CN-121973788-A - Pit identification method and pit identification device

CN121973788ACN 121973788 ACN121973788 ACN 121973788ACN-121973788-A

Abstract

The embodiment of the invention relates to the technical field of vehicles and discloses a pit identification method and a pit identification device, wherein the method comprises the steps of obtaining vertical speed information of a sprung mass and vertical speed information of an unsprung mass of each wheel of a vehicle; determining speed characteristic information of each wheel according to the vertical speed information of the sprung mass and the vertical speed information of the unsprung mass of each wheel, and determining pit identification results of the vehicle according to the speed characteristic information of each wheel. By applying the technical scheme of the invention, the problem of poor pit identification accuracy in the prior art can be solved.

Inventors

WANG QI
LI QI
LV HAIYAN
CAI HUALIN

Assignees

阿维塔科技(重庆)股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260330

Claims (10)

1. A pit identification method, comprising: acquiring vertical velocity information of the sprung mass and vertical velocity information of the unsprung mass of each wheel of the vehicle; Determining speed characteristic information of each wheel according to the vertical speed information of the sprung mass and the vertical speed information of the unsprung mass of each wheel; and determining a pit identification result of the vehicle according to the speed characteristic information of each wheel.
2. The method of claim 1, wherein the speed characteristic information includes at least one characteristic information, and wherein determining a pit identification result of the vehicle based on the speed characteristic information of each wheel includes: determining a pit identification state of each wheel according to at least one characteristic information of each wheel; And determining a pit identification result of the vehicle according to the pit identification state of each wheel.
3. The method of claim 2, wherein determining the pit identification status of each wheel based on at least one characteristic information of each wheel comprises: Determining a state flag bit of each wheel according to at least one characteristic information of the wheel, wherein the state flag bit of the wheel indicates whether a pit event occurs to the wheel; And determining the pit identification state of each wheel according to the state zone bit of each wheel and at least one characteristic information of each wheel.
4. A method according to claim 3, wherein said determining the status flag of the wheel based on at least one characteristic of the wheel comprises: Acquiring running state information of the vehicle; determining a threshold correction value corresponding to the characteristic information according to the running state information of the vehicle; and determining the state zone bit of the wheel according to at least one piece of characteristic information of the wheel and the threshold correction value corresponding to the characteristic information.
5. The method of claim 4, wherein determining the status flag of the wheel based on the at least one characteristic information and the threshold correction value corresponding to the characteristic information comprises: determining a current threshold corresponding to the characteristic information according to a preset basic threshold corresponding to the characteristic information and a threshold correction value corresponding to the characteristic information; And if each piece of characteristic information in the at least one piece of characteristic information is determined to be larger than the current threshold value corresponding to the characteristic information, determining the state zone bit of the wheel as a first value, wherein the first value represents that a pit event occurs.
6. A method according to claim 3, wherein determining the pit identification status of each wheel based on the status flag of each wheel and at least one characteristic information of each wheel comprises: determining the duration time of the pit event and the triggering time sequence of the pit event of each wheel according to the state zone bit of each wheel; According to at least one piece of characteristic information of each wheel, determining change trend information of the characteristic information of each wheel; And determining the pit identification state of each wheel by adopting a preset classification model according to the duration time of the pit event of each wheel, the trigger time sequence of the pit event and the change trend information of the characteristic information of each wheel.
7. The method according to claim 2, wherein the determining the pit recognition result of the vehicle based on the pit recognition state of each wheel includes: if the pit identification state of at least one wheel is determined to be passing pits, determining that the pit identification result of the vehicle is passing pits; and if the pit identification states of all the wheels are determined to be the non-passing pits, determining that the pit identification result of the vehicle is the non-passing pits.
8. The method of any of claims 1-7, wherein the velocity characteristic information includes at least one of a velocity difference between the vertical velocity information of the sprung mass and the vertical velocity information of the unsprung mass, a rate of change of the velocity difference, a root mean square of the velocity difference, the method further comprising: And controlling the vehicle according to the pit identification result of the vehicle.
9. A pit identification device, the device comprising: An acquisition module for acquiring vertical velocity information of the sprung mass and vertical velocity information of the unsprung mass of each wheel of the vehicle; a first determination module for determining speed characteristic information for each wheel based on the vertical speed information of the sprung mass and the vertical speed information of the unsprung mass of each wheel; And the second determining module is used for determining pit identification results of the vehicle according to the speed characteristic information of each wheel.
10. A vehicle is characterized by comprising a vehicle main body and a controller; The controller is configured to perform the operations of the pit identification method according to any one of claims 1 to 8.

Description

Pit identification method and pit identification device Technical Field The embodiment of the invention relates to the technical field of vehicles, in particular to a pit identification method and device. Background Vehicles encounter road surface pits during travel, which can have a significant impact on vehicle suspension control, vehicle speed regulation, and ride comfort. Therefore, the identification of the pavement pit is needed to control the vehicle to stably pass through the pavement pit, so that the riding comfort is improved. Currently, a single sensor is used to identify a pit on a road surface, for example, a camera is used to capture an image of the road surface to identify the pit, or an acceleration sensor is used to detect the vertical vibration characteristics of the sprung mass to identify the pit. However, in the above-mentioned mode, the camera is easily influenced by environmental factors such as illumination, weather, shielding, and the like, and the acceleration sensor is easily interfered by noise such as vibration of the vehicle itself, which results in poor accuracy of pit identification. Disclosure of Invention In view of the above problems, embodiments of the present invention provide a pit identification method and apparatus, which are used to solve the problem in the prior art that pit identification accuracy is poor. According to an aspect of an embodiment of the present invention, there is provided a pit identification method including: acquiring vertical velocity information of the sprung mass and vertical velocity information of the unsprung mass of each wheel of the vehicle; Determining speed characteristic information of each wheel according to the vertical speed information of the sprung mass and the vertical speed information of the unsprung mass of each wheel; and determining a pit identification result of the vehicle according to the speed characteristic information of each wheel. According to another aspect of an embodiment of the present invention, there is provided a pit identifying device including: An acquisition module for acquiring vertical velocity information of the sprung mass and vertical velocity information of the unsprung mass of each wheel of the vehicle; a first determination module for determining speed characteristic information for each wheel based on the vertical speed information of the sprung mass and the vertical speed information of the unsprung mass of each wheel; And the second determining module is used for determining pit identification results of the vehicle according to the speed characteristic information of each wheel. According to another aspect of the embodiment of the invention, a controller is provided, which comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus; the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation of the pit identification method. According to yet another aspect of embodiments of the present invention, there is provided a computer-readable storage medium having stored therein at least one executable instruction for causing a controller/pit identification device to: acquiring vertical velocity information of the sprung mass and vertical velocity information of the unsprung mass of each wheel of the vehicle; Determining speed characteristic information of each wheel according to the vertical speed information of the sprung mass and the vertical speed information of the unsprung mass of each wheel; and determining a pit identification result of the vehicle according to the speed characteristic information of each wheel. According to the embodiment of the invention, the vertical speed information of the sprung mass and the vertical speed information of the unsprung mass of each wheel are firstly obtained, and then the speed characteristic information of each wheel capable of reflecting the dynamic state of the suspension is extracted based on the information, so that the pit identification result of the vehicle is determined according to the speed characteristic information of each wheel, and the physical association between the vertical speeds of the sprung mass and the unsprung mass of each wheel on the road pit in the running process can be utilized, so that the road pit identification avoids the interference of environmental factors such as illumination and weather and the vibration of the vehicle, the accuracy of the road pit identification is improved, the running stability of the vehicle is effectively enhanced, and the riding comfort and the running safety are greatly improved. The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and may be implemented according to the content of the specifica