Method, device, vehicle, medium and program product for measuring a center of mass

Abstract

The application relates to the technical field of vehicle measurement, in particular to a method and device for measuring a center of mass, a vehicle, a medium and a program product, wherein the method comprises the following steps: collecting wheelbase, track and first axle load information when a vehicle is in a horizontal state; collecting multiple sets of second axle load information when the vehicle is in a preset raised state; and determining the center of mass coordinates of the vehicle based on the wheelbase, the track, the first axle load information and the multiple sets of second axle load information. Thus, the problems in the prior art that high-cost special equipment needs to be used and relies on standardized test sites, so that the equipment purchase and site construction investment are huge, and in addition, the test preparation process is complex, involves multi-link cooperation, and the overall preparation period is long are solved.

Description

Technical Field

[0001] This application relates to the field of vehicle measurement technology, and in particular to a method, apparatus, vehicle, medium, and program product for measuring the center of mass. Background Technology

[0002] In the process of vehicle design and performance development, the center of gravity parameter is one of the core parameters affecting key performance aspects such as vehicle handling stability, braking safety, rollover threshold, and ride comfort. Especially in the platform layout design stage, accurately obtaining the center of gravity coordinates of benchmark models is of great preliminary guiding significance for quickly conducting competitive analysis, setting vehicle mass distribution targets, and optimizing suspension hard points and unsprung mass configuration.

[0003] In related technologies, a test method based on a high-precision triaxial force table and an inclined test platform is commonly used. The center of mass is inferred by measuring the support reaction force at different inclination angles and combining it with a static model.

[0004] However, the relevant technologies require the use of high-cost specialized equipment and rely on standardized test sites, resulting in huge investments in equipment purchase and site construction. In addition, the pre-test preparation process is complex, involves the coordination of multiple links, and has a long overall preparation cycle, which urgently needs improvement. Summary of the Invention

[0005] This application provides a method, apparatus, vehicle, medium, and procedure for measuring the center of mass, in order to solve the problems in related technologies, such as the need to use high-cost special equipment and rely on standardized test sites, resulting in huge investments in equipment purchase and site construction; in addition, the pre-test preparation process is complex, involves the coordination of multiple links, and has a long overall preparation cycle.

[0006] The first aspect of this application provides a method for measuring the center of gravity of a vehicle, comprising the following steps: collecting wheelbase, track width, and first axle load information when the vehicle is in a horizontal state; collecting multiple sets of second axle load information when the vehicle is in a preset raised state; and determining the coordinates of the center of gravity of the vehicle based on the wheelbase, track width, first axle load information, and multiple sets of second axle load information.

[0007] Optionally, in one embodiment of this application, the step of collecting multiple sets of second axle load information when the vehicle is in a preset raised state includes: obtaining a preset height corresponding to the preset raised state; adjusting the actual height between the front wheel position of the vehicle and the horizontal ground to multiple different height values ​​greater than the preset height; and collecting the second axle load information corresponding to the vehicle at each different height to obtain the multiple sets of second axle load information.

[0008] Optionally, in one embodiment of this application, determining the center of gravity coordinates of the vehicle based on the wheelbase, the track width, the first axle load information, and the multiple sets of second axle load information includes: establishing a first mechanical model of the vehicle when it is in the horizontal state and a second mechanical model of the vehicle when it is in the preset raised state based on the wheelbase and the track width; and calculating the center of gravity coordinates based on the first axle load information, the multiple sets of second axle load information, the first mechanical model, and the second mechanical model.

[0009] Optionally, in one embodiment of this application, calculating the center of gravity coordinates based on the first axle load information, the plurality of sets of second axle load information, the first mechanical model, and the second mechanical model includes: calculating the longitudinal and lateral coordinates of the vehicle's center of gravity based on the wheelbase, the track width, the first axle load information, and the first mechanical model; calculating the longitudinal distance between the vehicle's center of gravity and the rear axle of the vehicle along the vehicle's length direction based on the wheelbase, the first axle load information, and the first mechanical model; calculating the vertical coordinates of the vehicle's center of gravity based on the longitudinal distance, the wheelbase, the plurality of sets of second axle load information, and the second mechanical model; and determining the center of gravity coordinates based on the longitudinal coordinates, the lateral coordinates, and the vertical coordinates.

[0010] Optionally, in one embodiment of this application, the step of calculating the vertical coordinates of the vehicle's center of gravity based on the longitudinal distance, the wheelbase, the multiple sets of second axle load information, and the second mechanical model includes: calculating corresponding candidate values ​​of vertical coordinates based on the multiple sets of second axle load information; and processing the candidate values ​​of vertical coordinates to obtain vertical coordinates that satisfy preset coordinate conditions.

[0011] A second aspect of this application provides a vehicle center of gravity measuring device, comprising: a first acquisition module for acquiring wheelbase, track width, and first axle load information when the vehicle is in a horizontal state; a second acquisition module for acquiring multiple sets of second axle load information when the vehicle is in a preset raised state; and a determination module for determining the center of gravity coordinates of the vehicle based on the wheelbase, track width, first axle load information, and multiple sets of second axle load information.

[0012] Optionally, in one embodiment of this application, the second acquisition module includes: an acquisition unit, configured to acquire a preset height corresponding to the preset raised state; an adjustment unit, configured to adjust the actual height between the front wheel position of the vehicle and the horizontal ground to multiple different height values ​​greater than the preset height; and a generation unit, configured to acquire the second axle load information corresponding to the vehicle at each different height to obtain the multiple sets of second axle load information.

[0013] Optionally, in one embodiment of this application, the determining module includes: a modeling unit, configured to establish a first mechanical model of the vehicle in the horizontal state and a second mechanical model of the vehicle in the preset raised state based on the wheelbase and the track width; and a calculation unit, configured to calculate the centroid coordinates based on the first axle load information, the multiple sets of second axle load information, the first mechanical model and the second mechanical model.

[0014] Optionally, in one embodiment of this application, the calculation unit includes: a first calculation subunit, configured to calculate the longitudinal and lateral coordinates of the vehicle's center of gravity based on the wheelbase, the track width, the first axle load information, and the first mechanical model; a second calculation subunit, configured to calculate the longitudinal distance between the vehicle's center of gravity and the rear axle of the vehicle along the vehicle's length direction based on the wheelbase, the first axle load information, and the first mechanical model; a third calculation subunit, configured to calculate the vertical coordinates of the vehicle's center of gravity based on the longitudinal distance, the wheelbase, the multiple sets of second axle load information, and the second mechanical model; and a determination subunit, configured to determine the coordinates of the center of gravity based on the longitudinal coordinates, the lateral coordinates, and the vertical coordinates.

[0015] Optionally, in one embodiment of this application, the third calculation subunit includes: a calculation sub-component, used to calculate corresponding vertical coordinate candidate values ​​based on the multiple sets of second shaft load information; and a generation sub-component, used to process the vertical coordinate candidate values ​​to obtain vertical coordinates that satisfy preset coordinate conditions.

[0016] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle center of gravity measurement method as described in the above embodiments.

[0017] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for measuring the center of gravity of a vehicle.

[0018] A fifth aspect of this application provides a computer program product, including a computer program that, when executed, implements the above-described method for measuring the center of gravity of a vehicle.

[0019] This application embodiment can collect wheelbase, track width, and first axle load information when the vehicle is in a horizontal state, as well as multiple sets of second axle load information when the vehicle is in a preset raised state. Based on the wheelbase, track width, first axle load information, and multiple sets of second axle load information, the vehicle's center of gravity coordinates are determined. Through a collaborative measurement method combining static benchmarks and attitude excitation, development efficiency is significantly improved, and dependence on specialized equipment and test sites is greatly reduced. It can be achieved using only general-purpose workshop tools, effectively reducing costs and accurately meeting initial design requirements, balancing practicality and reliability, and achieving precise analysis of the vehicle's center of gravity coordinates. This solves the problems in related technologies, such as the need for high-cost specialized equipment and reliance on standardized test sites, resulting in huge investments in equipment purchase and site construction; and the complex pre-test preparation process involving multiple stages of coordination, leading to a long overall preparation cycle.

[0020] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0021] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart of a method for measuring the center of gravity of a vehicle according to an embodiment of this application; Figure 2 This is a block diagram of a vehicle coordinate system constructed according to an embodiment of this application; Figure 3 This is a block diagram illustrating the measurement of basic vehicle dimensions according to one embodiment of this application; Figure 4 This is a block diagram showing the angle between the front and rear axles and the ground when a vehicle is raised according to an embodiment of this application; Figure 5 This is a block diagram showing the X-axis position of the center of mass of a horizontal ground measurement platform according to an embodiment of this application; Figure 6 This is a block diagram illustrating the calculation of centroid height according to an embodiment of this application; Figure 7 A flowchart illustrating the working principle of a vehicle center of gravity measurement method according to an embodiment of this application; Figure 8 This is a block diagram of a vehicle center of gravity measuring device provided according to an embodiment of this application; Figure 9 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0022] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0023] The following description, with reference to the accompanying drawings, describes a method, apparatus, vehicle, medium, and program product for measuring the center of gravity of a vehicle according to embodiments of this application. Addressing the issues mentioned in the background art, such as the need for high-cost specialized equipment and reliance on standardized testing sites, resulting in significant investments in equipment procurement and site construction; furthermore, the complex pre-test preparation process involving multiple stages and a long overall preparation cycle, this application provides a method for measuring the center of gravity of a vehicle. This method collects wheelbase, track width, and first axle load information when the vehicle is in a horizontal state, as well as multiple sets of second axle load information when the vehicle is in a preset elevated state. Based on the wheelbase, track width, first axle load information, and multiple sets of second axle load information, the vehicle's center of gravity coordinates are determined. Through a collaborative measurement method combining static reference and attitude excitation, development efficiency is significantly improved, and dependence on specialized equipment and testing sites is greatly reduced. It can be achieved using only general-purpose workshop tools, effectively reducing costs, accurately meeting initial design requirements, balancing practicality and reliability, and achieving accurate analysis of the vehicle's center of gravity coordinates. This solves the problems in related technologies, such as the need to use high-cost specialized equipment and rely on standardized test sites, resulting in huge investments in equipment purchase and site construction; in addition, the complex pre-test preparation process, which involves the coordination of multiple links, and the long overall preparation cycle.

[0024] Specifically, Figure 1 This is a flowchart of a method for measuring the center of gravity of a vehicle according to an embodiment of this application.

[0025] like Figure 1 As shown, the method for measuring the vehicle's center of gravity includes the following steps: In step S101, the wheelbase, track width, and first axle load information of the vehicle when it is in a level state are collected.

[0026] It is understood that in the embodiments of this application, wheelbase can be understood as the horizontal distance from the center of the front axle to the center of the rear axle of the vehicle; track width can be understood as the horizontal distance between the center planes of the left and right wheels on the same axle of the vehicle; the first axle load information can be understood as the axle load of the vehicle when the vehicle is in a horizontal state, and the horizontal state refers to the state in which the vehicle is parked on a horizontal, rigid, slope-free reference plane, with no tilt of the body and uniform load, which can ensure the accuracy of the measurement data.

[0027] In some embodiments, the present application embodiments may park the vehicle on a horizontal rigid platform to make the vehicle level, and while the vehicle is level, collect the vehicle's wheelbase, track width, and first axle load information as the basis data for subsequent vehicle parameter detection, performance analysis, or parameter calibration.

[0028] For example, in this application embodiment, a measuring tool can be prepared based on a vehicle A in a level state. This tool may include, but is not limited to, a spirit level, an axle load cell, a two-post lift, a 200mm, 250mm, or 300mm high cast iron cylindrical platform, an electronic inclinometer, etc. This application does not impose specific limitations, and the left front wheel center of vehicle A is taken as the coordinate origin. Establish a coordinate system where the positive X-axis points towards the rear of the vehicle, the positive Y-axis points towards the right side of the vehicle, and the positive Z-axis points towards the top of the vehicle, as shown in the diagram. Figure 2 As shown.

[0029] Furthermore, in this embodiment of the application, a level can be used to measure the front and rear wheel centers of vehicle A on-vehicle, and the measured wheelbase is marked as b, the measured wheel radius is marked as r, and the track width between the left and right wheels of the vehicle is marked as l, such as... Figure 3 As shown.

[0030] Furthermore, in this embodiment of the application, an axle load meter can be used to measure the front and rear axle loads of vehicle A under its curb weight condition, and the axle loads of the left and right front wheels can be recorded as follows: , The axle loads of the left and right rear wheels are respectively denoted as , Thus, the front axle load of the entire vehicle is obtained. Rear axle load of the whole vehicle Left axle load of the whole vehicle and the right axle load of the whole vehicle Its expression can be, but is not limited to, as: , , , , Furthermore, in this embodiment of the application, the total axle load of vehicle A can be calculated based on the front axle load, rear axle load, left axle load, and right axle load of the vehicle. Its expression can be, but is not limited to, as: .

[0031] In step S102, multiple sets of second axle load information are collected when the vehicle is in a preset raised state.

[0032] It is understood that, in the embodiments of this application, the preset raised state can be understood as the vehicle being preset and controlled in a posture that leaves the original horizontal ground and is raised to a certain height (such as lifting, padding, suspension extension state). The specific settings can be made by those skilled in the art according to the actual situation, and this application does not impose any specific restrictions.

[0033] In some embodiments, this application can collect multiple sets of second axle load information corresponding to the vehicle in a preset raised state. The second axle load information corresponds to the first axle load information and refers to the total axle load of the vehicle measured in the preset raised state, used to distinguish it from the axle load in the horizontal state.

[0034] For example, in this application embodiment, a two-post lift can be used to lift the front wheels of vehicle A to a preset height. , and This allows vehicle A to be placed in a preset elevated state, thereby obtaining multiple sets of second axle load information for vehicle A in this preset elevated state. For example, when the front wheels of vehicle A are placed on top of a 250mm high cast iron cylindrical platform (with an axle load meter placed on the platform), and the rear wheels are placed on the ground (with the same type of axle load meter laid on the ground at the same height), vehicle A is determined to be in a preset elevated state, and the angles between the front and rear axles of vehicle A and the ground are recorded as follows: ,but ,like Figure 4 As shown.

[0035] Furthermore, in this embodiment of the application, the front and rear axle loads of vehicle A can be measured using an axle load meter under a preset raised state and marked as follows. and At this time, the second axle load information of vehicle A It can be expressed as, but is not limited to: .

[0036] Optionally, in one embodiment of this application, collecting multiple sets of second axle load information when the vehicle is in a preset raised state includes: obtaining a preset height corresponding to the preset raised state; adjusting the actual height between the front wheel position of the vehicle and the horizontal ground to multiple different height values ​​greater than the preset height; and collecting the second axle load information corresponding to the vehicle at each different height to obtain multiple sets of second axle load information.

[0037] It should be noted that the embodiments of this application can collect corresponding axle load information at multiple different elevation heights to improve data reliability, curve fitting, or solution accuracy, and the preset elevation state is determined by a preset height. The preset height can be set by those skilled in the art according to actual conditions, and this application does not impose specific limitations.

[0038] In some embodiments, the present application embodiments may first obtain a preset height corresponding to a preset raised state, and adjust the actual height of the vehicle's front wheel position relative to the horizontal ground to multiple different height values ​​greater than the preset height, and then collect the second axle load information corresponding to the vehicle at each different height, thereby obtaining multiple sets of second axle load information.

[0039] In step S103, the coordinates of the vehicle's center of gravity are determined based on the wheelbase, track width, first axle load information, and multiple sets of second axle load information.

[0040] It should be noted that, in the embodiments of this application, the center of gravity position of the vehicle does not depend on the vehicle's attitude or external force state, but is determined only by the vehicle's mass spatial distribution. It can be understood that the center of gravity position of the vehicle does not change with the vehicle's raised position.

[0041] In some embodiments, the present application embodiments can determine the vehicle's center of gravity coordinates by calculation based on the vehicle's wheelbase, track width, first axle load information in a horizontal state, and multiple sets of second axle load information collected at different elevation heights.

[0042] Optionally, in one embodiment of this application, determining the center of gravity coordinates of the vehicle based on wheelbase, track width, first axle load information, and multiple sets of second axle load information includes: establishing a first mechanical model of the vehicle when it is in a horizontal state and a second mechanical model of the vehicle when it is in a preset raised state based on wheelbase and track width; and calculating the center of gravity coordinates based on the first axle load information, multiple sets of second axle load information, the first mechanical model, and the second mechanical model.

[0043] In some embodiments, the embodiments of this application can construct mechanical analysis models for corresponding states based on wheelbase, track width, first axle load information and multiple sets of second axle load information: for vehicles in a horizontal state, a corresponding first mechanical model is established; for vehicles in a preset raised state, a corresponding second mechanical model is established.

[0044] The expression for the first mechanical model can be, but is not limited to, as follows: , , in, The lateral coordinates representing the vehicle's center of gravity. The longitudinal coordinate representing the vehicle's center of gravity.

[0045] The expression for the second mechanical model can be, but is not limited to, as follows: , in, The vertical coordinates representing the vehicle's center of gravity. The calculation formula can be expressed, but is not limited to, as follows: , in, It represents the distance from the center of gravity to the rear axle in the X (vehicle length) direction, that is, the longitudinal distance between the vehicle's center of gravity and the vehicle's rear axle in the vehicle's length direction.

[0046] It should be noted that, in constructing the second mechanical model in this embodiment, the distance from the center of mass X (vehicle length) to the rear axle can be calculated first based on the principle of torque balance, such as... Figure 5 As shown, its calculation formula can be, but is not limited to, the following: , Furthermore, in this embodiment, the distance from the rear axle along the center of gravity X (vehicle length) is calculated based on physics and geometry, such as... Figure 6 As shown, calculate , , , , , and ,in, , , , , , , , In summary, the embodiments of this application can obtain Furthermore, embodiments of this application can be obtained .

[0047] Furthermore, in this embodiment, the first axle load information collected in the horizontal state and the second axle load information collected at multiple different elevation heights can be substituted into the first mechanical model and the second mechanical model respectively to obtain the vehicle's center of gravity coordinates.

[0048] Optionally, in one embodiment of this application, calculating the center of gravity coordinates based on the first axle load information, multiple sets of second axle load information, a first mechanical model, and a second mechanical model includes: calculating the longitudinal and lateral coordinates of the vehicle's center of gravity based on the wheelbase, track width, first axle load information, and first mechanical model; calculating the longitudinal distance between the vehicle's center of gravity and the rear axle of the vehicle along the vehicle's length direction based on the wheelbase, first axle load information, and first mechanical model; calculating the vertical coordinates of the vehicle's center of gravity based on the longitudinal distance, wheelbase, multiple sets of second axle load information, and second mechanical model; and determining the center of gravity coordinates based on the longitudinal, lateral, and vertical coordinates.

[0049] In some embodiments, the present application embodiments can calculate the longitudinal and lateral coordinates of the vehicle's center of gravity based on the wheelbase, track width, first axle load information, and first mechanical model. Simultaneously, based on the wheelbase, first axle load information, and first mechanical model, the longitudinal distance between the vehicle's center of gravity and the rear axle of the vehicle along the vehicle's length direction is calculated. Then, the longitudinal distance, wheelbase, and multiple sets of second axle load information are input into the second mechanical model to obtain the vertical coordinates of the vehicle's center of gravity. Thus, the coordinates of the vehicle's center of gravity are determined based on the calculated longitudinal, lateral, and vertical coordinates.

[0050] Optionally, in one embodiment of this application, the vertical coordinates of the vehicle's center of gravity are calculated based on longitudinal distance, wheelbase, multiple sets of second axle load information, and a second mechanical model, including: calculating corresponding candidate values ​​of vertical coordinates based on multiple sets of second axle load information; and processing the candidate values ​​of vertical coordinates to obtain vertical coordinates that meet preset coordinate conditions.

[0051] In some embodiments, this application can calculate candidate vertical coordinate values ​​corresponding to each set of second axle load information based on the acquired information, and perform filtering, noise reduction, mean calculation, or outlier removal on the candidate vertical coordinate values ​​to select vertical coordinates that meet preset coordinate conditions, thereby improving the reliability and accuracy of the vertical coordinates. The preset coordinate conditions can be set by those skilled in the art according to actual conditions, and this application does not impose specific limitations.

[0052] For example, in this embodiment of the application, the second mechanical model can be compiled into a fixed formula using an Excel spreadsheet, and the model input values ​​are set to... , , , , , , The second axle load information of vehicle A at three different heights (e.g., 200mm, 250mm, 300mm, etc., this application does not impose specific limitations) is substituted into the second mechanical model to obtain the corresponding candidate values ​​of vertical coordinates. The candidate values ​​of vertical coordinates are then processed, such as by calculating the mean, to minimize the measurement error and thus obtain the vertical coordinates that meet the preset coordinate conditions.

[0053] The working principle of the vehicle center of gravity measurement method proposed in this application will be introduced below with reference to a specific embodiment.

[0054] in, Figure 7 This is a flowchart illustrating the working principle of a vehicle center of gravity measurement method according to an embodiment of this application.

[0055] Step S701: Select the vehicle to be measured and prepare the measuring tools.

[0056] The measuring tools in this application embodiment may include, but are not limited to, a spirit level, an axle load tester, a two-post lift, a 200mm, 250mm, or 300mm high cast iron cylindrical platform, an electronic inclinometer, etc. This application does not impose specific limitations, and the measuring vehicle may be referred to as vehicle A.

[0057] Step S702: Establish a coordinate system.

[0058] The coordinate system established in this application embodiment is as follows: Figure 2 As shown.

[0059] Step S703: Perform actual vehicle measurements to obtain wheelbase, track width, and first axle load information when the vehicle is in a level state.

[0060] The measurement content of this application embodiment is as follows: Figure 3 As shown above, the calculation formula for the first axle load information, namely the axle load of the whole vehicle, is as described above and will not be elaborated further here.

[0061] Step S704: Establish the first mechanical model and calculate the lateral and longitudinal coordinates of the vehicle's center of mass.

[0062] The first mechanical model established in this application embodiment is as shown above, and will not be described in detail here.

[0063] Step S705: Raise the front wheels of the vehicle to put the vehicle in a preset raised state.

[0064] In this embodiment, a two-post lift can be used to lift the front wheels of vehicle A to a preset height. , and This puts vehicle A in a preset raised state.

[0065] Step S706: Establish the second mechanical model and calculate the vertical coordinates of the vehicle's center of mass.

[0066] In this embodiment, multiple sets of second axle load information of vehicle A under a preset raised state can be obtained, and the corresponding vertical coordinates can be calculated based on the established second mechanical model. The second mechanical model is as shown above and will not be described in detail here.

[0067] Step S707: Perform multiple calculations, take the average value, and obtain the vertical coordinates that meet the preset coordinate conditions.

[0068] The vehicle center of gravity measurement method proposed in this application can collect wheelbase, track width, and first axle load information when the vehicle is in a horizontal state, as well as multiple sets of second axle load information when the vehicle is in a preset raised state. Based on the wheelbase, track width, first axle load information, and multiple sets of second axle load information, the vehicle's center of gravity coordinates are determined. This collaborative measurement method, combining static reference and attitude excitation, significantly improves development efficiency and greatly reduces reliance on specialized equipment and test sites. It can be achieved using only general-purpose workshop tools, effectively reducing costs and accurately meeting initial design requirements, balancing practicality and reliability, and achieving precise analysis of the vehicle's center of gravity coordinates. This solves the problems in related technologies, such as the need for high-cost specialized equipment and reliance on standardized test sites, resulting in huge investments in equipment purchase and site construction; and the complex pre-test preparation process involving multiple stages of coordination and a long overall preparation cycle.

[0069] Next, referring to the accompanying drawings, a vehicle center of gravity measuring device according to an embodiment of this application is described.

[0070] Figure 8 This is a block diagram of a vehicle center of gravity measuring device provided according to an embodiment of this application.

[0071] like Figure 8 As shown, the vehicle center of gravity measuring device 10 includes: a first acquisition module 100, a second acquisition module 200, and a determination module 300.

[0072] The first acquisition module 100 is used to acquire wheelbase, track width and first axle load information when the vehicle is in a horizontal state.

[0073] The second acquisition module 200 is used to acquire multiple sets of second axle load information when the vehicle is in a preset raised state.

[0074] The determination module 300 is used to determine the center of gravity coordinates of the vehicle based on the wheelbase, track width, first axle load information and multiple sets of second axle load information.

[0075] Optionally, in one embodiment of this application, the second acquisition module 200 includes: an acquisition unit, an adjustment unit, and a generation unit.

[0076] The acquisition unit is used to acquire the preset height corresponding to the preset raised state.

[0077] The adjustment unit is used to adjust the actual height between the front wheels of the vehicle and the horizontal ground to multiple different height values ​​that are greater than the preset height.

[0078] The generation unit is used to collect the second axle load information of the vehicle at each different height to obtain multiple sets of second axle load information.

[0079] Optionally, in one embodiment of this application, the determining module 300 includes: a building unit and a calculation unit.

[0080] The establishment unit is used to establish a first mechanical model of the vehicle when it is in a horizontal state and a second mechanical model of the vehicle when it is in a preset raised state, based on the wheelbase and track width.

[0081] The calculation unit is used to calculate the centroid coordinates based on the first axle load information, multiple sets of second axle load information, the first mechanical model, and the second mechanical model.

[0082] Optionally, in one embodiment of this application, the calculation unit includes: a first calculation subunit, a second calculation subunit, a third calculation subunit, and a determination subunit.

[0083] The first calculation subunit is used to calculate the longitudinal and lateral coordinates of the vehicle's center of gravity based on the wheelbase, track width, first axle load information, and first mechanical model.

[0084] The second calculation subunit is used to calculate the longitudinal distance between the vehicle's center of gravity and the vehicle's rear axle in the vehicle's length direction, based on the wheelbase, the first axle load information, and the first mechanical model.

[0085] The third calculation subunit is used to calculate the vertical coordinates of the vehicle's center of gravity based on longitudinal distance, wheelbase, multiple sets of second axle load information, and the second mechanical model.

[0086] Determine the sub-units to determine the centroid coordinates based on the longitudinal, transverse, and vertical coordinates.

[0087] Optionally, in one embodiment of this application, the third computing subunit includes: a computing subcomponent and a generation subcomponent.

[0088] The calculation sub-component is used to calculate the corresponding candidate values ​​of the vertical coordinates based on multiple sets of second axis load information.

[0089] Generate a sub-component to process the candidate values ​​of the vertical coordinates to obtain the vertical coordinates that meet the preset coordinate conditions.

[0090] It should be noted that the explanation of the above-described method for measuring the vehicle center of gravity also applies to the vehicle center of gravity measuring device of this embodiment, and will not be repeated here.

[0091] The vehicle center of gravity measurement device proposed in this application can collect wheelbase, track width, and first axle load information when the vehicle is in a horizontal state, as well as multiple sets of second axle load information when the vehicle is in a preset raised state. Based on the wheelbase, track width, first axle load information, and multiple sets of second axle load information, the vehicle's center of gravity coordinates are determined. Through a collaborative measurement method combining static reference and attitude excitation, development efficiency is significantly improved, and dependence on specialized equipment and test sites is greatly reduced. It can be achieved using only general workshop tools, effectively reducing costs. It can accurately meet initial design requirements, balancing practicality and reliability, and achieving precise analysis of the vehicle's center of gravity coordinates. This solves the problems in related technologies, such as the need for high-cost specialized equipment and reliance on standardized test sites, resulting in huge investments in equipment purchase and site construction; and the complex pre-test preparation process involving multiple stages of coordination, leading to a long overall preparation cycle.

[0092] Figure 9 This is a schematic diagram of the structure of a vehicle according to an embodiment of this application. The vehicle may include: The memory 901, the processor 902, and the computer program stored on the memory 901 and capable of running on the processor 902.

[0093] When the processor 902 executes the program, it implements the vehicle center of gravity measurement method provided in the above embodiments.

[0094] Furthermore, the vehicle also includes: Communication interface 903 is used for communication between memory 901 and processor 902.

[0095] The memory 901 is used to store computer programs that can run on the processor 902.

[0096] The memory 901 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0097] If the memory 901, processor 902, and communication interface 903 are implemented independently, then the communication interface 903, memory 901, and processor 902 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 9 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0098] Optionally, in a specific implementation, if the memory 901, processor 902, and communication interface 903 are integrated on a single chip, then the memory 901, processor 902, and communication interface 903 can communicate with each other through an internal interface.

[0099] The processor 902 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0100] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method for measuring the vehicle's center of gravity.

[0101] This application also provides a computer program product, including a computer program that, when executed, implements the above-described method for measuring the vehicle's center of gravity.

[0102] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0103] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0104] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0105] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). In addition, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically by optically scanning paper or other media, then editing, interpreting or otherwise processing them as necessary, and then storing them in computer memory.

[0106] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0107] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0108] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0109] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for measuring the center of gravity of a vehicle, characterized in that, Includes the following steps: Collect information on wheelbase, track width, and first axle load when the vehicle is in a level position; Collect multiple sets of second axle load information when the vehicle is in a preset raised state; Based on the wheelbase, the track width, the first axle load information, and the multiple sets of second axle load information, the coordinates of the vehicle's center of gravity are determined.

2. The method according to claim 1, characterized in that, The collection of multiple sets of second axle load information when the vehicle is in a preset raised state includes: Obtain the preset height corresponding to the preset raised state; The actual height between the front wheel position of the vehicle and the horizontal ground is adjusted to multiple different height values ​​that are greater than the preset height; The second axle load information of the vehicle at each different height is collected to obtain the multiple sets of second axle load information.

3. The method according to claim 1, characterized in that, Determining the vehicle's center of gravity coordinates based on the wheelbase, track width, first axle load information, and multiple sets of second axle load information includes: Based on the wheelbase and the track width, a first mechanical model is established when the vehicle is in the horizontal state, and a second mechanical model is established when the vehicle is in the preset raised state. The centroid coordinates are calculated based on the first axle load information, the multiple sets of second axle load information, the first mechanical model, and the second mechanical model.

4. The method according to claim 3, characterized in that, The calculation of the centroid coordinates based on the first axle load information, the multiple sets of second axle load information, the first mechanical model, and the second mechanical model includes: Based on the wheelbase, the track width, the first axle load information, and the first mechanical model, the longitudinal and lateral coordinates of the vehicle's center of gravity are calculated respectively. Based on the wheelbase, the first axle load information, and the first mechanical model, calculate the longitudinal distance between the vehicle's center of gravity and the vehicle's rear axle in the vehicle's length direction; Based on the longitudinal distance, the wheelbase, the multiple sets of second axle load information, and the second mechanical model, the vertical coordinates of the vehicle's center of gravity are calculated; The centroid coordinates are determined based on the longitudinal coordinates, the transverse coordinates, and the vertical coordinates.

5. The method according to claim 4, characterized in that, The calculation of the vertical coordinates of the vehicle's center of gravity based on the longitudinal distance, the wheelbase, the multiple sets of second axle load information, and the second mechanical model includes: Based on the multiple sets of second axis load information, calculate the corresponding candidate values ​​of vertical coordinates; The candidate vertical coordinate values ​​are processed to obtain vertical coordinates that meet preset coordinate conditions.

6. A device for measuring the center of gravity of a vehicle, characterized in that, include: The first acquisition module is used to acquire wheelbase, track width and first axle load information when the vehicle is in a horizontal state; The second acquisition module is used to acquire multiple sets of second axle load information when the vehicle is in a preset raised state; The determination module is used to determine the center-of-gravity coordinates of the vehicle based on the wheelbase, the track width, the first axle load information, and the multiple sets of second axle load information.

7. The apparatus according to claim 6, characterized in that, The second acquisition module includes: The acquisition unit is used to acquire the preset height corresponding to the preset raised state; An adjustment unit is used to adjust the actual height between the front wheel position of the vehicle and the horizontal ground to multiple different height values ​​that are greater than the preset height; The generation unit is used to collect the second axle load information of the vehicle at each different height to obtain the multiple sets of second axle load information.

8. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the method for measuring the center of gravity of a vehicle as described in any one of claims 1-5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the method for measuring the vehicle's center of gravity as described in any one of claims 1-5.

10. A computer program product, characterized in that, Includes a computer program, which, when executed, is used to implement the method for measuring the vehicle's center of gravity as described in any one of claims 1-5.

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