CN-121989973-A - Vehicle running stability evaluation method, device, electronic equipment and storage medium

CN121989973ACN 121989973 ACN121989973 ACN 121989973ACN-121989973-A

Abstract

The embodiment of the invention relates to the technical field of vehicles and discloses a vehicle running stability evaluation method, a vehicle running stability evaluation device, electronic equipment and a storage medium. The method comprises the steps of constructing a vehicle moment balance relation, building a vehicle body coordinate system, determining a vehicle rollover constraint condition under the vehicle body coordinate system at least based on the vehicle moment balance relation, defining a vehicle rollover risk index and an adjustable threshold parameter at least according to the vehicle rollover constraint condition, acquiring multi-source vehicle data, calculating a rollover risk index value and an adjustable threshold parameter value at least according to the multi-source vehicle data, outputting a vehicle running stability assessment result at least according to the rollover risk index value and the adjustable threshold parameter value, and enabling the vehicle to avoid potential instability risks at least in a track generation and/or vehicle control stage. The embodiment of the invention can at least realize accurate assessment of the running stability of the vehicle, reduce the occurrence of instability situations such as wheel lift-off or vehicle rollover and the like, and is beneficial to ensuring the running safety of users.

Inventors

LIU SHIDONG
HAO ZHI
LI YANG

Assignees

一汽解放汽车有限公司

Dates

Publication Date: 20260508
Application Date: 20260325

Claims (10)

1. A vehicle running stability evaluation method characterized by comprising at least: Establishing a vehicle moment balance relation and a vehicle body coordinate system, and further determining a vehicle rollover constraint condition based on at least the vehicle moment balance relation under the vehicle body coordinate system; defining a vehicle rollover risk index and an adjustable threshold parameter at least according to the vehicle rollover constraint conditions; And acquiring multi-source vehicle data, calculating a rollover risk index value and an adjustable threshold parameter value according to at least the multi-source vehicle data, outputting a vehicle running stability evaluation result according to at least the rollover risk index value and the adjustable threshold parameter value, and enabling the vehicle to avoid potential instability risks at least in a track generation and/or vehicle control stage.
2. The vehicle driving stability assessment method according to claim 1, wherein said constructing a vehicle moment balance relationship and establishing a vehicle body coordinate system, further determining a vehicle rollover constraint condition based at least on said vehicle moment balance relationship under said vehicle body coordinate system, comprises at least: Constructing the vehicle moment balance relation and the vehicle body coordinate system, and further obtaining a vehicle left side turning constraint condition and a vehicle right side turning constraint condition based on at least the vehicle moment balance relation under the vehicle body coordinate system; and integrating the vehicle left side turning constraint condition and the vehicle right side turning constraint condition to determine the vehicle side turning constraint condition.
3. The vehicle running stability evaluation method according to claim 1, characterized in that the vehicle torque balance relationship is achieved at least by: ; In the above formula, I P represents the moment of inertia tensor of the vehicle relative to the reference point P, alpha represents the angular acceleration of the vehicle, r G/P represents the position vector of the vehicle centroid G relative to the reference point P, m represents the vehicle mass, G represents the gravitational acceleration vector, a represents the linear acceleration vector of the vehicle centroid G, Representing the residual moment term.
4. The method according to claim 1, wherein the vehicle body coordinate system is at least a right-hand coordinate system, and the vehicle body coordinate system includes at least three mutually orthogonal unit basis vectors, which are a first unit basis vector in a vehicle forward direction, a second unit basis vector in a vehicle left direction, and a third unit basis vector in a vertically upward direction, respectively.
5. A vehicle running stability evaluation device, characterized by being configured to perform the vehicle running stability evaluation method according to any one of claims 1 to 4; The vehicle running stability evaluation device includes at least: The condition determining module is used for constructing a vehicle moment balance relation and establishing a vehicle body coordinate system, and further determining a vehicle rollover constraint condition based on at least the vehicle moment balance relation under the vehicle body coordinate system; the parameter definition module is used for defining a vehicle rollover risk index and an adjustable threshold parameter at least according to the vehicle rollover constraint conditions; the output control module is used for acquiring multi-source vehicle data, calculating a rollover risk index value and an adjustable threshold parameter value according to at least the multi-source vehicle data, outputting a vehicle running stability evaluation result according to at least the rollover risk index value and the adjustable threshold parameter value, and enabling the vehicle to avoid potential instability risks at least in a track generation and/or vehicle control stage.
6. The vehicle running stability assessment apparatus according to claim 5, characterized in that the condition determination module is at least specifically configured to: Constructing the vehicle moment balance relation and the vehicle body coordinate system, and further obtaining a vehicle left side turning constraint condition and a vehicle right side turning constraint condition based on at least the vehicle moment balance relation under the vehicle body coordinate system; and integrating the vehicle left side turning constraint condition and the vehicle right side turning constraint condition to determine the vehicle side turning constraint condition.
7. The vehicle running stability assessment apparatus according to claim 5, characterized in that the vehicle torque balance relationship is achieved at least by: ; In the above formula, I P represents the moment of inertia tensor of the vehicle relative to the reference point P, alpha represents the angular acceleration of the vehicle, r G/P represents the position vector of the vehicle centroid G relative to the reference point P, m represents the vehicle mass, G represents the gravitational acceleration vector, a represents the linear acceleration vector of the vehicle centroid G, Representing the residual moment term.
8. The vehicle running stability evaluation device according to claim 5, wherein the vehicle body coordinate system is at least a right-hand coordinate system, and the vehicle body coordinate system includes at least three mutually orthogonal unit basis vectors, which are a first unit basis vector in a vehicle forward direction, a second unit basis vector in a vehicle left direction, and a third unit basis vector in a vertically upward direction, respectively.
9. An electronic device comprising a memory and a processor, the memory storing a computer program executable on the processor, characterized in that the processor, when executing the program, implements the steps of the vehicle driving stability assessment method of any one of claims 1-4.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps in the vehicle running stability assessment method according to any one of claims 1 to 4.

Description

Vehicle running stability evaluation method, device, electronic equipment and storage medium Technical Field The present invention relates to the field of vehicle technologies, and in particular, to a vehicle driving stability evaluation method, a device, an electronic apparatus, and a storage medium. Background In the automatic driving and off-road moving processes of the vehicle, particularly when the vehicle runs on complex terrain, dangerous situations such as rollover or wheel lift-off and the like easily occur. In the prior art, stability assessment for vehicle Rollover risk and the like is generally implemented by adopting indexes such as static stability factors (Static Stability Factor, SSF), side load transfer ratios (Lateral Load Transfer Ratio, LLTR), rolling Time (Time to roller) and the like, and most of the indexes analyze the possibility of vehicle Rollover from the inertia angle, so that the assessment accuracy is low. Disclosure of Invention The invention aims to provide a vehicle running stability evaluation method, a device, electronic equipment and a storage medium, which can at least realize accurate evaluation of vehicle running stability, reduce occurrence of instability situations such as wheel lift-off or vehicle rollover and the like, and are beneficial to ensuring running safety of users. In order to solve the above technical problem, in a first aspect, the present invention provides a vehicle running stability evaluation method, at least including: Establishing a vehicle moment balance relation and a vehicle body coordinate system, and further determining a vehicle rollover constraint condition based on at least the vehicle moment balance relation under the vehicle body coordinate system; defining a vehicle rollover risk index and an adjustable threshold parameter at least according to the vehicle rollover constraint conditions; And acquiring multi-source vehicle data, calculating a rollover risk index value and an adjustable threshold parameter value according to at least the multi-source vehicle data, outputting a vehicle running stability evaluation result according to at least the rollover risk index value and the adjustable threshold parameter value, and enabling the vehicle to avoid potential instability risks at least in a track generation and/or vehicle control stage. Optionally, the building a vehicle moment balance relation and building a vehicle body coordinate system, and further determining a vehicle rollover constraint condition under the vehicle body coordinate system based on at least the vehicle moment balance relation at least includes: Constructing the vehicle moment balance relation and the vehicle body coordinate system, and further obtaining a vehicle left side turning constraint condition and a vehicle right side turning constraint condition based on at least the vehicle moment balance relation under the vehicle body coordinate system; and integrating the vehicle left side turning constraint condition and the vehicle right side turning constraint condition to determine the vehicle side turning constraint condition. Optionally, the vehicle torque balance relationship is achieved at least by: ; In the above formula, I P represents the moment of inertia tensor of the vehicle relative to the reference point P, alpha represents the angular acceleration of the vehicle, r G/P represents the position vector of the vehicle centroid G relative to the reference point P, m represents the vehicle mass, G represents the gravitational acceleration vector, a represents the linear acceleration vector of the vehicle centroid G, Representing the residual moment term. The vehicle body coordinate system at least comprises three mutually orthogonal unit base vectors, namely a first unit base vector along the vehicle advancing direction, a second unit base vector along the vehicle left side direction and a third unit base vector along the vertical upward direction. Based on the same conception, the present invention also provides, in a second aspect, a vehicle running stability evaluation apparatus for performing the vehicle running stability evaluation method according to any one of the first aspects; The vehicle running stability evaluation device includes at least: The condition determining module is used for constructing a vehicle moment balance relation and establishing a vehicle body coordinate system, and further determining a vehicle rollover constraint condition based on at least the vehicle moment balance relation under the vehicle body coordinate system; the parameter definition module is used for defining a vehicle rollover risk index and an adjustable threshold parameter at least according to the vehicle rollover constraint conditions; the output control module is used for acquiring multi-source vehicle data, calculating a rollover risk index value and an adjustable threshold parameter value according to at least the multi-source vehicle data, outputting a vehicle r