Method and system for acquiring center-of-gravity position of vehicle in real time, electronic equipment and computer readable medium

Abstract

The invention provides a method for obtaining the center-of-gravity position of a vehicle in real time, and belongs to the field of automobiles. A six-axis sensor is installed on the vehicle and used for collecting the three-axis acceleration and the three-axis angular velocity of the vehicle; a tire pressure sensor is mounted in each tire of the vehicle and is used for detecting the pressure borne by each tire; vehicle inertia parameters are obtained according to the three-axis acceleration, the three-axis angular velocity and the pressure borne by each tire; according to the method, the mass of the vehicle does not need to be calculated by means of an external wagon balance and the like, the mass and the gravity center of the vehicle can be obtained only through sensor data collection in a small amount of movement of the vehicle such as linear acceleration and deceleration, turning and a static state, and the method is convenient and rapid and high in practicability. Data can be shared with a vehicle control system in real time.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automotive technology, in particular to a method and system for real-time acquisition of vehicle center of gravity position, electronic device and computer readable medium. BACKGROUND

[0002] Traditional vehicle center of gravity calculation needs to calculate the mass of the vehicle in a stationary state, usually by measuring the overall mass of the vehicle by passing the vehicle through a load cell, and then approximating the vehicle center of gravity according to the geometric spatial dimensions of the vehicle. This method is not only cumbersome and inconvenient, but also causes a large deviation between the calculated vehicle center of gravity and the actual value due to the uneven placement of light and heavy cargo on the vehicle. Moreover, the calculated center of gravity cannot be shared in real time to the vehicle control system for attitude control, so it has little practical significance. SUMMARY

[0003] The present application aims to solve at least one of the technical problems existing in the prior art, and provides a method and system for real-time acquisition of vehicle center of gravity position.

[0004] In a first aspect, the present application provides a method for real-time acquisition of vehicle center of gravity position, comprising:

[0005] establishing a vehicle coordinate system;

[0006] collecting three-axis acceleration and three-axis angular velocity of the vehicle;

[0007] detecting the pressure borne by each tire;

[0008] acquiring vehicle inertia parameters according to the three-axis acceleration, the three-axis angular velocity and the pressure borne by each tire;

[0009] calculating the vehicle center of gravity position according to the inertia parameters.

[0010] In some embodiments, in the step of establishing a vehicle coordinate system, it includes:

[0011] establishing a vehicle coordinate system with the center of mass of the vehicle as the origin, wherein the x-axis points to the front of the vehicle, the y-axis points to the left side of the vehicle, and the z-axis is perpendicular to the ground and upward.

[0012] In some embodiments, in the step of collecting three-axis acceleration and three-axis angular velocity of the vehicle, the position of the sensor is the origin of the vehicle coordinate system, and the coordinate axis is aligned with the vehicle coordinate system.

[0013] In some embodiments, in the step of acquiring vehicle inertia parameters according to the three-axis acceleration, the three-axis angular velocity and the pressure borne by each tire, it includes:

[0014] According to the three-axis acceleration and the three-axis angular velocity, the total weight of the vehicle is obtained;

[0015] According to the tire pressure borne by the tire pressure sensor, the weight borne by each tire is calculated.

[0016] In some embodiments, the total weight of the vehicle is obtained by the following formula: , , wherein: is the engine continuous output traction force, is the continuous time, is the vehicle driving distance, which can be obtained by the number of wheel rotations and the wheel outer diameter, and a is the three-axis acceleration, is the three-axis angular velocity.

[0017] In some embodiments, according to the tire pressure borne by the tire pressure sensor, the weight borne by each tire is calculated , , , :

[0018]

[0019] , wherein: , , , are the support forces of the body weight borne by each tire, respectively;

[0020] , , , are the tire pressure sensor pressure values when empty, respectively;

[0021] , , , are the tire pressure sensor pressure values after loading, respectively;

[0022] is the revision coefficient, which represents the influence factor of the ambient temperature on the internal pressure of the tire.

[0023] In some embodiments, in the step of calculating the position of the center of gravity of the vehicle according to the inertial parameters, the following is included:

[0024] The position of the center of gravity in the XY plane is calculated according to the following formula:

[0025]

[0026]

[0027] Solving the equation, the center of gravity in the XY plane coordinate is: 、 、 、 The center of gravity in the XY plane coordinate is:

[0028]

[0029] Solving the height of the center of gravity of the vehicle :

[0030] According to the balance of the upward tangent force of the left and right side gravity perpendicular to the ground, the height of the center of gravity is obtained :

[0031]

[0032] According to the balance of the upward tangent force of the front and rear side gravity perpendicular to the ground, the height of the center of gravity is obtained :

[0033]

[0034] Solving the height of the center of gravity of the vehicle H:

[0035]

[0036] Solving the spatial coordinate position of the vehicle:

[0037] .

[0038] Secondly, the application also provides a system for obtaining the position of the center of gravity of the vehicle in real time, which is used for configuring the above method, comprising:

[0039] A coordinate construction unit is configured to establish a vehicle coordinate system;

[0040] A speed detection unit is configured to collect three-axis acceleration and three-axis angular velocity of the vehicle;

[0041] A tire pressure detection unit is configured to detect pressure borne by each tire;

[0042] A processing unit is configured to obtain inertia parameters of the vehicle according to the three-axis acceleration, the three-axis angular velocity and the pressure borne by each tire;

[0043] A calculation unit is configured to calculate the position of the center of gravity of the vehicle according to the inertia parameters.

[0044] Thirdly, the application also provides an electronic device, comprising:

[0045] One or more processors;

[0046] A memory is configured to store one or more programs;

[0047] When the one or more programs are executed by the one or more processors, the one or more processors implement any of the described methods.

[0048] In a third aspect, a computer readable medium is provided, and the computer readable medium stores a computer program, and the computer program is executed by a processor to implement the steps in any of the described methods.

[0049] The method for real-time acquisition of the vehicle gravity center position provided by the application comprises the steps that a vehicle coordinate system is established; a six-axis sensor is installed on the vehicle to collect three-axis acceleration and three-axis angular velocity of the vehicle; a tire pressure sensor is installed in each tire of the vehicle to detect the pressure borne by each tire; vehicle inertia parameters are acquired according to the three-axis acceleration, the three-axis angular velocity and the pressure borne by each tire; and the vehicle gravity center position is calculated according to the inertia parameters. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 is a step schematic diagram of one embodiment of the method for real-time acquisition of the vehicle gravity center position provided by the application;

[0051] Figure 2 is a schematic diagram of a top view of one embodiment of the six-axis sensor / tire pressure detector and the vehicle coordinate system provided by the application;

[0052] Figure 3 is a schematic diagram of a side view of one embodiment of the six-axis sensor and the vehicle coordinate system provided by the application;

[0053] Figure 4 is a step schematic diagram of one embodiment of the system for real-time acquisition of the vehicle gravity center position provided by the application

[0054] Figure 5 is a structural schematic diagram of one embodiment of the electronic device provided by the application. DETAILED DESCRIPTION

[0055] For a better understanding of the technical solutions of the present application, exemplary embodiments of the present application are described below in conjunction with the drawings, which include various details of the embodiments of the present application to help understanding, and should be considered as merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Also, for the sake of clarity and conciseness, the description below omits the description of well-known functions and structures.

[0056] In the case of no conflict, each embodiment of the present application and each feature in the embodiments can be combined with each other.

[0057] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0058] The terms used herein are only used to describe specific embodiments, and are not intended to limit the present application. As used herein, the singular forms "a" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the terms "comprise" and / or "consist of", when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. The terms "connected" or "coupled" and / or similar terms are not limited to a physical or mechanical connection, but can include an electrical connection, whether direct or indirect.

[0059] Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present application, and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0060] In the technical solutions of the present application, the collection, storage, use, processing, transmission, provision and disclosure of user personal information comply with relevant laws and regulations, and do not violate public order and good customs. The use of user data in the technical solutions complies with relevant national laws and regulations (for example, "Information Security Technology Personal Information Security Specification" and the like). For example, appropriate measures are taken for personal information access control; restrictions are given for the display of personal information; the use purpose of personal information does not exceed the direct or reasonably related range; the use of personal information eliminates the explicit identity pointing and avoids precise positioning to a specific individual.

[0061] In the related art, the traditional vehicle gravity center calculation needs to calculate the mass of the vehicle in a static state, which is usually measured by passing the vehicle through a load cell to measure the overall mass of the vehicle, and then the vehicle gravity center is approximately calculated according to the geometric spatial size of the vehicle. This method is not only cumbersome and inconvenient, but also causes a large deviation between the calculated vehicle gravity center and the actual vehicle gravity center due to the uneven placement of light and heavy goods on the vehicle.

[0062] To solve at least one of the technical problems existing in the related art, the present application provides a method for real-time acquisition of vehicle gravity center position. Figure 1 The step flow chart of the method for real-time acquisition of vehicle gravity center position provided by the embodiment of the present application comprises:

[0063] Step S10: Establish a vehicle coordinate system.

[0064] In some embodiments, in the step of establishing a vehicle coordinate system, it comprises:

[0065] The vehicle coordinate system is established with the center of mass of the vehicle as the origin, wherein the x-axis points to the front of the vehicle, the y-axis points to the left side of the vehicle, and the z-axis is perpendicular to the ground upward.

[0066] It can be understood that the embodiment takes the center of mass of the vehicle as the theoretical origin, but in the actual initial calculation, since the center of mass is unknown, the installation point of the six-axis sensor (the geometric center of the vehicle cargo box chassis) is usually taken as the temporary origin. The specific coordinate system definition is as follows:

[0067] x-axis: pointing to the forward direction of the vehicle (longitudinal direction).

[0068] y-axis: pointing to the left side of the vehicle (lateral direction).

[0069] z-axis: perpendicular to the ground upward (vertical direction).

[0070] In subsequent calculations, the sensor data is converted to this coordinate system through an algorithm, and the origin is gradually corrected to the actual center of mass.

[0071] It should be noted that: this coordinate system is the basis for aligning and calculating all sensor data. The subsequent sensor installation, data acquisition and gravity center calculation all depend on the definition of this coordinate system.

[0072] Step S20: Collect the three-axis acceleration and three-axis angular velocity of the vehicle.

[0073] In some embodiments, in the step of installing a six-axis sensor on the vehicle for collecting three-axis acceleration and three-axis angular velocity data of the vehicle, the position of the six-axis sensor is the origin of the vehicle coordinate system, and the coordinate axes are aligned with the vehicle coordinate system.

[0074] It can be understood that by collecting the three-axis acceleration and three-axis angular velocity data of the vehicle, the motion state of the vehicle is analyzed.

[0075] The specific implementation is as follows:

[0076] The six-axis sensor is installed at the geometric center of the vehicle's cargo box chassis and its coordinate axes are aligned with the vehicle coordinate system (i.e., the x, y, z axes of the sensor are parallel to the x, y, z axes of the vehicle coordinate system). A calibration tool (such as a level) is used during installation to ensure that the sensor is aligned with the vehicle coordinate system to reduce installation errors. The sensor data collection frequency is usually set to 100 Hz or higher to capture high-frequency dynamic changes.

[0077] It should be noted that the six-axis sensor provides core data for vehicle motion (acceleration and angular velocity), which is used to calculate inertial parameters and the center of gravity. The sensor installation position serves as a temporary origin, simplifying initial calculations.

[0078] It can be understood that this embodiment is based on a six-axis sensor, which obtains the center of gravity of the vehicle through data collection of the vehicle's linear acceleration and deceleration, turning, and stationary state, combined with certain spatial modeling and algorithms. The use of a six-axis sensor to calculate the center of gravity of a vehicle requires comprehensive consideration of various motion states of the vehicle and analysis and calculation based on mechanical principles and mathematical models. By continuously optimizing data collection and processing methods, the accuracy of the center of gravity position calculation can be improved, providing important reference for the design, control, and safety performance evaluation of vehicles.

[0079] Step S30: Detect the pressure borne by each tire.

[0080] It can be understood that by measuring the tire pressure, the vertical load of each tire is indirectly calculated, and the torque distribution of the front and rear axles and the left and right wheels of the vehicle is obtained.

[0081] The specific implementation is as follows: Install a tire pressure sensor (usually integrated in the Tire Pressure Monitoring System, TPMS) inside each tire. The tire pressure sensor measures the pressure inside the tire and sends data to the central processing unit through wireless transmission. Establish the relationship between tire pressure and vertical force through calibration experiments: for example, measure the tire pressure under a known load to obtain the pressure-force conversion coefficient. The vertical force Fz=k×PFz=k×P, where PP is the tire pressure and kk is the calibration coefficient. According to the vertical force of each tire, calculate the total load of the front and rear axles Fz_frontFz_front and Fz_rearFz_rear, and the total load of the left and right wheels Fz_leftFz_left and Fz_rightFz_right.

[0082] Note: Tire pressure data provides vehicle load distribution information, used to verify and correct the calculation of the center of gravity, especially in static state and dynamic load transfer. It is combined with six-axis sensor data to improve calculation accuracy.

[0083] Please refer to Figure 2 and Figure 3 , the six-axis sensor is the coordinate origin, on the centerline of the front and rear of the vehicle, and the X-axis positive direction is towards the front of the vehicle; when the vehicle is moving forward, the Y-axis positive direction is to the right side of the vehicle; the Z-axis positive direction is vertically upward, the six-axis sensor is X1 away from the left side of the vehicle body, X2 away from the right side of the vehicle body, Y3 away from the front axle, and Y4 away from the rear axle; the distance between the front and rear axles of the vehicle is L1, and the distance between the left and right axles is L2.

[0084] It can be understood that in this embodiment, when the six-axis sensor and the tire pressure sensor and the temperature sensor installed on the vehicle are used, the spatial position of the center of gravity of the vehicle on the vehicle is calculated through the movement of the vehicle and a certain algorithm. Especially in the attitude control of heavy freight vehicles, knowing the center of gravity and mass of the vehicle, combined with the inclination of the road, will be more conducive to the control of the vehicle, such as the calculation of the rollover critical speed when turning, in automatic driving and auxiliary driving, after obtaining the center of gravity of the vehicle, introducing a certain control strategy is conducive to the safety of vehicle driving.

[0085] Step S40: obtaining vehicle inertia parameters according to the three-axis acceleration, the three-axis angular velocity, and the pressure borne by each tire.

[0086] Specifically, the vehicle accelerates in a straight line, and the total weight of the vehicle is calculated;

[0087] ① The vehicle is in a horizontal straight line, and the engine continuously outputs a traction force of for a duration of , and the vehicle driving distance is obtained by the number of wheel rotations and the wheel diameter (the advantage of this method is that it can accurately calculate the driving distance on uphill and downhill, which is closer to the real distance of the road); the vehicle mass m is obtained from the following formula. To calculate more accurately, the average value of multiple tests can be taken.

[0088]

[0089]

[0090] Note: The intermediate variable a is the three-axis acceleration (vehicle acceleration).

[0091] If the six-axis sensor measures the slope of the road when calculating the mass of the vehicle (the road slope can be measured by the six-axis sensor, i.e. three-axis angular velocity), then the following formula is used to calculate:

[0092] , .

[0093] Further, the gravity value of the four tires is calculated according to the tire pressure of the tire pressure sensor , , , :

[0094]

[0095] Note: , , , respectively, the support force of the body weight of the four tires in front, rear, left and right directions;

[0096] , , , respectively, the pressure values of the four tire pressure sensors in front, rear, left and right directions when empty, obtained by the tire pressure sensor; , , , respectively, the pressure values of the four tire pressure sensors in front, rear, left and right directions after loading goods, obtained by the tire pressure sensor; is the revision coefficient, indicating the influence factor of the environmental temperature on the internal pressure of the tire, the environmental temperature is obtained by the environmental temperature sensor on the vehicle, and the tire pressure-gravity corresponding relationship is obtained, which can be obtained in the design stage of the vehicle.

[0097] It can be understood that according to Newton's second law, the acceleration data measured by the accelerometer can calculate the resultant force of the vehicle in each direction; combined with the mass of the vehicle, the inertia parameters such as the moment of inertia can be further calculated. These inertia parameters will be used for subsequent calculation of the center of gravity.

[0098] Step S50: calculating the center of gravity position of the vehicle according to the inertia parameters.

[0099] Specifically, the center of gravity position in the XY plane is calculated, according to the following formula:

[0100]

[0101]

[0102] Solving the equation, we get , , , , then the center of gravity in the XY plane coordinate is:

[0103]

[0104] Solving the height of the vehicle center of gravity

[0105] According to the balance of the upward tangent force of the left and right center of gravity perpendicular to the ground, the height of the center of gravity is obtained

[0106]

[0107] According to the balance of the upward tangent force of the front and rear center of gravity perpendicular to the ground, the height of the center of gravity is obtained

[0108]

[0109] Solve the height H of the center of gravity of the vehicle:

[0110]

[0111] According to the above, the spatial coordinate position of the vehicle is solved:

[0112]

[0113] It can be understood that the calculation of the center of gravity position of the vehicle can adopt the method of multiple measurements to obtain sensor data, multiple measurements to calculate the average value, and filtering out the disturbed data to obtain the accurate center of gravity position coordinates.

[0114] It can be understood that the method for real-time obtaining the center of gravity position of the vehicle provided by the application first calculates the acceleration of the vehicle and the resultant force in each direction according to Newton's second law; then calculates the mass and moment of inertia of the vehicle by combining the acceleration; and then establishes a vehicle spatial coordinate system, collects the data collected by the six-axis sensor and the tire pressure sensor and the temperature sensor in the linear acceleration and deceleration, turning, and static state, and obtains the spatial coordinate position of the center of gravity of the vehicle through a certain algorithm.

[0115] ​​​The application provides a method for obtaining a vehicle gravity center position in real time, which comprises the following steps: establishing a vehicle coordinate system; installing a six-axis sensor on the vehicle to collect three-axis acceleration and three-axis angular velocity of the vehicle; installing a tire pressure sensor in each tire of the vehicle to detect the pressure borne by each tire; obtaining vehicle inertia parameters according to the three-axis acceleration, the three-axis angular velocity and the pressure borne by each tire; and calculating the vehicle gravity center position according to the inertia parameters.

[0116] Please refer to Figure 4 The application further provides a system for obtaining a vehicle gravity center position in real time.

[0117] The coordinate construction unit is configured to establish a vehicle coordinate system.

[0118] In some embodiments, the step of establishing the vehicle coordinate system comprises the following steps:

[0119] The vehicle coordinate system is established with the center of mass of the vehicle as the origin, wherein the x-axis points to the front of the vehicle, the y-axis points to the left of the vehicle, and the z-axis is perpendicular to the ground and points upward.

[0120] It can be understood that the embodiment takes the center of mass of the vehicle as the theoretical origin, but in the actual initial calculation, since the center of mass is unknown, the mounting point of the six-axis sensor (the geometric center of the vehicle cargo box chassis) is usually taken as the temporary origin. The specific coordinate system is defined as follows:

[0121] The x-axis points to the forward direction of the vehicle (longitudinal direction).

[0122] The y-axis points to the left side of the vehicle (lateral direction).

[0123] The z-axis is perpendicular to the ground and points upward (vertical direction).

[0124] In subsequent calculations, the sensor data is converted to the coordinate system through an algorithm, and the origin is gradually corrected to the actual center of mass.

[0125] It should be noted that the coordinate system is the basis for aligning and calculating all sensor data. The subsequent sensor installation, data collection and gravity center calculation all depend on the definition of this coordinate system.

[0126] A speed detection unit is used to install a six-axis sensor on the vehicle, and the three-axis acceleration and three-axis angular velocity of the vehicle are collected through the six-axis sensor.

[0127] In this embodiment, the specific implementation is as follows:

[0128] The six-axis sensor is installed at the geometric center of the vehicle's cargo box chassis, and its coordinate axes are aligned with the vehicle coordinate system (i.e., the x, y, z axes of the sensor are parallel to the x, y, z axes of the vehicle coordinate system). A calibration tool (such as a level) is used during installation to ensure that the sensor is aligned with the vehicle coordinate system, reducing installation errors. The sensor data collection frequency is usually set to 100 Hz or higher to capture high-frequency dynamic changes.

[0129] It should be noted that the six-axis sensor provides core data (acceleration and angular velocity) of the vehicle's motion, which is used to calculate inertial parameters and the center of gravity. The sensor installation position serves as a temporary origin, simplifying initial calculations.

[0130] It can be understood that this embodiment is based on a six-axis sensor, which collects data through vehicle linear acceleration and deceleration, turning, and stationary state, combined with certain spatial modeling and algorithms to obtain the vehicle's center of gravity. The use of a six-axis sensor to calculate the vehicle's center of gravity requires comprehensive consideration of various motion states of the vehicle, combined with mechanical principles and mathematical models for analysis and calculation. By continuously optimizing data collection and processing methods, the accuracy of the center of gravity position calculation can be improved, providing important reference for the design, control, and safety performance evaluation of the vehicle.

[0131] A tire pressure detection unit is used to install a tire pressure sensor inside each tire of the vehicle, and the pressure borne by each tire is detected through the tire pressure sensor.

[0132] It can be understood that by measuring the tire pressure, the vertical load of each tire is indirectly calculated, and the torque distribution of the front and rear axles and the left and right wheels of the vehicle is obtained.

[0133] The specific implementation is as follows: A tire pressure sensor is installed inside each tire (usually integrated in the Tire Pressure Monitoring System, TPMS). The tire pressure sensor measures the internal pressure of the tire and sends data to the central processing unit through wireless transmission. The relationship between tire pressure and vertical force is established through calibration experiments: for example, measure the tire pressure under a known load to obtain the pressure-force conversion coefficient. The vertical force Fz=k×PFz=k×P, where PP is the tire pressure and kk is the calibration coefficient. According to the vertical force of each tire, the total load of the front and rear axles Fz_frontFz_front and Fz_rearFz_rear, and the total load of the left and right wheels Fz_leftFz_left and Fz_rightFz_right are calculated.

[0134] It should be noted that the tire pressure data provides vehicle load distribution information for verifying and correcting the calculation of the center of gravity, especially in static state and dynamic load transfer. It is combined with six-axis sensor data to improve calculation accuracy.

[0135] It can be understood that the embodiment uses the six-axis sensor and tire pressure sensor and temperature sensor installed on the vehicle to calculate the spatial position of the center of gravity of the vehicle through the motion of the vehicle and a certain algorithm. Especially in the attitude control of heavy freight vehicles, knowing the center of gravity and mass of the vehicle, combined with the inclination of the road, will be more conducive to the control of the vehicle, such as the calculation of the rollover critical speed when turning, in automatic driving and auxiliary driving, after obtaining the center of gravity of the vehicle, introducing a certain control strategy is beneficial to the safety of vehicle driving.

[0136] The processing unit is configured to obtain vehicle inertia parameters according to the three-axis acceleration, the three-axis angular velocity, and the pressure borne by each tire.

[0137] Specifically, the vehicle accelerates in a straight line, and the total weight of the vehicle is calculated;

[0138] ① The vehicle is in a horizontal straight line, and the engine continuously outputs a traction force of , and the duration is , and the vehicle driving distance is obtained by the number of wheel rotations and the wheel diameter (The advantage of this method is that the driving distance on uphill and downhill conditions can be accurately calculated, which is closer to the real distance of the road); the vehicle mass m is obtained from the following formula. To calculate more accurately, the average value of multiple tests can be taken.

[0139]

[0140]

[0141] Note: The intermediate variable a is the three-axis acceleration (vehicle acceleration).

[0142] If the six-axis sensor measures the road surface slope when calculating the vehicle mass (The road slope can be measured by the six-axis sensor, that is, the three-axis angular velocity), then the following formula is used to calculate:

[0143] , .

[0144] Further, according to the tire pressure borne by the tire pressure sensor, the gravity values borne by the four tires in front, back, left and right are calculated 、 、 、 :

[0145]

[0146] Note: 、 、 、 respectively are the support forces of the vehicle body weight borne by the four tires in front and rear and left and right respectively;

[0147] 、 、 、 respectively are the pressure values of the four tire pressure sensors in front and rear and left and right when empty, obtained by the tire pressure sensors; 、 、 、 respectively are the pressure values of the four tire pressure sensors in front and rear and left and right after loading goods, obtained by the tire pressure sensors; is a revision coefficient, representing the influence factor of the ambient temperature on the internal pressure of the tire, obtained by the ambient temperature sensor on the vehicle and the tire pressure-gravity corresponding relationship, which can be obtained in the design stage of the vehicle.

[0148] It can be understood that according to Newton's second law, the acceleration data measured by the accelerometer can calculate the resultant force of the vehicle in each direction; combined with the mass of the vehicle, the inertia parameters such as the moment of inertia can be further calculated. These inertia parameters will be used for subsequent calculation of the center of gravity.

[0149] The calculation unit is used to calculate the center of gravity position of the vehicle according to the inertia parameters.

[0150] Specifically, the center of gravity position in the XY plane is calculated according to the following formula:

[0151]

[0152]

[0153] Solving the equation, we get 、 、 、 , then the center of gravity in the XY plane coordinate is:

[0154]

[0155] Solving the height of the center of gravity of the vehicle :

[0156] According to the balance of the tangential force of the left and right center of gravity perpendicular to the ground upward, the height of the center of gravity :

[0157]

[0158] According to the front and rear center of gravity vertical to the ground upward tangential force balance, the center of gravity height H is obtained

[0159]

[0160] The vehicle center of gravity height H is solved

[0161] According to the above, the vehicle spatial coordinate position is solved

[0162]

[0163] It can be understood that the vehicle center of gravity position calculation can adopt the method of multiple measurements to obtain sensor data, multiple measurements to calculate the average value, and filter out the disturbed data to obtain accurate center of gravity position coordinates.

[0164] The system for real-time obtaining of vehicle center of gravity position provided by the application establishes a vehicle coordinate system, installs a six-axis sensor on the vehicle for collecting three-axis acceleration and three-axis angular velocity of the vehicle, installs a tire pressure sensor in each tire of the vehicle for detecting the pressure borne by each tire, obtains vehicle inertia parameters according to the three-axis acceleration, the three-axis angular velocity and the pressure borne by each tire, and calculates the vehicle center of gravity position according to the inertia parameters.

[0165] The advantage of the application patent is that the vehicle mass does not need to be calculated by means of external weighbridge, etc., and only needs to be obtained through a small amount of movement of the vehicle such as straight line acceleration and deceleration, turning, sensor data collection in a stationary state, so that the vehicle mass and the center of gravity can be obtained conveniently and quickly, the data can be shared in real time with the vehicle control system, errors can be eliminated through multiple cumulative calculations, the vehicle mass and the center of gravity can be calculated more accurately, and the precise control of the vehicle attitude and movement is more beneficial, which is of great significance for preventing the rollover of heavy freight vehicles with large mass and high center of gravity.

[0166] Based on the same inventive concept, the embodiment of the application further provides an electronic device. Figure 4 The structure block diagram of the electronic device provided by the embodiment of the application is shown in Figure 4As shown, the electronic device provided by the embodiment of the present application comprises one or more processors 101, a memory 102, and one or more I / O interfaces 103. The memory 102 stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the method for acquiring the position of the gravity center of the vehicle in real time according to any one of the above embodiments. The one or more I / O interfaces 103 are connected between the processor and the memory and are configured to realize the information interaction between the processor and the memory.

[0167] The processor 101 is a device with data processing capability, including but not limited to a central processing unit (CPU) and the like. The memory 102 is a device with data storage capability, including but not limited to a random access memory (RAM, more specifically, SDRAM, DDR, etc.), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), and a flash memory (FLASH). The I / O interface (read-write interface) 103 is connected between the processor 101 and the memory 102 and can realize the information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus) and the like.

[0168] In some embodiments, the processor 101, the memory 102, and the I / O interface 103 are connected to each other through a bus 104 and further connected to other components of the computing device.

[0169] In some embodiments, the one or more processors 101 include a field programmable gate array.

[0170] The embodiment of the present application further provides a computer readable medium. The computer readable medium stores a computer program, and when the program is executed by a processor, the steps in the method for acquiring the position of the gravity center of the vehicle in real time according to any one of the above embodiments are implemented. The computer readable storage medium can be a volatile or non-volatile computer readable storage medium.

[0171] The embodiment of the present application further provides a computer program product comprising computer readable code or a non-volatile computer readable storage medium carrying computer readable code, and when the computer readable code is run in a processor of an electronic device, the processor in the electronic device executes the method for acquiring the position of the gravity center of the vehicle in real time.

[0172] Those skilled in the art can understand that all or some of the steps in the methods disclosed above and the functional modules / units in the systems and devices can be implemented by software, firmware, hardware, or a combination thereof. In hardware implementation, the division between the functional modules / units referred to in the above description does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be performed by several physical components in cooperation. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on computer-readable storage media, which can include computer storage media (or non-transitory media) and communication media (or transitory media).

[0173] As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable program instructions, data structures, program modules or other data. Computer storage media include, but are not limited to, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM), static random access memory (SRAM), flash memory or other memory technology, portable compact disc read only memory (CD-ROM), digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and that can be accessed by a computer. Further, it is well known to those skilled in the art that communication media typically embodies computer readable program instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. As a result, the desired information can be downloaded to a computer or external storage device via computer readable storage media or communication media from a network, such as the Internet, a local area network, a wide area network, and / or a wireless network.

[0174] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device from a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0175] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0176] The computer program product described herein can be embodied in a specific manner by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium. In another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK), and the like.

[0177] The computer program product described herein can be embodied in a specific manner by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium. In another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK), and the like.

[0178] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include a non-transitory computer readable storage medium that can be a computer- readable storage medium having no data storage cycles that change state. The instructions can be executed by one or more processors of a computer, other programmable data processing apparatus, or other devices to produce a computer-implemented process such that the instructions which execute via the one or more processors of the computer or other programmable data processing devices create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0179] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0180] The flow diagrams and the block diagrams in the drawings are presented to illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to the present application. In this regard, each block in the flow diagrams and the block diagrams can represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical functions ("instructions"). In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and

[0181] Example embodiments have been disclosed herein and, although specific terms are employed, they are used in a generic and descriptive sense only and not for purposes of limitation. In some instances, it will be apparent to those skilled in the art that features, characteristics or aspects described in relation to one embodiment can be applied to other embodiments, unless otherwise clearly stated. It will also be apparent to those skilled in the art that various modifications can be made to the described embodiments without departing from the scope of the invention as defined by the appended claims.

Claims

1. A method for real-time acquisition of the center of gravity position of a vehicle, characterized in that, It includes: Establish the vehicle coordinate system; Collect the vehicle's three-axis acceleration and three-axis angular velocity; Check the pressure of each tire; The vehicle inertial parameters are obtained based on the triaxial acceleration, the triaxial angular velocity, and the pressure on each tire. The vehicle's center of gravity position is calculated based on the inertial parameters.

2. The method for real-time acquisition of vehicle center of gravity position according to claim 1, characterized in that, The steps for establishing the vehicle coordinate system include: Establish a vehicle coordinate system with the vehicle's center of mass as the origin, where the x-axis points forward, the y-axis points to the left side of the vehicle, and the z-axis is perpendicular to the ground and pointing upward.

3. The method for real-time acquisition of vehicle center of gravity position according to claim 1, characterized in that, In the step of collecting the vehicle's three-axis acceleration and three-axis angular velocity, the sensor is located at the origin of the vehicle coordinate system, and its coordinate axis is aligned with the vehicle coordinate system.

4. The method for real-time acquisition of vehicle center of gravity position according to claim 1, characterized in that, The step of obtaining vehicle inertial parameters based on the triaxial acceleration, the triaxial angular velocity, and the pressure borne by each tire includes: The total weight of the vehicle is obtained based on the triaxial acceleration and the triaxial angular velocity. The gravity value borne by each tire is calculated based on the tire pressure received by the tire pressure sensor.

5. The method for real-time acquisition of vehicle center of gravity position according to claim 4, characterized in that, The total weight of the vehicle is calculated using the following formula: , , in: To ensure the engine continuously outputs traction. For duration, The distance traveled by the vehicle can be calculated from the number of wheel rotations and the outer diameter of the wheel; 'a' represents the triaxial acceleration. It represents the angular velocity of the three axes.

6. The method for real-time acquisition of vehicle center of gravity position according to claim 4, characterized in that, Calculate the weight of each tire based on the tire pressure readings from the tire pressure sensors. , , , : ； in: , , , These are the supporting forces of each tire on the vehicle's weight. , , , These are the pressure values ​​of each tire pressure sensor when the vehicle is unloaded. , , , These are the pressure values ​​of each tire pressure sensor after the load has been applied; The revision factor represents the influence of ambient temperature on the internal pressure of the tire.

7. The method for real-time acquisition of vehicle center of gravity position according to claim 6, characterized in that, The step of calculating the vehicle's center of gravity position based on the inertial parameters includes: The position of the centroid in the XY plane is calculated using the following formula: ； ； Solve the equation to obtain , , , The coordinates of the centroid in the XY plane are: ； Solve for the height of the vehicle's center of gravity : The height of the center of gravity can be determined by balancing the upward tangential forces perpendicular to the ground on both sides. : ； The height of the center of gravity can be determined by balancing the upward tangential forces perpendicular to the ground at the front and rear sides. : ； Solve for the vehicle's center of gravity height H: ； The vehicle's spatial coordinates were determined: 。 8. A system for real-time acquisition of the center of gravity position of a vehicle, characterized in that, For configuring the implementation of the method according to any one of claims 1-7, comprising: Coordinate construction unit, used to establish the vehicle coordinate system; The speed detection unit collects the vehicle's three-axis acceleration and three-axis angular velocity; The tire pressure monitoring unit detects the pressure on each tire. The processing unit obtains vehicle inertial parameters based on the triaxial acceleration, the triaxial angular velocity, and the pressure on each tire; The calculation unit is used to calculate the position of the vehicle's center of gravity based on the inertial parameters.

9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1 to 7.

10. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

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