleration.

[0088] In this implementation, the safety threshold value of the correlation between the measured maximum lateral acceleration and the theoretical gravity acceleration is adaptively matched through a double-parameterization calculation and dynamic threshold comparison mechanism. This not only overcomes the limitations of traditional methods that rely on single test data or static theoretical values, but also ensures that the determination of the critical lateral acceleration always deviates to a more conservative safety boundary through bidirectional verification, effectively avoiding stability misjudgments caused by test errors or extreme working conditions, and significantly improving the scientificity and reliability of the critical parameters.

[0089] 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 gravity acceleration.

[0090] Step 103 : 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 of the target tank vehicle is verified to obtain a rollover stability verification result.

[0091] In this embodiment of the present application, the lateral acceleration change rate set includes multiple different lateral acceleration change rates, the test vehicle speed set includes multiple different test vehicle speeds, and the rollover stability verification result includes the stable lateral acceleration change rate corresponding to each test vehicle speed. A steering robot, gyroscope, or VBOX (or other device capable of real-time lateral acceleration measurement and signal output) can be installed on the target tank vehicle. The steering robot can control the target tank vehicle's steering.

[0092] As an optional embodiment, step 103 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 method for obtaining the rollover stability verification result may include the following steps:

[0093] 1. Using a preset lateral acceleration change rate set and a preset test vehicle speed set, construct a set of test vehicle speed-lateral acceleration change rate pairs; wherein the test vehicle speed-lateral acceleration change rate pair set includes test vehicle speed-lateral acceleration change rate pairs 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.

[0094] For example, the preset lateral acceleration rate set may include 1.0 m / s 3 , 1.5m / s 3 , 2.0m / s 3 , 2.5m / s 3 、3.0m / s 3 The preset test speed set may include test speeds such as 50km / h, 70km / h, 85km / h, and 100km / h. The test speed-lateral acceleration change rate pair set may include: (1.0m / s 3 , 50km / h), (1.0m / s 3 , 70km / h), (1.0m / s 3 , 85km / h), (1.0m / s 3 , 100km / h), (1.5m / s 3 , 50km / h), (1.5m / s 3 , 70km / h), (1.5m / s3 , 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].

[0095] 2. Constructing each test vehicle speed-lateral acceleration rate of change corresponding to the transition route planning, respectively, to obtain a transition route planning set containing multiple transition route planning.

[0096] Please see Figure 3 , Figure 3 for an embodiment of the present application provides a schematic diagram of a transition route planning; as Figure 3 shown, the simulation of the target tank vehicle from left to right, the vehicle at a constant speed (for example, 50 km / h) uniform speed throughout the journey, gradually transition from straight line segment to the circle, in the process of transition from straight line segment to the circle Figure 3 the solid line portion L in the transition route planning, the lateral acceleration rate of change (for example, 1.0 m / s 3 ) remains constant, Figure 3 shows the vehicle trajectory, the vehicle in each position on the solid line portion L positioning can be obtained by the real-time heading angle (v) and the distance (length s) along the solid line portion L of the vehicle at this position using Cartesian coordinate system, that is:

[0097]

[0098]

[0099] where the heading angle can be based on the curvature of the curve changes with the distance integral: v= 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 derived from the vehicle motion, kc is related to the test speed Vx and the lateral acceleration change rate ka of the vehicle, and the relationship is:

[0100]

[0101] Based on the above, the conversion of the curve represented by the Cartesian coordinate system can be obtained:

[0102]

[0103]

[0104] Since the acceleration change rate ka in each test is a constant 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 constant value (50 km / h, 70 km / h, 85 km / h, 100 km / h), the coordinate system can be simplified as the expression of the path distance s. The curve represented by the Cartesian coordinate system is compiled into a transition path planning of a steering robot. Based on this planning, in combination with the negative feedback mechanism of the real-time lateral acceleration change rate constant value, the actual driving attitude of the vehicle is controlled.

[0105] 3. Using each test vehicle speed-lateral acceleration change rate pair, the transition path planning set, and the critical lateral acceleration, the target tank vehicle is verified for rollover stability, and the vehicle swing amplitude of the target tank vehicle corresponding to each test vehicle speed-lateral acceleration change rate pair is obtained.

[0106] In the embodiments of the present application, when different test vehicle speed-lateral acceleration change rate pairs are used for rollover stability verification, the verification conditions should be as close as possible, for example, the temperature difference should not exceed ±5℃.

[0107] The process of rollover stability verification of the target tank vehicle can be: starting from straight-line motion, the steering robot controls the steering of the target tank vehicle according to the pre-simulated transition path planning, so that the target tank vehicle driving trajectory gradually transitions to a circular path. During the entire test process, the vehicle speed remains unchanged. During the driving process of the vehicle from straight-line to circular path, the gyro or VBOX is used to record the lateral acceleration of the vehicle in real time, and the signal is output to the steering robot as a negative feedback control signal to correct the steering angle of the steering wheel (reflected as the heading angle) controlled by the steering robot to ensure that the lateral acceleration change rate of the vehicle remains constant. The first test is 1.0 m / s 3.

[0108] The lateral acceleration change rate is increased by 0.5 m / s 3 , and the test is repeated four times, i.e., 1.0 m / s 3 , 1.5 m / s 3 , 2.0 m / s 3 , 2.5 m / s 3 , and 3.0 m / s 3 . If the vehicle smoothly transitions to stable circular motion that meets the above conditions (i.e., the vehicle swing amplitude is less than or equal to the preset swing amplitude) at the corresponding test speed and the corresponding acceleration change rate, it is recorded as the vehicle running stably under the speed and the acceleration change rate condition. If the vehicle is about to roll over or become unstable in yaw (i.e., the vehicle swing amplitude is greater than the preset swing amplitude) during the test, it is recorded as the vehicle running unstably (reaching a critical state) under the speed and the acceleration change rate condition. The test is terminated when the vehicle reaches a critical state or the lateral acceleration change rate reaches 3.0 m / s 3 (the first one wins).

[0109] The test speed of the vehicle during driving is increased, and the above test is repeated at speeds of 70 km / h, 85 km / h, and 100 km / h, to further obtain the vehicle swing amplitude of the target tank vehicle corresponding to each test speed-lateral acceleration change rate pair.

[0110] 4. Obtain a target test speed-lateral acceleration change rate pair from the test speed-lateral acceleration change rate pair set, and construct a normal test speed-lateral acceleration change rate pair set. The vehicle swing amplitude corresponding to the target test speed-lateral acceleration change rate pair is less than or equal to the preset swing amplitude.

[0111] 5. Generate a rollover stability verification result of the target tank vehicle based on the normal test speed-lateral acceleration change rate pair set.

[0112] In the embodiments of the present application, the rollover stability verification result can be output in the form of a chart or in the form of text, and the embodiments of the present application do not limit this.

[0113] Wherein, by constructing a multi-dimensional dynamic coupling test matrix (vehicle speed-acceleration rate-course planning), the stability boundary conditions under different driving conditions are comprehensively covered, combined with real-time monitoring and adaptive screening mechanism of vehicle swing amplitude, not only the fine quantitative evaluation of rollover risk of tank vehicle under nonlinear driving state is realized, but also the parameter set meeting the safety threshold is screened out, and the stable lateral acceleration rate interval adapting to different vehicle speeds is directly output, providing a high confidence dynamic stability mapping for vehicle structure optimization and driving control strategy.

[0114] Please see Figure 4 , Figure 4 for a schematic diagram of a rollover stability verification result provided by an embodiment of the present application. Figure 4 As can be seen from the above table, the rollover stability verification result of the target tank vehicle is as follows: when the vehicle speed is 50 km / h, the lateral acceleration reaches 3.0 m / s 3 , the vehicle operation is still stable; when the vehicle speed is 70 km / h, the lateral acceleration reaches 2.5 m / s 3 , the vehicle operation is still stable, but when the lateral acceleration reaches 3.0 m / s 3 , the vehicle operation loses stability; when the vehicle speed is 85 km / h, the lateral acceleration reaches 2.0 m / s 3 , the vehicle operation is still stable, but when the lateral acceleration reaches 2.5 m / s 3 , the vehicle operation loses stability; when the vehicle speed is 100 km / h, the vehicle operation can only keep stable when the lateral acceleration is only 1.0 m / s 3 , and when the lateral acceleration reaches 1.5 m / s 3 , the vehicle operation loses stability.

[0115] The steps 101 to 103 are implemented, the dynamic characteristics of the real transportation medium are effectively simulated by designing the test sample tank with the hollow elliptical cylinder structure and the equal-thickness inner liner, the mass center deviation and the surge risk caused by the traditional water medium replacement are avoided, and the test safety is significantly improved; meanwhile, the composite verification model is constructed in combination with the multi-dimensional dynamic parameters (lateral acceleration change rate, test vehicle speed and transition route planning), the critical state of vehicle rollover can be accurately captured under the nonlinear driving condition, and therefore the accuracy of the rollover stability verification result of the tank vehicle is improved. In addition, the application can also improve the accuracy of the rollover critical state test. In addition, the application can also improve the controllability of the test process and the repeatability of the result, and provides a safer and more accurate standardized dynamic test paradigm for the rollover stability verification of the tank vehicle. In addition, the application can also avoid the stability misjudgment caused by the test error or the extreme condition, significantly improve the scientificity and reliability of the critical parameters. In addition, the application can also provide a high-confidence dynamic stability mapping for vehicle structure optimization and driving control strategy formulation.

[0116] Based on the same inventive concept, the application also provides a rollover stability verification device for implementing the rollover stability verification method described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, and therefore the specific limitations in one or more rollover stability verification device embodiments provided below can refer to the limitations of the rollover stability verification method described above, which will not be repeated here.

[0117] In one exemplary embodiment, as shown in Figure 5 A rollover stability verification device is provided, including:

[0118] The test unit 501 is configured to perform a critical state test on a target tank vehicle to obtain a maximum lateral acceleration of the target tank vehicle when reaching a rollover critical state; wherein the target tank vehicle is equipped with a test sample tank, the test sample tank has a hollow elliptical cylinder structure, and the test sample tank is filled with an inner liner with equal thickness on the inner wall of the curved surface of the test sample tank.

[0119] The determination unit 502 is configured to determine a critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the gravitational acceleration.

[0120] The verification unit 503 is configured to verify the rollover stability of the target tank vehicle based on the preset lateral acceleration change rate set, the preset test vehicle speed set, the preset transition route planning set, and the critical lateral acceleration, to obtain a rollover stability verification result; wherein the lateral acceleration change rate set comprises a plurality of different lateral acceleration change rates, the test vehicle speed set comprises a plurality of different test vehicle speeds, and the rollover stability verification result comprises a stable lateral acceleration change rate corresponding to each test vehicle speed.

[0121] As an optional implementation, the determination of the thickness of the inner liner is specifically as follows:

[0122] Obtaining the liquid density of the target liquid transported by the target tank vehicle;

[0123] Obtaining the inner liner density of the inner liner;

[0124] Obtaining the major semi-axis and the minor semi-axis of the test sample tank;

[0125] Using the liquid density, the inner liner density, the major semi-axis, and the minor semi-axis to calculate the thickness of the inner liner.

[0126] In this implementation, the density of the target liquid, the characteristics of the inner liner material, and the geometric parameters of the test sample tank are combined to accurately match the thickness of the inner liner through mathematical calculation, ensuring that the dynamic center of mass distribution of the test sample tank is highly consistent with the characteristics of the real transportation medium. This not only avoids the center of mass deviation error caused by the traditional water medium replacement, but also suppresses the uncontrollable risk of liquid surge through optimized inner liner design, significantly improving the accuracy of the rollover critical state test.

[0127] As an optional implementation, the test unit 501 can perform the critical state test on the target tank vehicle in the following manner to obtain the maximum lateral acceleration of the target tank vehicle when reaching the rollover critical state:

[0128] Controlling the target tank vehicle to travel at a preset average speed on a test site;

[0129] 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 reaching the rollover critical state; wherein, during the process of uniformly increasing the steering angle, the lateral acceleration increment of the target tank vehicle is less than or equal to a preset increment.

[0130] In the implementation of the embodiment, the critical point of rollover is gradually approached under the premise of ensuring the stability of the vehicle driving state by the cooperative control of the preset average speed and the uniform turning angle increment, the risk of out-of-control caused by sudden turning in the traditional dynamic test is avoided, the critical threshold is accurately captured through linearly increasing lateral acceleration, the controllability of the test process and the repeatability of the results are significantly improved, and a safer and more accurate standardized dynamic test paradigm is provided for the verification of the rollover stability of the tank vehicle.

[0131] As an optional implementation, the determination unit 502 determines the critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the gravitational acceleration in the following manner:

[0132] A first preset lateral acceleration is calculated using the first preset parameter and the maximum lateral acceleration;

[0133] A second preset lateral acceleration is calculated using the second preset parameter and the gravitational acceleration;

[0134] If the first preset lateral acceleration is greater than or equal to the second preset lateral acceleration, the first preset lateral acceleration is determined as the critical lateral acceleration;

[0135] If the first preset lateral acceleration is less than the second preset lateral acceleration, the second preset lateral acceleration is determined as the critical lateral acceleration.

[0136] In the implementation of the embodiment, the safety threshold of the measured maximum lateral acceleration and the theoretical gravitational acceleration is adaptively matched through the double-parameterized calculation and dynamic threshold comparison mechanism, the limitations of the traditional method relying on single test data or static theoretical values are overcome, the determination of the critical lateral acceleration is always biased towards the more conservative safety boundary through bidirectional verification, the stability misjudgment caused by test errors or extreme working conditions is effectively avoided, and the scientificity and reliability of the critical parameters are significantly improved.

[0137] As an optional implementation, the verification unit 503 verifies the rollover stability of the target tank vehicle based on the preset lateral acceleration change rate set, the preset test vehicle speed set, the preset transition route planning set, and the critical lateral acceleration, to obtain a rollover stability verification result in the following manner:

[0138] A test vehicle speed-lateral acceleration change rate pair set is constructed using the preset lateral acceleration change rate set and the preset test vehicle speed set, wherein the test vehicle speed-lateral acceleration change rate pair set includes test vehicle speed-lateral acceleration change rate pairs formed by each lateral acceleration change rate in the lateral acceleration change rate set and each test vehicle speed in the test vehicle speed set.

[0139] constructing a transition route planning corresponding to each test vehicle speed-lateral acceleration change rate pair to obtain a transition route planning set containing a plurality of transition route plans;

[0140] using each test vehicle speed-lateral acceleration change rate pair, the transition route planning set and the critical lateral acceleration, performing a rollover stability verification on the target tank vehicle to obtain a vehicle roll amplitude of the target tank vehicle corresponding to each test vehicle speed-lateral acceleration change rate pair;

[0141] obtaining a target test vehicle speed-lateral acceleration change rate pair from the test vehicle speed-lateral acceleration change rate pair set to construct a normal test vehicle speed-lateral acceleration change rate pair set; wherein the vehicle roll amplitude corresponding to the target test vehicle speed-lateral acceleration change rate pair is less than or equal to a preset roll amplitude;

[0142] generating a rollover stability verification result of the target tank vehicle based on the normal test vehicle speed-lateral acceleration change rate pair set.

[0143] In this embodiment, 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, and the real-time monitoring and adaptive screening mechanism of the vehicle roll amplitude is combined, not only realizing the fine quantitative evaluation of the rollover risk of the tank vehicle under the nonlinear driving state, but also directly outputting the stable lateral acceleration change rate interval adapted to different vehicle speeds by screening the parameter pair set meeting the safety threshold, thereby providing a high-confidence dynamic stability mapping atlas for vehicle structure optimization and driving control strategy formulation.

[0144] In the above embodiment, by designing the test sample tank with a hollow elliptical cylinder structure and an equal-thickness lining, the dynamic characteristics of the real transportation medium are effectively simulated, the mass center deviation and surge risk caused by the traditional water medium substitution are avoided, and the test safety is significantly improved; 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 vehicle rollover critical state under the nonlinear driving condition, thereby improving the accuracy of the rollover stability verification result of the tank vehicle. In addition, the application can also improve the accuracy of the rollover critical state test. In addition, the application can also improve the controllability of the test process and the repeatability of the results, and provides a safer and more accurate standardized dynamic test paradigm for the rollover stability verification of the tank vehicle. In addition, the application can also avoid the stability misjudgment caused by test errors or extreme conditions, significantly improve the scientificity and reliability of the critical parameters. In addition, the application can also provide a high-confidence dynamic stability mapping atlas for vehicle structure optimization and driving control strategy formulation.

[0145] In an example embodiment, a computer device is provided, which can be a server or a terminal, and an internal structure diagram thereof can be as shown in FIG. 1. Figure 6 The computer device includes a processor, a memory, an input / output interface (I / O) and a communication interface. 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. The processor of the computer device is configured 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 running the operating system and the computer program in the non-volatile storage medium. The database of the computer device is configured to store verification data of rollover stability. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with external terminals through a network connection. The computer program is executed by the processor to implement a verification method of rollover stability.

[0146] Those skilled in the art can understand that Figure 6 The structure shown in FIG. 1 is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0147] In an example embodiment, a computer device is also provided, which includes a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0148] In an example embodiment, a computer readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the steps in the above-mentioned method embodiments.

[0149] In an example embodiment, a computer program product is provided, which includes a computer program. The computer program is executed by a processor to implement the steps in the above-mentioned method embodiments.

[0150] In an example embodiment, a chip is provided, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is configured to run a program or an instruction to implement the steps in the above-mentioned method embodiments and achieve the same technical effects. To avoid repetition, details are not described here.

[0151] It should be understood that the chip mentioned in the embodiments of the present application can also be referred to as a system-level chip, a system chip, a chip system, or a system-on-chip, etc.

[0152] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations.

[0153] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. 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 above-mentioned embodiments. Any reference to memory, database or other medium used in the embodiments provided by the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc.

[0154] The database involved in the embodiments provided by the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided by the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0155] Any technical features in the above embodiments can be combined, and for the sake of brevity, not all possible combinations are described above, however, it should be understood that the application encompasses all possible combinations of the technical features described above.

[0156] The principles and implementation manners of the present application are described herein by using specific examples, and the above embodiments are only used to help understand the method of the present application and its core idea; meanwhile, according to the idea of the present application, the specific implementation manners and application scopes will be changed by those skilled in the art. In conclusion, the content of the present specification should not be understood as a limitation of the present application.

Claims

1. A method for verifying rollover stability, characterized in that: The rollover stability verification method includes: Performing a critical state test on a target tank vehicle to obtain the maximum lateral acceleration of the target tank vehicle when it reaches a critical rollover state; wherein the target tank vehicle is equipped with a test sample tank, the test sample tank being a hollow elliptical cylinder structure, and the inner wall of the curved surface of the test sample tank being filled with a lining of uniform thickness; determining a critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the acceleration of gravity; 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 of the target tank vehicle is verified to obtain a rollover stability verification result; wherein, the lateral acceleration change rate set includes multiple different lateral acceleration change rates, the test vehicle speed set 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.

2. The rollover stability verification method according to claim 1, characterized in that: The thickness of the lining is determined specifically as follows: Obtaining a liquid density of a target liquid transported by the target tank vehicle; obtaining a lining density of the lining; Obtaining the semi-major axis and the semi-minor 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; The calculation formula of the thickness of the lining is: ； Wherein, 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.

3. The rollover stability verification method according to claim 2, characterized in that: The critical state test of the target tank vehicle is performed to obtain the maximum lateral acceleration of the target tank vehicle when the target tank vehicle reaches the critical state of rollover, specifically including: Controlling the target tank vehicle to travel at a preset average speed on the test site; When the target tank vehicle has traveled a distance reaching a preset distance at the preset average speed, the target tank vehicle is controlled to increase the steering angle at a uniform speed until the target tank vehicle reaches a critical state of rollover, and the maximum lateral acceleration of the target tank vehicle when reaching the critical state of rollover is obtained; wherein, during the process of the target tank vehicle increasing the steering angle at a uniform speed, the lateral acceleration increment of the target tank vehicle is less than or equal to the preset increment.

4. The rollover stability verification method according to claim 1, characterized in that: The determining of the critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the acceleration of gravity specifically includes: Calculating a first preset lateral acceleration using the first preset parameter and the maximum lateral acceleration; Using the second preset parameter and the acceleration of gravity, 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.

5. The rollover stability verification method according to any one of claims 1 to 4, characterized in that: The rollover stability verification of the target tank vehicle is performed based on the preset lateral acceleration change rate set, the preset test vehicle speed set, the preset transition route planning set, and the critical lateral acceleration to obtain a rollover stability verification result, which specifically includes: Using a preset lateral acceleration change rate set and a preset test vehicle speed set, a set of test vehicle speed-lateral acceleration change rate pairs is constructed; wherein the set of test vehicle speed-lateral acceleration change rate pairs includes 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; Constructing transition route plans corresponding to each test vehicle speed-lateral acceleration change rate pair, and obtaining a transition route plan set including multiple transition route plans; Using each test vehicle speed-lateral acceleration rate of change pair, the transition path planning set, and the critical lateral acceleration, verify the rollover stability of the target tank vehicle to obtain the vehicle sway amplitude of the target tank vehicle corresponding to each test vehicle speed-lateral acceleration rate of change pair; Based on the vehicle sway amplitudes of the target tank vehicle corresponding to the respective test vehicle speed-lateral acceleration change rate pairs, a rollover stability verification result of the target tank vehicle is determined.

6. The rollover stability verification method according to claim 5, characterized in that: Determining the rollover stability verification result of the target tank vehicle based on the vehicle sway amplitude of the target tank vehicle corresponding to each of the test vehicle speed-lateral acceleration change rate pairs specifically includes: Obtaining a target test vehicle speed-lateral acceleration change rate pair from the test vehicle speed-lateral acceleration change rate pair set to construct 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.

7. A rollover stability verification device, characterized in that: The rollover stability verification device includes: A test unit, configured to perform a critical state test on a target tank vehicle to obtain a maximum lateral acceleration of the target tank vehicle when the target tank vehicle reaches a critical rollover state; wherein the target tank vehicle is equipped with a test sample tank, the test sample tank being a hollow elliptical cylinder structure, and the inner wall of the curved surface of the test sample tank being filled with a lining of uniform thickness; a determining unit, configured to determine a critical lateral acceleration of the target tank vehicle based on the maximum lateral acceleration and the acceleration of gravity; The verification unit is used to verify the rollover stability of 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, and obtain a rollover stability verification result; wherein the lateral acceleration change rate set includes multiple different lateral acceleration change rates, the test vehicle speed set 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.

8. A computer device comprising: A memory, a processor, and a computer program stored in 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 to 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, the steps of the rollover stability verification method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the rollover stability verification method according to any one of claims 1 to 6 are implemented.

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