CN113085875A - Method and device for determining longitudinal acceleration based on pitch angle and longitudinal slope angle - Google Patents

Method and device for determining longitudinal acceleration based on pitch angle and longitudinal slope angle Download PDF

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CN113085875A
CN113085875A CN202110310106.1A CN202110310106A CN113085875A CN 113085875 A CN113085875 A CN 113085875A CN 202110310106 A CN202110310106 A CN 202110310106A CN 113085875 A CN113085875 A CN 113085875A
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longitudinal acceleration
vehicle
longitudinal
compensated
determining
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CN113085875B (en
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丁少兵
延仲毅
张荡
刘国瑞
张志刚
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Zhejiang Geely Holding Group Co Ltd
Zhejiang Zeekr Intelligent Technology Co Ltd
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Zhejiang Geely Holding Group Co Ltd
Ningbo Geely Automobile Research and Development Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/107—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/16—Pitch

Abstract

The invention discloses a method for determining longitudinal acceleration based on a pitch angle and a longitudinal gradient angle, which comprises the following steps: the method comprises the steps that when a vehicle enters an emergency state, a longitudinal gradient angle of the vehicle and longitudinal acceleration to be compensated measured through an accelerometer are obtained; determining an actual longitudinal acceleration slope angle compensation part according to the longitudinal slope angle and the longitudinal acceleration to be compensated; acquiring the rigidity, the wheel base, the height of a mass center and the mass of a whole vehicle of front and rear suspension frames of the vehicle; determining an actual longitudinal acceleration pitch angle compensation part of the vehicle according to the rigidity of the front and rear suspensions, the wheel base, the height of the mass center, the mass of the whole vehicle and the longitudinal acceleration to be compensated; and compensating the longitudinal acceleration to be compensated according to the slope angle compensation part and the pitch angle compensation part to obtain the actual longitudinal acceleration. The implementation of the invention can ensure the stable control of the vehicle in an emergency state and avoid the rollover of the vehicle caused by the output of wrong longitudinal acceleration in the running process of the vehicle.

Description

Method and device for determining longitudinal acceleration based on pitch angle and longitudinal slope angle
Technical Field
The invention relates to the technical field of vehicle control, in particular to a method and a device for determining longitudinal acceleration based on a pitch angle and a longitudinal gradient angle.
Background
At present, longitudinal acceleration used in a control strategy of a vehicle is directly from an accelerometer sensor, when the vehicle is in an acceleration or deceleration process, a vehicle body generates a vehicle body pitch angle due to elasticity of a suspension, and gravity acceleration affects a longitudinal acceleration signal through the pitch angle, so that a certain signal deviation occurs; similarly, the road slope angle will also change the longitudinal acceleration signal through gravitational acceleration. Pitch angle and longitudinal slope can cause severe distortion of longitudinal acceleration, greatly reducing vehicle dynamics, handling and safety.
Therefore, it is desirable to provide a method for calculating a longitudinal acceleration based on a pitch angle and a longitudinal gradient angle, which can compensate the longitudinal acceleration measured by an accelerometer to obtain a real longitudinal acceleration when a vehicle enters an emergency, so as to improve the dynamic property, the maneuverability and the safety of the vehicle.
Disclosure of Invention
In order to solve the technical problem, the invention provides a method for determining longitudinal acceleration based on a pitch angle and a longitudinal gradient angle, which comprises the following steps:
the method comprises the steps that when a vehicle enters an emergency state, a longitudinal gradient angle of the vehicle and longitudinal acceleration to be compensated measured through an accelerometer are obtained, wherein the emergency state is vehicle emergency braking or acceleration;
determining an actual longitudinal acceleration slope angle compensation part according to the longitudinal slope angle and the longitudinal acceleration to be compensated;
acquiring the rigidity, the wheel base, the height of a mass center and the mass of a whole vehicle of front and rear suspension frames of the vehicle;
determining an actual longitudinal acceleration pitch angle compensation part of the vehicle according to the rigidity of the front and rear suspensions, the wheel base, the height of the mass center, the mass of the whole vehicle and the longitudinal acceleration to be compensated;
and compensating the longitudinal acceleration to be compensated according to the slope angle compensation part and the pitch angle compensation part to obtain the actual longitudinal acceleration.
Further, the acquiring the longitudinal gradient angle of the vehicle when the vehicle enters the emergency state comprises the following steps:
determining a longitudinal gradient angle according to the acquired derivatives of the driving force, the resistance, the whole vehicle mass and the current vehicle speed of the vehicle with respect to time;
or, determining a longitudinal gradient angle according to the longitudinal acceleration acquired by the accelerometer sensor and the vehicle longitudinal acceleration calculated according to the wheel speed acceleration.
Further, the pitch angle of the vehicle determined according to the front and rear suspension stiffness, the wheel base, the height of the center of mass and the mass of the whole vehicle is determined according to the following formula:
Figure BDA0002989354460000021
wherein alpha is a pitch angle, m is the mass of the whole vehicle, and axactLongitudinal acceleration collected by an accelerometer sensor, L is the wheelbase, kfFor front suspension stiffness, krFor rear suspension stiffness, h is the centroid height.
Further, the resistance includes: rolling resistance, wind resistance, and braking force.
Further, the wind resistance is determined by the acquired air density, air resistance coefficient, windward area and vehicle speed.
Further, the acquiring a longitudinal gradient angle of the vehicle and a longitudinal acceleration to be compensated measured by an accelerometer when the vehicle enters an emergency state, before further comprising:
acquiring the longitudinal acceleration to be compensated in the current period through an accelerometer;
comparing the longitudinal acceleration to be compensated of the current period with the longitudinal acceleration to be compensated of the previous period;
and when the change rate of the longitudinal acceleration to be compensated in the current period and the change rate of the longitudinal acceleration to be compensated in the previous period are larger than a preset threshold value, determining that the vehicle is in an emergency state.
In another aspect, the present invention provides a device for determining a longitudinal acceleration based on a pitch angle and a longitudinal pitch angle, comprising:
the first parameter acquisition module is configured to acquire a longitudinal gradient angle of the vehicle and a to-be-compensated longitudinal acceleration measured by an accelerometer when the vehicle enters an emergency state, wherein the emergency state is vehicle emergency braking or acceleration;
a slope angle compensation calculation module configured to perform a determination of an actual longitudinal acceleration slope angle compensation portion from the longitudinal slope angle and the longitudinal acceleration to be compensated;
the second parameter acquisition module is configured to acquire the front and rear suspension stiffness, the wheel base, the mass center height and the whole vehicle mass of the vehicle;
a pitch angle compensation calculation module configured to execute a pitch angle compensation part for determining an actual longitudinal acceleration of the vehicle according to the front and rear suspension stiffness, the wheel base, the center of mass height, the entire vehicle mass, and the longitudinal acceleration to be compensated;
and the actual longitudinal acceleration determining module is configured to perform compensation on the longitudinal acceleration to be compensated according to the slope angle compensation part and the pitch angle compensation part to obtain the actual longitudinal acceleration.
Further, still include:
the device comprises a to-be-compensated longitudinal acceleration acquisition module, a compensation module and a compensation module, wherein the to-be-compensated longitudinal acceleration acquisition module is configured to acquire the to-be-compensated longitudinal acceleration of the current period through an accelerometer;
the comparison module is configured to compare the longitudinal acceleration to be compensated of the current period with the longitudinal acceleration to be compensated of the previous period;
and the emergency state determination module is configured to determine that the vehicle is in an emergency state when the change rate of the longitudinal acceleration to be compensated in the current period and the longitudinal acceleration to be compensated in the previous period is greater than a preset threshold value.
In yet another aspect, the present invention provides an apparatus for determining longitudinal acceleration based on pitch angle and longitudinal gradient angle, the apparatus comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the method for determining longitudinal acceleration based on pitch angle and longitudinal gradient angle as described above.
In yet another aspect, the present invention provides a computer readable storage medium having at least one instruction or at least one program stored therein, the at least one instruction or the at least one program being loaded and executed by a processor to implement a method for determining longitudinal acceleration based on pitch angle and longitudinal slope angle as described above.
The method and the device for determining the longitudinal acceleration based on the pitch angle and the longitudinal gradient angle have the following beneficial effects:
the method and the device for determining the longitudinal acceleration based on the pitch angle and the longitudinal gradient angle can estimate the pitch angle and the longitudinal gradient respectively when a vehicle enters an emergency state, correct the longitudinal acceleration through compensation in two aspects, do not need to add an additional sensor, enable the corrected longitudinal acceleration to be more accurate, solve the problem of serious distortion of the longitudinal acceleration in the prior art, and greatly improve the dynamic property, the maneuverability and the safety of the vehicle.
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In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic flow chart of a method for determining lateral acceleration based on pitch angle and longitudinal grade according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart illustrating a method for determining lateral acceleration based on pitch angle and longitudinal grade according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of an apparatus for determining lateral acceleration based on pitch angle and longitudinal slope according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
710-a first parameter obtaining module, 720-a slope angle compensation calculating module, 730-a second parameter obtaining module, 740-a pitch angle compensation calculating module. 750-actual longitudinal acceleration determination module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
As shown in fig. 1, fig. 1 is a schematic flow chart of a method for determining a longitudinal acceleration based on a pitch angle and a longitudinal gradient angle provided in an embodiment of the present application, an embodiment of the present application provides a method for determining a longitudinal acceleration based on a pitch angle and a longitudinal gradient angle, an execution subject of the method may be an Electronic Control Unit (ECU) of an automobile (e.g., a pure electric automobile, a hybrid automobile, and a fuel automobile), and the method includes:
s102, when the vehicle enters an emergency state, acquiring a longitudinal gradient angle of the vehicle and a longitudinal acceleration to be compensated measured by an accelerometer, wherein the emergency state is vehicle emergency braking or acceleration.
In a specific implementation, the longitudinal acceleration to be compensated may be obtained by an accelerometer, it being understood that the accelerometer is connected to the electronic control unit for data interaction, and the longitudinal gradient angle of the whole vehicle may be obtained by at least one means, such as by means of a dynamic estimation and/or a kinematic estimation.
On the basis of the above embodiments, in one embodiment of the present specification, the acquiring a longitudinal gradient angle of the vehicle during the moving process of the vehicle includes:
determining a longitudinal gradient angle according to the acquired derivatives of the driving force, the resistance, the whole vehicle mass and the current vehicle speed of the vehicle with respect to time;
in a specific implementation process, the electronic control unit can acquire the derivatives of the driving force, the resistance, the whole vehicle mass and the current vehicle speed of the vehicle with respect to time during the movement of the vehicle, and calculate the longitudinal gradient angle based on a kinematic formula. The kinematic formula is as follows:
Figure BDA0002989354460000051
wherein, FDriving forceThe driving force is the driving force of the whole vehicle, and the driving force can represent the driving force of the vehicle in advancing. FResistance forceThe resistance encountered by the vehicle during the running process is as follows: rolling resistance, wind resistance, braking force, and the like. m is the mass of the whole vehicle, g is the gravity coefficient, theta is the longitudinal gradient angle,
Figure BDA0002989354460000052
is the derivative of the current vehicle speed with respect to time.
When the vehicle is an electric vehicle, the driving force can be the driving force corresponding to the driving torque of the front and rear motors, and the driving force generated by the motors can be obtained by adding the torque of the front and rear motors and then dividing the sum by the rolling radius.
Figure BDA0002989354460000053
It can be understood that the wind resistance is determined by the acquired air density, air resistance coefficient, windward area and vehicle speed, and the wind resistance can be obtained by the following formula: rho is air density, CD is air resistance coefficient, A is windward area, and V is vehicle speed.
Figure BDA0002989354460000054
The slope resistance may be calculated by the following equation: theta is the longitudinal gradient angle.
FSlope resistance＝mgsinθ
The rolling resistance can be found by the following equation: theta is a longitudinal gradient angle, and f is a rolling resistance coefficient;
Frolling resistance＝mgfcosθ
It will be appreciated that the resistance may be the sum of the rolling resistance, wind resistance and braking force described above.
Or, determining a longitudinal gradient angle according to the longitudinal acceleration acquired by the accelerometer sensor and the vehicle longitudinal acceleration calculated according to the wheel speed acceleration.
In a specific implementation process, the longitudinal gradient angle can be calculated by the longitudinal acceleration acquired by the accelerometer sensor and the longitudinal acceleration of the vehicle calculated according to the wheel speed acceleration;
axm＝axwheel+gsinθ
wherein, axmIs added withLongitudinal acceleration, a, collected by a speedometer sensorxwheelIs the vehicle longitudinal acceleration calculated from the wheel speed acceleration.
And S104, determining an actual longitudinal acceleration slope angle compensation part according to the longitudinal slope angle and the longitudinal acceleration to be compensated.
In a specific implementation process, when the vehicle enters an emergency state (emergency braking or acceleration), namely a larger vehicle body pitch angle is about to be generated, a part influenced by the road surface slope angle is extracted and locked, and then the difference value is compensated to the longitudinal acceleration signal compensation module until the vehicle is relieved from the emergency state.
axm＝axact-gθ
Wherein, axmIs the longitudinal acceleration to be compensated; a isxactIs the actual longitudinal acceleration; g is the acceleration of gravity; theta is a longitudinal gradient angle; g theta is a slope angle compensation part.
And S106, acquiring the rigidity, the wheel base, the mass center height and the whole vehicle mass of the front and rear suspension of the vehicle.
In a specific implementation process, the front and rear suspension stiffness, the wheel base, the height of the center of mass and the mass of the whole vehicle can be recorded in an electronic control unit when the vehicle leaves a factory, and it can be understood that the parameters are fixed parameters.
And S108, determining an actual longitudinal acceleration pitch angle compensation part of the vehicle according to the rigidity of the front and rear suspensions, the wheelbase, the height of the mass center, the mass of the whole vehicle and the longitudinal acceleration to be compensated.
In a specific implementation process, the pitch angle of the vehicle determined according to the front and rear suspension stiffness, the wheel base, the centroid height and the whole vehicle mass is determined according to the following formula:
Figure BDA0002989354460000061
wherein alpha is a pitch angle, m is the mass of the whole vehicle, and axactLongitudinal acceleration collected by an accelerometer sensor, L is the wheelbase, kfFor front suspension stiffness, krFor rear suspension stiffness, h is the centroid height.
Figure BDA0002989354460000062
Wherein, axactIs the actual longitudinal acceleration; m is the mass of the whole vehicle; l is the wheelbase; h is the height of the centroid; kf is front suspension stiffness; kr is the rear suspension stiffness.
The pitch angle compensation part can be determined according to the formula
Figure BDA0002989354460000063
And S110, compensating the longitudinal acceleration to be compensated according to the slope angle compensation part and the pitch angle compensation part to obtain the actual longitudinal acceleration.
In a specific implementation process, the actual longitudinal acceleration compensation can be divided into two parts, namely road slope angle compensation and vehicle body pitch angle compensation, the vehicle body pitch angle compensation part exists all the time, and the road slope angle compensation part can intervene in an emergency state and compensate an acceleration deviation value brought by a slope angle, so that the actual longitudinal acceleration is obtained finally.
The method and the device for determining the longitudinal acceleration based on the pitch angle and the longitudinal gradient angle can estimate the pitch angle and the longitudinal gradient respectively when a vehicle enters an emergency state, correct the longitudinal acceleration through compensation in two aspects, do not need to add an additional sensor, enable the corrected longitudinal acceleration to be more accurate, solve the problem of serious distortion of the longitudinal acceleration in the prior art, and greatly improve the dynamic property, the maneuverability and the safety of the vehicle. The vehicle is ensured to be stably controlled in an emergency state, and the vehicle rollover caused by the output of wrong longitudinal acceleration in the running process of the vehicle is avoided.
On the basis of the foregoing embodiments, in an embodiment of the present specification, fig. 2 is a schematic flowchart of a method for determining a longitudinal acceleration based on a pitch angle and a longitudinal gradient angle provided in an embodiment of the present application, and as shown in fig. 2, the method for acquiring a longitudinal gradient angle of a vehicle and a longitudinal acceleration to be compensated measured by an accelerometer when the vehicle enters an emergency state further includes:
s602, acquiring longitudinal acceleration to be compensated in the current period through an accelerometer;
s604, comparing the longitudinal acceleration to be compensated in the current period with the longitudinal acceleration to be compensated in the previous period;
and S606, when the change rate of the longitudinal acceleration to be compensated in the current period and the longitudinal acceleration to be compensated in the previous period is larger than a preset threshold value, determining that the vehicle is in an emergency state.
In a specific implementation process, the electronic control unit may obtain the longitudinal acceleration to be compensated measured by the accelerometer at preset time intervals, compare the longitudinal acceleration to be compensated of a cycle on the longitudinal acceleration to be compensated obtained in a current cycle, and determine that the vehicle is in an emergency state when the change rate of the longitudinal acceleration to be compensated of two adjacent cycles is greater than a preset threshold. The preset threshold and the time of the adjacent period are not specifically limited in the embodiments of the present specification, and may be set according to time requirements.
On the other hand, an embodiment of the present disclosure provides a device for determining a longitudinal acceleration based on a pitch angle and a longitudinal gradient angle, fig. 3 is a schematic structural diagram of the device for determining a longitudinal acceleration based on a pitch angle and a longitudinal gradient angle, as shown in fig. 3, including:
the first parameter acquisition module is configured to acquire a longitudinal gradient angle of the vehicle and a to-be-compensated longitudinal acceleration measured by an accelerometer when the vehicle enters an emergency state, wherein the emergency state is vehicle emergency braking or acceleration;
a slope angle compensation calculation module configured to perform a determination of an actual longitudinal acceleration slope angle compensation portion from the longitudinal slope angle and the longitudinal acceleration to be compensated;
the second parameter acquisition module is configured to acquire the front and rear suspension stiffness, the wheel base, the mass center height and the whole vehicle mass of the vehicle;
a pitch angle compensation calculation module configured to execute a pitch angle compensation part for determining an actual longitudinal acceleration of the vehicle according to the front and rear suspension stiffness, the wheel base, the center of mass height, the entire vehicle mass, and the longitudinal acceleration to be compensated;
and the actual longitudinal acceleration determining module is configured to perform compensation on the longitudinal acceleration to be compensated according to the slope angle compensation part and the pitch angle compensation part to obtain the actual longitudinal acceleration.
On the basis of the above embodiments, in an embodiment of the present specification, the method further includes:
the device comprises a to-be-compensated longitudinal acceleration acquisition module, a compensation module and a compensation module, wherein the to-be-compensated longitudinal acceleration acquisition module is configured to acquire the to-be-compensated longitudinal acceleration of the current period through an accelerometer;
the comparison module is configured to compare the longitudinal acceleration to be compensated of the current period with the longitudinal acceleration to be compensated of the previous period;
and the emergency state determination module is configured to determine that the vehicle is in an emergency state when the change rate of the longitudinal acceleration to be compensated in the current period and the longitudinal acceleration to be compensated in the previous period is greater than a preset threshold value.
It should be noted that, when the apparatus provided in the foregoing embodiment implements the functions thereof, only the division of the functional modules is illustrated, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the apparatus may be divided into different functional modules to implement all or part of the functions described above. In addition, the apparatus and method embodiments provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments for details, which are not described herein again.
On the other hand, fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 4, the present invention provides a device for determining lateral acceleration based on pitch angle and longitudinal gradient, the device includes a processor and a memory, the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the method for determining longitudinal acceleration based on pitch angle and longitudinal gradient angle as described above.
In yet another aspect, the present invention provides a computer readable storage medium having at least one instruction or at least one program stored therein, the at least one instruction or the at least one program being loaded and executed by a processor to implement a method for determining longitudinal acceleration based on pitch angle and longitudinal slope angle as described above.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The implementation principle and the generated technical effect of the testing method provided by the embodiment of the invention are the same as those of the system embodiment, and for the sake of brief description, the corresponding contents in the system embodiment can be referred to where the method embodiment is not mentioned.
In the several embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The above functions, if implemented in the form of software functional units and sold or used as a separate product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In a specific embodiment, as shown in fig. 4, a schematic structural diagram of an electronic device provided in an embodiment of the present invention is shown. The electronic device 800 may include components such as memory 810 for one or more computer-readable storage media, processor 820 for one or more processing cores, input unit 830, display unit 840, Radio Frequency (RF) circuitry 850, wireless fidelity (WiFi) module 860, and power supply 870. Those skilled in the art will appreciate that the electronic device configuration shown in fig. 4 does not constitute a limitation of electronic device 800, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components. Wherein:
the memory 810 may be used to store software programs and modules, and the processor 820 executes various functional applications and data processing by operating or executing the software programs and modules stored in the memory 810 and calling data stored in the memory 810. The memory 810 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to use of the electronic device, and the like. Further, the memory 810 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device. Accordingly, memory 810 may also include a memory controller to provide processor 820 with access to memory 810.
The processor 820 is a control center of the electronic device 800, connects various parts of the whole electronic device by using various interfaces and lines, and performs various functions of the electronic device 800 and processes data by operating or executing software programs and/or modules stored in the memory 810 and calling data stored in the memory 810, thereby performing overall monitoring of the electronic device 800. The Processor 820 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The input unit 830 may be used to receive input numeric or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control. Specifically, the input unit 830 may include an image input device 831 and other input devices 832. The image input device 831 may be a camera or a photoelectric scanning device. The input unit 830 may include other input devices 832 in addition to the image input device 831. In particular, other input devices 832 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like.
The display unit 840 may be used to display information input by or provided to a user and various graphical user interfaces of an electronic device, which may be made up of graphics, text, icons, video, and any combination thereof. The Display unit 840 may include a Display panel 841, and the Display panel 841 may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like, as an option.
The RF circuit 850 may be used for receiving and transmitting signals during a message transmission or communication process, and in particular, for receiving downlink messages from a base station and then processing the received downlink messages by the one or more processors 820; in addition, data relating to uplink is transmitted to the base station. In general, the RF circuitry 850 includes, but is not limited to, an antenna, at least one Amplifier, a tuner, one or more oscillators, a Subscriber Identity Module (SIM) card, a transceiver, a coupler, a Low Noise Amplifier (LNA), a duplexer, and the like. In addition, the RF circuit 850 may also communicate with networks and other devices via wireless communications. The wireless communication may use any communication standard or protocol, including but not limited to Global System for Mobile communication (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, Short Messaging Service (SMS), and the like.
WiFi belongs to short-range wireless transmission technology, and the electronic device 800 can help the user send and receive e-mails, browse web pages, access streaming media, etc. through the WiFi module 860, and it provides the user with wireless broadband internet access. Although fig. 4 shows WiFi module 860, it is understood that it does not belong to the essential components of electronic device 800, and may be omitted entirely as needed within the scope not changing the essence of the invention.
The electronic device 800 also includes a power supply 870 (e.g., a battery) for powering the various components, which may be logically coupled to the processor 820 via a power management system to manage charging, discharging, and power consumption via the power management system. The power source 870 may also include any component of one or more dc or ac power sources, recharging systems, power failure detection circuitry, power converters or inverters, power status indicators, and the like.
It should be noted that, although not shown, the electronic device 800 may further include a bluetooth module, and the like, which is not described herein again.
An embodiment of the present invention further provides a storage medium, where at least one instruction, at least one program, a code set, or an instruction set is stored in the storage medium, and the at least one instruction, the at least one program, the code set, or the instruction set is executable by a processor of an electronic device to perform any one of the foregoing methods.
Optionally, in an embodiment of the present invention, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
It should be noted that: the precedence order of the above embodiments of the present invention is only for description, and does not represent the merits of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus, the electronic device and the storage medium embodiment, since they are substantially similar to the method embodiment, the description is relatively simple, and the relevant points can be referred to the partial description of the method embodiment.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the above claims.

Claims (10)

1. A method for determining longitudinal acceleration based on a pitch angle and a longitudinal pitch angle, comprising:
the method comprises the steps that when a vehicle enters an emergency state, a longitudinal gradient angle of the vehicle and longitudinal acceleration to be compensated measured through an accelerometer are obtained, wherein the emergency state is vehicle emergency braking or acceleration;
determining an actual longitudinal acceleration slope angle compensation part according to the longitudinal slope angle and the longitudinal acceleration to be compensated;
acquiring the rigidity, the wheel base, the height of a mass center and the mass of a whole vehicle of front and rear suspension frames of the vehicle;
determining an actual longitudinal acceleration pitch angle compensation part of the vehicle according to the rigidity of the front and rear suspensions, the wheel base, the height of the mass center, the mass of the whole vehicle and the longitudinal acceleration to be compensated;
and compensating the longitudinal acceleration to be compensated according to the slope angle compensation part and the pitch angle compensation part to obtain the actual longitudinal acceleration.
2. The method of claim 1, wherein obtaining the longitudinal grade angle of the vehicle upon the vehicle entering an emergency state comprises:
determining a longitudinal gradient angle according to the acquired derivatives of the driving force, the resistance, the whole vehicle mass and the current vehicle speed of the vehicle with respect to time;
or, determining a longitudinal gradient angle according to the longitudinal acceleration acquired by the accelerometer sensor and the vehicle longitudinal acceleration calculated according to the wheel speed acceleration.
3. The method of claim 1, wherein determining the pitch angle of the vehicle from the front and rear suspension stiffness, the wheelbase, the center of mass height, and the total vehicle mass is determined according to the following equation:
Figure FDA0002989354450000011
wherein alpha is a pitch angle, m is the mass of the whole vehicle, and axactLongitudinal acceleration collected by an accelerometer sensor, L is the wheelbase, kfFor front suspension stiffness, krFor rear suspension stiffness, h is the centroid height.
4. The method of claim 2, wherein the resistance force comprises: rolling resistance, wind resistance, and braking force.
5. The method of claim 4, wherein the wind resistance is determined by the captured air density, air resistance coefficient, windward area, and vehicle speed.
6. The method for determining longitudinal acceleration based on pitch angle and longitudinal gradient angle of claim 1, wherein the obtaining of the longitudinal gradient angle of the vehicle and the longitudinal acceleration to be compensated measured by the accelerometer when the vehicle enters an emergency state further comprises:
acquiring the longitudinal acceleration to be compensated in the current period through an accelerometer;
comparing the longitudinal acceleration to be compensated of the current period with the longitudinal acceleration to be compensated of the previous period;
and when the change rate of the longitudinal acceleration to be compensated in the current period and the change rate of the longitudinal acceleration to be compensated in the previous period are larger than a preset threshold value, determining that the vehicle is in an emergency state.
7. A device for determining longitudinal acceleration based on pitch and longitudinal pitch angles, comprising:
the first parameter acquisition module is configured to acquire a longitudinal gradient angle of the vehicle and a to-be-compensated longitudinal acceleration measured by an accelerometer when the vehicle enters an emergency state, wherein the emergency state is vehicle emergency braking or acceleration;
a slope angle compensation calculation module configured to perform a determination of an actual longitudinal acceleration slope angle compensation portion from the longitudinal slope angle and the longitudinal acceleration to be compensated;
the second parameter acquisition module is configured to acquire the front and rear suspension stiffness, the wheel base, the mass center height and the whole vehicle mass of the vehicle;
a pitch angle compensation calculation module configured to execute a pitch angle compensation part for determining an actual longitudinal acceleration of the vehicle according to the front and rear suspension stiffness, the wheel base, the center of mass height, the entire vehicle mass, and the longitudinal acceleration to be compensated;
and the actual longitudinal acceleration determining module is configured to perform compensation on the longitudinal acceleration to be compensated according to the slope angle compensation part and the pitch angle compensation part to obtain the actual longitudinal acceleration.
8. The device for determining longitudinal acceleration based on pitch and longitudinal gradient angles of claim 7, further comprising:
the device comprises a to-be-compensated longitudinal acceleration acquisition module, a compensation module and a compensation module, wherein the to-be-compensated longitudinal acceleration acquisition module is configured to acquire the to-be-compensated longitudinal acceleration of the current period through an accelerometer;
the comparison module is configured to compare the longitudinal acceleration to be compensated of the current period with the longitudinal acceleration to be compensated of the previous period;
and the emergency state determination module is configured to determine that the vehicle is in an emergency state when the change rate of the longitudinal acceleration to be compensated in the current period and the longitudinal acceleration to be compensated in the previous period is greater than a preset threshold value.
9. An apparatus for determining longitudinal acceleration based on pitch angle and longitudinal gradient angle, the apparatus comprising a processor and a memory, the memory having stored therein at least one instruction or at least one program, the at least one instruction or at least one program being loaded and executed by the processor to implement the method for determining longitudinal acceleration based on pitch angle and longitudinal gradient angle according to any of claims 1-6.
10. A computer readable storage medium having stored thereon at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by a processor to perform the method for determining longitudinal acceleration based on pitch angle and longitudinal slope angle according to any of claims 1-6.
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