CN-122009211-A - Vehicle ramp driving compensation method, device, equipment and storage medium

CN122009211ACN 122009211 ACN122009211 ACN 122009211ACN-122009211-A

Abstract

A ramp driving compensation method, device and equipment for a vehicle and a computer readable storage medium comprise the steps of acquiring acceleration and longitudinal acceleration of a current vehicle when the vehicle is detected to be on a ramp, acquiring corresponding pitching acceleration of a target vehicle body according to the acceleration and the longitudinal acceleration of the current vehicle, calculating a ramp acceleration value according to the pitching acceleration of the target vehicle body and the acceleration and the longitudinal acceleration of the current vehicle, and calculating a compensation driving force of the vehicle according to the ramp acceleration value to drive and compensate the vehicle.

Inventors

LEI KUNHUA
DONG WEI
LIU BIN
PEI JINSHUN
ZHAI RUNGUO

Assignees

岚图汽车科技股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260206

Claims (10)

1. A method of compensating for a hill drive of a vehicle, the method comprising: when the vehicle is detected to be on the ramp, acquiring the acceleration and the longitudinal acceleration of the current vehicle; Acquiring corresponding pitching acceleration of the target vehicle body according to the acceleration and the longitudinal acceleration of the current vehicle; Calculating a ramp acceleration value according to the pitching acceleration of the target body, the acceleration and the longitudinal acceleration of the current vehicle; And calculating the compensation driving force of the vehicle according to the ramp acceleration value so as to carry out driving compensation on the vehicle.
2. A hill driving compensation method of a vehicle according to claim 1, wherein said calculating a compensation driving force of the vehicle based on said hill acceleration value to drive-compensate the vehicle comprises: acquiring the mass of the vehicle; And calculating the compensation driving force of the vehicle according to the mass of the vehicle and the ramp acceleration value so as to carry out driving compensation on the vehicle.
3. The vehicle hill drive compensation method of claim 1, wherein said calculating a hill acceleration value based on said target body pitch acceleration, said current vehicle acceleration and a longitudinal acceleration comprises: acquiring a first preset formula; And calculating a ramp acceleration value based on the first preset formula, the target vehicle body pitching acceleration, the acceleration of the current vehicle and the longitudinal acceleration.
4. A vehicle hill drive compensation method according to claim 1, wherein said obtaining a corresponding target body pitch acceleration based on the acceleration and longitudinal acceleration of the current vehicle comprises: Acquiring a preset fitting curve; Inquiring the preset fitting curve based on the acceleration and the longitudinal acceleration of the current vehicle to obtain the corresponding pitching acceleration of the target vehicle body.
5. A method of vehicle hill drive compensation according to claim 4, wherein prior to said obtaining a preset fitted curve, comprising: Acquiring acceleration and longitudinal acceleration of the vehicle on each ramp; According to the acceleration and the longitudinal acceleration on each ramp, calculating corresponding pitching acceleration of the vehicle body; and generating a preset fitting curve based on the acceleration on each ramp and the pitching acceleration of the vehicle body.
6. A hill drive compensation method of a vehicle according to claim 5, wherein said generating a preset fitted curve based on the acceleration on each of said ramps and said body pitch acceleration comprises: Generating a coordinate system based on the acceleration on each of the ramps and the body pitch acceleration; And performing LOESS fitting on the data points in the coordinate system to generate a preset fitting curve.
7. A vehicle hill drive compensation method according to claim 6 wherein said generating a preset fit curve based on a line fit of data points in said coordinate system comprises: According to preset smoothing parameters, determining the neighborhood of each data point in the coordinate system and a preset weight function, and carrying out linear regression on the neighborhood of each data point to obtain a target coefficient; and performing linear fitting based on the target coefficient and the obtained central data point of the coordinate system to generate a preset fitting curve.
8. A hill drive compensation device for a vehicle, characterized in that the hill drive compensation device for a vehicle comprises: The first acquisition module is used for acquiring the acceleration and the longitudinal acceleration of the current vehicle when the vehicle is detected to be on the slope; The second acquisition module is used for acquiring corresponding target vehicle body pitching acceleration according to the acceleration and the longitudinal acceleration of the current vehicle; the calculation module is used for calculating a ramp acceleration value according to the pitching acceleration of the target body, the acceleration and the longitudinal acceleration of the current vehicle; And the calculating and compensating module is used for calculating the compensating driving force of the vehicle according to the ramp acceleration value so as to carry out driving compensation on the vehicle.
9. A vehicle hill drive compensation device, characterized in that the vehicle hill drive compensation device comprises a processor, a memory, and a vehicle hill drive compensation program stored on the memory and executable by the processor, wherein the vehicle hill drive compensation program, when executed by the processor, implements the steps of the vehicle hill drive compensation method of any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a vehicle's hill-drive compensation program, wherein the vehicle's hill-drive compensation program, when executed by a processor, implements the steps of the vehicle's hill-drive compensation method according to any of claims 1-7.

Description

Vehicle ramp driving compensation method, device, equipment and storage medium Technical Field The present application relates to the field of vehicle data processing, and in particular, to a method, apparatus, and device for compensating for vehicle hill driving, and a computer readable storage medium. Background In the field of vehicle dynamic control, the ramp value is used as a key state parameter to directly influence the control precision and response efficiency of systems such as self-adaptive cruise, electronic stability program, active suspension control and the like. Accurate ramp value estimation can help the vehicle to dynamically adjust power output, brake distribution and suspension stiffness, and further improve driving safety, comfort and energy consumption economy. However, in an actual driving scenario, the ramp value estimation is susceptible to disturbance by changes in vehicle body attitude, with suspension pitch acceleration being one of the core influencing factors. The current mainstream ramp value estimation method relies on dynamic model deduction, a detailed whole vehicle dynamic model comprising a suspension system, a steering system and a power transmission system is required to be built, and numerical calculation is carried out by collecting multidimensional sensor data such as wheel rotation speed, vehicle body acceleration, suspension displacement and the like and combining a complex mechanical equation. Although the theoretical precision is higher, the method has the remarkable limitations that on one hand, the detailed whole vehicle model relates to hundreds of kinetic parameters, a large amount of calculation resources are required to be occupied, obvious time hysteresis exists in the estimation process, the real-time requirement (usually millisecond-level response is required) of a vehicle control system is difficult to meet, on the other hand, the model parameters are easily influenced by road conditions (such as bumpy road surfaces), load changes (such as passenger quantity and cargo weight) and ageing of parts, frequent calibration is required to maintain the precision, and engineering application cost is increased. More importantly, when the vehicle accelerates, brakes or passes over a rough road, the vehicle body can generate remarkable pitching motion, and further suspension pitching acceleration errors are introduced. The traditional dynamics model is difficult to distinguish the pitching acceleration from the vehicle body posture change caused by the ramp in real time, so that the ramp value estimation is deviated, for example, the positive pitching acceleration generated by 'head lifting' of the vehicle body during sudden acceleration is easy to be misjudged as an ascending ramp, and the negative pitching acceleration generated by 'head nodding' of the vehicle body during sudden braking is likely to be misjudged as a descending ramp. The deviation can directly lead the vehicle control system to make an erroneous decision, such as excessive acceleration and deceleration after the adaptive cruise system misjudges a slope, the active suspension system misregulates rigidity to cause the bumping of the vehicle body, and even the intervention time of an electronic stabilization program is influenced when the vehicle is serious, so that potential risks are formed for driving safety. Therefore, how to effectively separate suspension pitching acceleration and ramp signals without depending on a complex whole vehicle model and reducing calculation amount, and improve the instantaneity and accuracy of ramp value estimation becomes a technical bottleneck to be solved in the current vehicle dynamic control field. Disclosure of Invention The application provides a vehicle ramp driving compensation method, a vehicle ramp driving compensation device and a computer readable storage medium, which can solve the technical problems that in the prior art, the vehicle body pitching acceleration has errors, so that the ramp value estimation is inaccurate, and the performance of a vehicle control system is influenced. In a first aspect, an embodiment of the present application provides a method for compensating for a hill driving of a vehicle, including: when the vehicle is detected to be on the ramp, acquiring the acceleration and the longitudinal acceleration of the current vehicle; Acquiring corresponding pitching acceleration of the target vehicle body according to the acceleration and the longitudinal acceleration of the current vehicle; calculating a ramp acceleration value according to the pitching acceleration of the target body, the acceleration and the longitudinal acceleration of the front vehicle; And calculating the compensation driving force of the vehicle according to the ramp acceleration value so as to carry out driving compensation on the vehicle. With reference to the first aspect, in an implementation manner, the calculating the compensation driving force of the vehic