CN-121994395-A - Method and device for determining four-wheel load of vehicle, storage medium, electronic device, computer program product

CN121994395ACN 121994395 ACN121994395 ACN 121994395ACN-121994395-A

Abstract

The application discloses a method and a device for determining four-wheel load of a vehicle, a storage medium, an electronic device and a computer program product, and relates to the field of vehicle state estimation; and determining the loads corresponding to the four wheels of the target vehicle respectively according to the front axle load, the rear axle load and the transverse acceleration of the target vehicle. By adopting the technical scheme, the problem of inaccurate four-wheel load determined in the related technology is solved.

Inventors

ZHANG YONGLEI
HE JUN
ZHAO PENG
ZHANG ZIWEI

Assignees

上海汽车集团股份有限公司

Dates

Publication Date: 20260508
Application Date: 20241101

Claims (12)

1.A method for determining a four-wheel load of a vehicle, comprising: Acquiring the vertical acceleration, the longitudinal acceleration and the transverse acceleration of the target vehicle, which are measured by an inertia measurement unit of the target vehicle; Determining a front axle load and a rear axle load of the target vehicle according to the vertical acceleration and the longitudinal acceleration; And determining the loads corresponding to the four wheels of the target vehicle respectively according to the front axle load, the rear axle load and the lateral acceleration of the target vehicle.
2. The method of claim 1, wherein determining a front axle load and a rear axle load of the target vehicle from the vertical acceleration and the longitudinal acceleration comprises: Determining a front axle load of the target vehicle according to the vertical acceleration, the longitudinal acceleration, the pitching moment of inertia, the pitching moment of acceleration and the vehicle mass of the target vehicle, the gradient of a road, the distance from the center of mass of the target vehicle to a rear axle, the center of mass height, the wheelbase and the front axle load compensation amount of the target vehicle, wherein the front axle load compensation amount is determined according to the unsprung mass of the front axle of the target vehicle; And determining the rear axle load of the target vehicle according to the vertical acceleration, the longitudinal acceleration, the pitching moment of inertia, the pitching moment of acceleration and the vehicle mass of the target vehicle, the gradient of a road, the distance from the mass center of the target vehicle to the rear axle, the distance from the mass center of the target vehicle to the front axle, the mass center height, the wheelbase and the rear axle load compensation amount, wherein the rear axle load compensation amount is determined according to the unsprung mass of the rear axle of the target vehicle.
3. The method of claim 2, wherein determining the front axle load of the target vehicle based on the vertical acceleration, the longitudinal acceleration, the pitch moment of inertia of the target vehicle, the pitch angle acceleration, the vehicle mass, the grade of the road on which the target vehicle is located, the center of mass to rear axle distance, the center of mass height, the wheelbase, the front axle load offset, comprises: Determining a front axle load of the target vehicle by the following formula: Wherein F z,front is the front axle load, I y is the pitch moment of inertia, γ is the pitch angle acceleration, m is the vehicle mass, g is the gravitational acceleration, θ is the gradient of the road on which the target vehicle is located, l r is the distance from the center of mass of the target vehicle to the rear axle, a z is the vertical acceleration, h cog is the center of mass height, a x is the longitudinal acceleration, F offset_front is the front axle load compensation amount, and l is the wheelbase.
4. The method of claim 2, wherein determining the rear axle load of the target vehicle based on the vertical acceleration, the longitudinal acceleration, the pitch moment of inertia of the target vehicle, the pitch angle acceleration, the vehicle mass, the grade of the road on which the target vehicle is located, the distance from the center of mass of the target vehicle to the rear axle, the distance from the center of mass of the target vehicle to the front axle, the center of mass height, the wheelbase, and the rear axle load offset comprises: The rear axle load of the target vehicle is determined by the following equation two: Wherein F z,rear is the rear axle load, I y is the pitch moment of inertia, For the pitch angle acceleration, m is the vehicle mass, g is the gravitational acceleration, θ is the gradient of the road on which the target vehicle is located, l r is the distance from the center of mass of the target vehicle to the rear axis, l f is the distance from the center of mass of the target vehicle to the front axis, a z is the vertical acceleration, h cog is the center of mass height, a x is the longitudinal acceleration, And F offset_rear is the rear axle load compensation quantity, and l is the wheelbase.
5. The method according to claim 2, wherein the method further comprises: the front axle load compensation amount and the rear axle load compensation amount are calculated by: Wherein, in the case where m u is the unsprung mass of the front axle of the target vehicle, F offset is the front axle load compensation amount, in the case where m u is the unsprung mass of the rear axle of the target vehicle, F offset is the rear axle load compensation amount, For the vertical acceleration, F factor (PSD,w whl ) is determined according to the level of unevenness of the road surface on which the target vehicle is located.
6. The method of claim 5, wherein the method further comprises: acquiring a suspension height sensor of the target vehicle to determine suspension relative displacement and suspension relative movement speed of the target vehicle, wherein the suspension relative displacement is used for representing relative position change caused by movement between a vehicle body and wheels in the running process of the target vehicle, and the suspension relative movement speed is the speed of suspension compression or extension; and determining the unevenness level of the road surface according to the suspension relative displacement and the suspension relative movement speed of the target vehicle.
7. The method of claim 6, wherein determining the level of unevenness of the road surface from the suspension relative displacement and suspension relative movement velocity of the target vehicle comprises: Determining that the displacement level of the suspension relative displacement is the displacement level corresponding to the target displacement range under the condition that the suspension relative displacement is in the target displacement range in a plurality of displacement ranges; Determining that the speed level of the target speed range is the speed level corresponding to the suspension relative movement speed under the condition that the suspension relative movement speed is in the target speed range in a plurality of speed ranges; and determining the unevenness level of the road surface according to the displacement level corresponding to the target displacement range and the speed level corresponding to the relative movement speed of the suspension according to a preset relation.
8. The method of claim 1, wherein determining the respective loads of the four wheels of the target vehicle from the front axle load, the rear axle load, and the lateral acceleration of the target vehicle comprises: the loads respectively corresponding to the four wheels of the target vehicle are calculated by the following formula: Wherein, the F z,front is the front axle load, F z,rear is the rear axle load, F z,rear_left 、F z,rear_right 、F z,front_left 、F z,front_right is the loads corresponding to the four wheels respectively, I x is the roll moment of inertia of the target vehicle, A y is the lateral acceleration, h cog is the centroid height of the target vehicle, w is the track of the target vehicle, and g is the gravitational acceleration.
9. A vehicle four-wheel load determining apparatus, characterized by comprising: the acquisition module is used for acquiring the vertical acceleration, the longitudinal acceleration and the transverse acceleration of the target vehicle, which are measured by the inertia measurement unit of the target vehicle; A first determination module for determining a front axle load and a rear axle load of the target vehicle from the vertical acceleration and the longitudinal acceleration; And the second determining module is used for determining the loads respectively corresponding to the four wheels of the target vehicle according to the front axle load, the rear axle load and the lateral acceleration of the target vehicle.
10. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program when run performs the method of any one of claims 1 to 8.
11. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method according to any of the claims 1 to 8 by means of the computer program.
12. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the method of any one of claims 1 to 8.

Description

Method and device for determining four-wheel load of vehicle, storage medium, electronic device, computer program product Technical Field The present application relates to the field of vehicle state estimation, and more particularly, to a method and apparatus for determining a four-wheel load of a vehicle, a storage medium, an electronic apparatus, and a computer program product. Background Tires are the only bridge that vehicles connect to the road surface, carrying all the mechanical feedback provided by the road surface. Whether it is unmanned active safety system development or motion boundary limitation of underlying controllers, accurate estimation of tire side-longitudinal-vertical three component forces is crucial. In the field of tire mechanics estimation, the existing methods can be roughly divided into three types, namely, development of a sensor such as a tire hexa-component sensor for direct measurement, but the high cost of the sensor makes the sensor difficult to put into mass production, a data driving scheme such as a method based on a neural network, machine learning and the like, which is used for estimating the tire force by feeding a large amount of data, but the scheme needs to install an intelligent tire, is difficult to popularize at present, and a design observer based on a tire model such as a linear model, a magic formula, a Dugoff model and the like is used for estimating the tire force, so that the scheme has strong feasibility, does not need to install additional hardware, and is the most widely applied scheme at present. In addition, the vertical force of the road surface on which the tire is subjected is used as the system excitation of the unsprung mass dynamics model to directly influence the estimation of the vertical displacement and the speed of the unsprung mass. The accuracy of dynamic load estimation directly determines the accuracy and response speed of the suspension motion state observer, and accurate tire dynamic load estimation is necessary. The current mainstream tire load estimation scheme is that the resultant force of the tire static load and load transfer caused by transverse and longitudinal acceleration decouples the suspension and the frame, and the influence caused by suspension movement and vehicle vertical acceleration is not considered. For the problem of inaccurate four-wheel load in the related art, no effective solution has been proposed yet. Disclosure of Invention Embodiments of the present application provide a method and apparatus for determining a four-wheel load of a vehicle, a storage medium, an electronic device, and a computer program product, so as to at least solve the problem of inaccuracy of the four-wheel load determined in the related art. According to one aspect of the embodiment of the application, a method for determining four-wheel load of a vehicle is provided, and the method comprises the steps of obtaining vertical acceleration, longitudinal acceleration and transverse acceleration of the target vehicle, which are measured by an inertia measurement unit of the target vehicle, determining front axle load and rear axle load of the target vehicle according to the vertical acceleration and the longitudinal acceleration, and determining loads respectively corresponding to four wheels of the target vehicle according to the front axle load, the rear axle load and the transverse acceleration of the target vehicle. In one exemplary embodiment, determining the front axle load and the rear axle load of the target vehicle based on the vertical acceleration and the longitudinal acceleration includes determining the front axle load of the target vehicle based on the vertical acceleration, the longitudinal acceleration, the moment of inertia of the target vehicle, the pitch angle acceleration, the vehicle mass, the slope of the road, the distance from the center of mass of the target vehicle to the rear axle, the center of mass height, the wheelbase, a front axle load compensation amount, wherein the front axle load compensation amount is determined based on the unsprung mass of the front axle of the target vehicle, and determining the rear axle load of the target vehicle based on the vertical acceleration, the longitudinal acceleration, the moment of inertia of the target vehicle, the pitch angle acceleration, the vehicle mass, the slope of the road on which the target vehicle is located, the distance from the center of mass of the target vehicle to the rear axle, the distance from the center of mass of the target vehicle to the front axle, the center of mass height, the wheelbase, and the rear axle load compensation amount. In one exemplary embodiment, determining the front axle load of the target vehicle based on the vertical acceleration, the longitudinal acceleration, the pitch moment of inertia, the vehicle mass, the slope of the road on which the target vehicle is located, the distance from the center of mass of the target vehicle to