CN110962841B - Vehicle control method and related product - Google Patents

Vehicle control method and related product Download PDF

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Publication number
CN110962841B
CN110962841B CN201911327366.9A CN201911327366A CN110962841B CN 110962841 B CN110962841 B CN 110962841B CN 201911327366 A CN201911327366 A CN 201911327366A CN 110962841 B CN110962841 B CN 110962841B
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Prior art keywords
vehicle
acceleration
rollover
state
road condition
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CN201911327366.9A
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CN110962841A (en
Inventor
郑旭阳
于敬敬
曹希航
李代炳
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Chongqing Changan Industry Group Co Ltd Shenzhen Branch
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Chongqing Changan Industry Group Co Ltd Shenzhen Branch
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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • B60W30/04—Control of vehicle driving stability related to roll-over prevention
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • B60W30/04—Control of vehicle driving stability related to roll-over prevention
    • B60W2030/043—Control of vehicle driving stability related to roll-over prevention about the roll axis
    • 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
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—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
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral 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
    • B60W2520/18—Roll

Abstract

The application discloses a vehicle control method and a related product. The vehicle control method includes: acquiring road condition characteristics and vehicle driving information of a driving path; determining a target rollover threshold value according to the road condition characteristics and the vehicle driving information; and when the ratio of a first acceleration to the gravity acceleration is larger than or equal to the target rollover threshold value, controlling the vehicle to enter a rollover intervention state, wherein the first acceleration is the acceleration of the vehicle in the advancing direction. Therefore, the target rollover threshold value is determined according to the road condition characteristics and the vehicle driving information, the target rollover threshold value takes the road condition characteristics of the driving path into consideration, for example, when the road condition characteristics are poor, the target rollover threshold value can be adjusted to be low, and compared with the method that rollover is predicted only according to the driving information of the vehicle, rollover risks can be predicted earlier, so that rollover accidents of the vehicle can be effectively avoided.

Description

Vehicle control method and related product
Technical Field
The application relates to the technical field of vehicle control, in particular to a vehicle control method and a related product.
Background
In the related art, for the rollover prevention technology of a vehicle, rollover risk is often evaluated based on acceleration sensors, roll angle sensors, gyroscopes and the like of the vehicle, and when the rollover risk exists, a driver is reminded to perform rollover prevention operation. However, in this way, when it is determined that there is an evaluation risk according to the data detected by the sensor, it is indicated that the risk of rollover is already high according to the driving state of the vehicle, and at this time, the driver is prompted to perform an operation for preventing rollover, and the driver may not have time to perform the corresponding operation to avoid rollover.
Disclosure of Invention
In order to more effectively avoid the rollover of the vehicle, the embodiment of the application provides a vehicle control method and a related product.
In a first aspect, an embodiment of the present application provides a vehicle control method, including:
acquiring road condition characteristics and vehicle driving information of a driving path;
determining a target rollover threshold value according to the road condition characteristics and the vehicle driving information;
and when the ratio of a first acceleration to the gravity acceleration is larger than or equal to the target rollover threshold value, controlling the vehicle to enter a rollover intervention state, wherein the first acceleration is the acceleration of the vehicle in the advancing direction.
In some embodiments, the determining a target rollover threshold value according to the road condition characteristics and the vehicle driving information comprises:
determining a rollover threshold coefficient according to the road condition characteristics and the vehicle driving information,
and determining a target rollover threshold value according to the rollover threshold value coefficient and the quasi-static rollover threshold value of the vehicle.
In some embodiments, the road condition characteristics include one or more of a bending angle of the traveling path, a road surface inclination angle of the traveling path, and a road surface leveling state, and the vehicle traveling information includes a second acceleration that is an acceleration in a direction perpendicular to a forward direction of the vehicle and/or vehicle type information of the vehicle.
In some embodiments, the determining the rollover threshold coefficient according to the road condition characteristics and the vehicle driving information includes:
when the linear state is determined to be a curve state according to the road condition characteristics and the road surface inclination state is a flat state, determining the rollover threshold coefficient according to the second acceleration and the bending angle of the driving path;
and when the linear state is determined to be a linear state according to the road condition characteristics and the road surface inclination state is an inclined state, determining the rollover threshold coefficient according to the second acceleration and the road surface inclination angle of the driving path.
In some embodiments, the determining the rollover threshold coefficient according to the road condition characteristics and the vehicle driving information further includes:
when the linear state is determined to be a linear state according to the road condition characteristics and the road surface inclination state is a flat state, determining the rollover threshold coefficient according to a second acceleration, wherein the second acceleration is the acceleration of the vehicle in the advancing direction;
and when the linear state is determined to be a curve state according to the road condition characteristics and the road surface inclination state is an inclination state, determining the rollover threshold coefficient according to the second acceleration, the bending angle of the driving path and the road surface inclination angle of the driving path.
In some embodiments, controlling the vehicle into the rollover intervention state comprises:
acquiring the inclination direction of the vehicle according to the positive and negative information of the roll angle of the vehicle;
acquiring intervention torque of a driving wheel of the vehicle according to the first acceleration and the inclination direction;
adjusting the torque of the drive wheel according to the intervention torque.
In a second aspect, an embodiment of the present application further provides a vehicle control apparatus, including:
the acquisition unit is used for acquiring road condition characteristics of a driving path and vehicle driving information;
the processing unit is used for determining a target rollover threshold value according to the road condition characteristics and the vehicle driving information;
and the control unit is used for controlling the vehicle to enter a rollover intervention state when the ratio of a first acceleration to the gravity acceleration is greater than or equal to the target rollover threshold value, wherein the first acceleration is the acceleration of the vehicle in the advancing direction.
In some embodiments, the processing unit is specifically configured to:
determining a rollover threshold coefficient according to the road condition characteristics and the vehicle driving information,
and determining a target rollover threshold value according to the rollover threshold value coefficient and the quasi-static rollover threshold value of the vehicle.
In some embodiments, the road condition characteristics include one or more of a bending angle of the traveling path, a road surface inclination angle of the traveling path, and a road surface leveling state, and the vehicle traveling information includes a second acceleration that is an acceleration in a direction perpendicular to a forward direction of the vehicle and/or vehicle type information of the vehicle.
In some embodiments, in the aspect of determining the rollover threshold coefficient according to the road condition characteristics and the vehicle driving information, the processing unit is specifically configured to:
when the linear state is determined to be a curve state according to the road condition characteristics and the road surface inclination state is a flat state, determining the rollover threshold coefficient according to the second acceleration and the bending angle of the driving path;
and when the linear state is determined to be a linear state according to the road condition characteristics and the road surface inclination state is an inclined state, determining the rollover threshold coefficient according to the second acceleration and the road surface inclination angle of the driving path.
In some embodiments, in the aspect of determining the rollover threshold coefficient according to the road condition characteristics and the vehicle driving information, the processing unit is specifically configured to:
when the linear state is determined to be a linear state according to the road condition characteristics and the road surface inclination state is a flat state, determining the rollover threshold coefficient according to a second acceleration, wherein the second acceleration is the acceleration of the vehicle in the advancing direction;
and when the linear state is determined to be a curve state according to the road condition characteristics and the road surface inclination state is an inclination state, determining the rollover threshold coefficient according to the second acceleration, the bending angle of the driving path and the road surface inclination angle of the driving path.
In some embodiments, the control unit is specifically configured to:
acquiring the inclination direction of the vehicle according to the positive and negative information of the roll angle of the vehicle;
acquiring intervention torque of a driving wheel of the vehicle according to the first acceleration and the inclination direction;
adjusting the torque of the drive wheel according to the intervention torque.
In a third aspect, this application also provides an apparatus comprising a processor, a memory, and one or more programs stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps of the method of any of the above embodiments.
In a fourth aspect, the present application further provides a computer-readable storage medium storing a computer program for controlling a vehicle, wherein the computer program causes a computer to execute the method of any one of the above embodiments.
In a fifth aspect, the present application further provides a vehicle including the apparatus of the third aspect.
According to the technical scheme, road condition characteristics of a driving path and vehicle driving information are obtained; determining a target rollover threshold value according to road condition characteristics and vehicle driving information; and when the ratio of the first acceleration to the gravity acceleration is larger than or equal to the target rollover threshold value, controlling the vehicle to enter a rollover intervention state, wherein the first acceleration is the acceleration of the vehicle in the advancing direction. Therefore, the target rollover threshold value is determined according to the road condition characteristics and the vehicle driving information, the target rollover threshold value takes the road condition characteristics of the driving path into consideration, for example, when the road condition characteristics are poor, the target rollover threshold value can be adjusted to be low, and compared with the method that rollover is predicted only according to the driving information of the vehicle, rollover risks can be predicted earlier, so that rollover accidents of the vehicle can be effectively avoided.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments 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 present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a diagram illustrating a hardware structure of an apparatus according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a vehicle according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of a vehicle control method according to an embodiment of the present application;
FIG. 4 is another schematic flow chart diagram of a vehicle control method according to an embodiment of the present application;
FIG. 5 is a schematic time-roll angle diagram of a vehicle control method according to an embodiment of the present application;
FIG. 6 is a schematic flow chart of a vehicle control method according to an embodiment of the present application;
fig. 7 is a block diagram schematically illustrating a vehicle control device according to an embodiment of the present application.
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 some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of an apparatus 100 according to an embodiment of the present disclosure. The apparatus 100 includes a processor 101, a memory 102, an input-output interface 103, and one or more programs stored in the memory 102 and configured to be executed by the processor 101, the programs including instructions to implement the steps of the vehicle control method of any of the following embodiments. The device may be, for example, but not limited to, a vehicle control unit or an auxiliary power unit of a vehicle.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a vehicle 1000 according to an embodiment of the present disclosure. The vehicle comprises a device 100 and a perception system 200. The sensing system may for example comprise a control unit and one or more of a lidar, a camera, a millimeter wave radar, an ultrasonic radar, a high precision map. The control unit can be used for obtaining the road condition characteristics of the driving path according to one or more output data of a laser radar, a camera, a millimeter wave radar, an ultrasonic radar and a high-precision map.
The vehicle of the embodiment of the present application may be, for example, a military vehicle, a home automobile, a passenger car, an agricultural vehicle, or the like. The military vehicle may be, for example, but not limited to, a multi-wheel electric drive unmanned special vehicle.
Referring to fig. 3, fig. 3 is a schematic flow chart of a vehicle control method according to an embodiment of the present application. The vehicle control method according to the embodiment of the present application may be implemented by the apparatus 100 according to the embodiment of the present application, or may be implemented by the vehicle control device according to the embodiment of the present application. The vehicle control method includes the steps of:
s31, acquiring road condition characteristics of a driving path and driving information of a vehicle;
in particular, the device 100 may interact with the perception system 200 through the input-output interface 103. The road condition characteristics of the driving path can be obtained through the sensing system 200. The road condition characteristics include one or more of a bending angle of the traveling path, a road surface inclination angle of the traveling path, and a road surface leveling state.
It is understood that the road condition characteristics may include only any one of a bending angle of a driving path, a road inclination angle, or a road leveling state; the road condition characteristics may include a bending angle and a road surface inclination angle, or the road surface characteristics include a bending angle and a road surface leveling state, or the road surface characteristics include a road surface inclination angle and a road surface leveling state; the road condition characteristics may also include a bend angle, a road surface inclination angle, and a road surface leveling state.
For example, the control unit of the sensing system may obtain the bending angle and the road surface inclination angle of the traveling path in conjunction with a high-precision map based on data fed back by the laser radar, the camera, the millimeter wave radar, and the ultrasonic radar, and then feed back the bending angle and the road surface inclination angle of the traveling path to the apparatus 100.
The running information of the vehicle includes a second acceleration that is an acceleration in a direction perpendicular to a forward direction of the vehicle and/or model information of the vehicle.
It is to be understood that the driving information of the vehicle may include only the second acceleration, the driving information of the vehicle may also include only model information of the vehicle, and the driving information of the vehicle may also include the second acceleration and the model information of the vehicle.
The vehicle also includes an acceleration sensor that may be used to obtain an acceleration of the vehicle. Specifically, the apparatus 100 may obtain the second acceleration using an acceleration sensor.
The vehicle type information may include, for example, the type of vehicle, which may be, for example, a van, a bus, a family car, a military special car, and the like. The vehicle type information may be pre-stored in the memory 102 of the apparatus 100. The device may read the vehicle type information from the memory 102. When the apparatus 100 is not the vehicle control unit, the vehicle type information may be stored in a memory of the vehicle control unit, and the apparatus 100 may obtain the vehicle type information from the vehicle control unit through the input-output interface 103.
S32, determining a side target rollover threshold value according to road condition characteristics and vehicle driving information;
the ratio of the first acceleration to the gravity acceleration of the vehicle in the critical state of rollover can be obtained according to the road condition characteristics and the vehicle running information, and the ratio of the first acceleration to the gravity acceleration of the vehicle in the state of rollover probability greater than the preset probability P is used as a target rollover threshold. The first acceleration is an acceleration in a forward direction of the vehicle. The predetermined probability case P is greater than 0 and less than or equal to 1. The predetermined probability, for example, P, may be, but is not limited to, 0.5, 0.6, 0.65, 0.7, 0.8, 0.9, or 1. When the preset probability is 1, the target rollover threshold value is the ratio of the first acceleration to the gravity acceleration under the critical state that the vehicle rollover occurs. Preferably, the predetermined probability P is less than 1 and greater than or equal to 0.5. The rollover threshold is properly adjusted down, so that the equipment can perform rollover intervention in advance.
And S33, when the ratio of the first acceleration to the gravity acceleration is larger than or equal to the target rollover threshold value, controlling the vehicle to enter a rollover intervention state.
And comparing the ratio of the first acceleration to the gravity acceleration with a target rollover threshold value, and when the ratio of the first acceleration to the gravity acceleration is greater than or equal to the target rollover threshold value, indicating that the probability of rollover of the vehicle is high, namely the vehicle is likely to rollover, controlling the vehicle to enter a rollover intervention state by the equipment so as to avoid the vehicle rollover.
By adopting the vehicle control method, the road condition characteristics of the driving path and the vehicle driving information are obtained; determining a target rollover threshold value according to road condition characteristics and vehicle driving information; and when the ratio of the first acceleration to the gravity acceleration is larger than or equal to the target rollover threshold value, controlling the vehicle to enter a rollover intervention state, wherein the first acceleration is the acceleration of the vehicle in the advancing direction. Therefore, the target rollover threshold value is determined according to the road condition characteristics and the vehicle driving information, the target rollover threshold value takes the road condition characteristics of the driving path into consideration, for example, when the road condition characteristics are poor, the target rollover threshold value can be adjusted to be low, and compared with the method that rollover is predicted only according to the driving information of the vehicle, rollover risks can be predicted earlier, so that rollover accidents of the vehicle can be effectively avoided.
Referring to fig. 4, based on the above embodiments, in some embodiments, step S32 includes:
s321, determining a rollover threshold coefficient according to road condition characteristics and vehicle running information;
and S322, determining a target rollover threshold value according to the rollover threshold value coefficient and the quasi-static rollover threshold value of the vehicle.
The quasi-static rollover threshold value of the vehicle in the static state is A1-B/2 hg+ sin α. Wherein B is the track width of the vehicle, hgIs the height of the center of mass of the vehicle from the ground, and alpha is the horizontal inclination angle of the vehicle.
As shown in fig. 5, the vehicle may be overshot after the first time the steady value is reached based on the side lean of the vehicle, and the vehicle may be in a dynamic state with a smaller threshold value for the second acceleration of the wheels off the ground than in a static state. Thus, the vehicle is in a dynamic state with a lower rollover threshold than the corresponding rollover threshold in a static state. The difference between the rollover threshold value in the dynamic state and the quasi-static rollover threshold value is a rollover threshold coefficient k smaller than 1.
Preferably, the target rollover threshold a2 ═ a1 ×. k × P. It can be understood that the value obtained according to a1 × k is a critical threshold value when the vehicle rolls over in a dynamic state, that is, a ratio of a first acceleration of the vehicle to a gravitational acceleration in the dynamic state. And a2 is a1 k P, so that the obtained target rollover threshold value is a critical value when the probability of the vehicle rollover is greater than the preset probability P. The preset probability P may be 1, or may be a value greater than 0 and smaller than 1. When the preset probability P is 1, a2 ═ a1 ×.k.
Therefore, the rollover threshold coefficient is obtained according to the road condition characteristics and the vehicle driving information, so that the target rollover threshold is also a dynamic value which changes according to the road condition characteristics and the vehicle driving information, the target rollover threshold takes the road condition characteristics of a driving path into consideration, for example, when the road condition characteristics are poor, the target rollover threshold can be lowered, compared with the method that rollover is predicted only according to the driving information of the vehicle, the rollover risk can be predicted earlier, and the vehicle can be effectively prevented from being subjected to rollover accidents.
Specifically, the rollover threshold coefficient may be obtained by a pre-calibration method. The corresponding relation between the road condition characteristics and the driving information of the vehicle and the rollover threshold coefficient can be obtained in a calibration mode, and then a corresponding relation table of the road condition characteristics and the driving information and the rollover threshold coefficient is established. Therefore, the rollover threshold coefficient can be determined in a table look-up mode according to the road condition characteristics and the vehicle running information.
Based on the above embodiments, in some embodiments, the road condition characteristics include a bending angle of a driving path and a road surface inclination angle. The running information of the vehicle includes the second acceleration. Determining the rollover threshold coefficient according to the road condition characteristics and the vehicle driving information comprises: when the linear state is determined to be the curve state according to the road condition characteristics and the road surface inclination state is the flat state, determining a rollover threshold coefficient according to the second acceleration and the bending angle of the driving path; when the linear state is determined to be a linear state according to the road condition characteristics and the road surface inclination state is determined to be an inclined state, determining a rollover threshold coefficient according to the second acceleration and the road surface inclination angle of the driving path; when the linear state is determined to be a linear state and the road surface inclination state is a flat state according to the road condition characteristics, determining a rollover threshold coefficient according to a second acceleration, wherein the second acceleration is the acceleration of the vehicle in the advancing direction; and when the linear state is determined to be the curve state according to the road condition characteristics and the road surface inclination state is the inclination state, determining the rollover threshold coefficient according to the second acceleration, the bending angle of the driving path and the road surface inclination angle of the driving path.
Specifically, it may be confirmed that the linear state of the travel path is the linear state when the bending angle of the travel path is equal to 0 or close to 0. For example, when the bending angle β ∈ [ -m, m ] of the travel path is determined, it can be confirmed that the linear state of the travel path is a linear state. The range of m may be, for example, 0 or more and 5 ° or less. Thus, when the linear state of the travel path is the linear state, the rollover threshold coefficient can be determined according to the second acceleration and the road surface inclination angle without considering the bending angle of the travel path, and the rollover threshold coefficient can be acquired more quickly.
It can be confirmed that the road surface inclination state is the flat state when the road surface inclination angle is close to 0 or equal to 0. For example, when the road surface inclination angle α ∈ [ -n, n ] is set, it can be confirmed that the road surface inclination state is a flat state. The range of m may be, for example, 0 or more and 5 ° or less. Thus, when the road surface inclination state is a flat state, the rollover threshold coefficient can be determined according to the second acceleration and the bending angle of the running path without considering the road surface inclination angle, and can be acquired more quickly.
It is understood that when the linear state of the travel path is the linear state and the road surface inclination state is the flat state, the rollover threshold coefficient may be determined based on the second acceleration without considering the curvature angle of the travel path and the road surface inclination angle.
Referring to fig. 6, in some embodiments, step S33 includes:
s331: acquiring the inclination direction of the vehicle according to the positive and negative information of the roll angle of the vehicle;
the vehicle may include an inertial measurement unit. The inertial measurement unit may include an acceleration sensor, a roll angle sensor, a gyroscope. The apparatus may obtain a roll angle signal of the vehicle using an inertial measurement unit of the vehicle. And then determining the inclination direction of the vehicle according to the positive and negative information of the roll angle. For example, when the roll angle is negative, the corresponding vehicle is inclined to the left, and when the roll angle is positive, the corresponding vehicle is inclined to the right; when the roll angle is positive, the corresponding vehicle is inclined to the left corresponding to the waves, and when the roll angle is negative, the corresponding vehicle is inclined to the right. Roll angle is understood to mean the roll angle of the vehicle.
S332: acquiring intervention torque of a driving wheel of the vehicle according to the first acceleration and the inclination direction;
specifically, the drive wheels include a left drive wheel and a right drive wheel. And acquiring the intervention torque of the left driving wheel and the intervention torque of the right driving wheel according to the first acceleration and the inclination direction.
S333: the torque of the drive wheel is adjusted in accordance with the intervention torque.
For example, the torque of the drive wheels may be adjusted by adjusting the rotational speed of the drive wheels.
Therefore, the torque of the driving wheel can be adjusted according to the intervention torque of the left driving wheel, and the torque of the right driving wheel can be adjusted according to the intervention torque of the right driving wheel. The vehicle rollover prevention device has the advantages that the vehicle rollover prevention device can adjust the torque of the left driving wheel and the torque of the right driving wheel to enable the roll angle of the vehicle to be close to or the same as the inclination angle of the road surface, and the torque of the driving wheels is compensated to avoid the vehicle rollover.
Referring to fig. 7, an embodiment of the present application further provides a vehicle control device 700, including:
an obtaining unit 701, configured to obtain road condition characteristics of a driving path and vehicle driving information;
a processing unit 702, configured to determine a target rollover threshold according to the road condition characteristics and the vehicle driving information;
the control unit 703 is configured to control the vehicle to enter a rollover intervention state when a ratio of a first acceleration to a gravitational acceleration is greater than or equal to the target rollover threshold, where the first acceleration is an acceleration in a forward direction of the vehicle.
By adopting the vehicle control device of the embodiment of the application, the road condition characteristics and the vehicle driving information of the driving path are obtained; determining a target rollover threshold value according to road condition characteristics and vehicle driving information; and when the ratio of the first acceleration to the gravity acceleration is larger than or equal to the target rollover threshold value, controlling the vehicle to enter a rollover intervention state, wherein the first acceleration is the acceleration of the vehicle in the advancing direction. Therefore, the target rollover threshold value is determined according to the road condition characteristics and the vehicle driving information, the target rollover threshold value takes the road condition characteristics of the driving path into consideration, for example, when the road condition characteristics are poor, the target rollover threshold value can be adjusted to be low, and compared with the method that rollover is predicted only according to the driving information of the vehicle, rollover risks can be predicted earlier, so that rollover accidents of the vehicle can be effectively avoided.
In some embodiments, the processing unit is specifically configured to:
determining a rollover threshold coefficient according to the road condition characteristics and the vehicle driving information,
and determining a target rollover threshold value according to the rollover threshold value coefficient and the quasi-static rollover threshold value of the vehicle.
In some embodiments, the road condition characteristics include one or more of a bending angle of the traveling path, a road surface inclination angle of the traveling path, and a road surface leveling state, and the vehicle traveling information includes a second acceleration that is an acceleration in a direction perpendicular to a forward direction of the vehicle and/or vehicle type information of the vehicle.
In some embodiments, in the aspect of determining the rollover threshold coefficient according to the road condition characteristics and the vehicle driving information, the processing unit is specifically configured to:
when the linear state is determined to be a curve state according to the road condition characteristics and the road surface inclination state is a flat state, determining the rollover threshold coefficient according to the second acceleration and the bending angle of the driving path;
and when the linear state is determined to be a linear state according to the road condition characteristics and the road surface inclination state is an inclined state, determining the rollover threshold coefficient according to the second acceleration and the road surface inclination angle of the driving path.
In some embodiments, in the aspect of determining the rollover threshold coefficient according to the road condition characteristics and the vehicle driving information, the processing unit is specifically configured to:
when the linear state is determined to be a linear state according to the road condition characteristics and the road surface inclination state is a flat state, determining the rollover threshold coefficient according to a second acceleration, wherein the second acceleration is the acceleration of the vehicle in the advancing direction;
and when the linear state is determined to be a curve state according to the road condition characteristics and the road surface inclination state is an inclination state, determining the rollover threshold coefficient according to the second acceleration, the bending angle of the driving path and the road surface inclination angle of the driving path.
In some embodiments, the control unit is specifically configured to:
acquiring the inclination direction of the vehicle according to the positive and negative information of the roll angle of the vehicle;
acquiring intervention torque of a driving wheel of the vehicle according to the first acceleration and the inclination direction;
adjusting the torque of the drive wheel according to the intervention torque.
The explanations and technical effects of the embodiments of the vehicle control method according to the above embodiments are also applicable to the vehicle control device according to the embodiments of the present application, and are not repeated herein to avoid redundancy.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, digital subscriber line) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., compact disk), or a semiconductor medium (e.g., solid state disk), among others. In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is merely a logical division, and the actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the indirect coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, and may be electrical or in other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in 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 application. And the aforementioned storage media may include, for example: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is understood that all products, such as the vehicle control devices and apparatuses described above, which are controlled or configured to perform the vehicle control method described in the present application belong to the category of the related products described in the present application.

Claims (8)

1. A vehicle control method characterized by comprising:
acquiring road condition characteristics and vehicle driving information of a driving path;
determining a target rollover threshold value according to the road condition characteristics and the vehicle driving information, comprising:
determining a rollover threshold coefficient according to the road condition characteristics and the vehicle driving information, and determining a target rollover threshold according to the rollover threshold coefficient and a quasi-static rollover threshold of the vehicle, so that the target rollover threshold dynamically changes along with the change of the road condition characteristics and the vehicle driving information;
controlling the vehicle to enter a rollover intervention state when the ratio of the first acceleration to the gravitational acceleration is greater than or equal to the target rollover threshold,
the road condition characteristics comprise one or more of a bending angle of the running path, a road surface inclination angle of the running path and a road surface leveling state, the vehicle running information comprises second acceleration and/or vehicle type information of the vehicle, the first acceleration is the acceleration in the direction perpendicular to the advancing direction of the vehicle, and the second acceleration is the acceleration in the advancing direction of the vehicle.
2. The vehicle control method of claim 1, wherein determining the rollover threshold coefficient according to the road condition characteristics and the vehicle driving information comprises: when the linear state is determined to be the curve state according to the road condition characteristics and the road surface leveling state is the flat state, determining the rollover threshold coefficient according to the second acceleration and the bending angle of the driving path;
and when the linear state is determined to be a linear state according to the road condition characteristics and the road surface leveling state is an inclined state, determining the rollover threshold coefficient according to the second acceleration and the road surface inclination angle of the driving path.
3. The vehicle control method of claim 2, wherein determining the rollover threshold coefficient according to the road condition characteristics and the vehicle driving information further comprises:
when the linear state is determined to be a linear state according to the road condition characteristics and the road surface leveling state is a flat state, determining the rollover threshold coefficient according to a second acceleration, wherein the second acceleration is the acceleration of the vehicle in the advancing direction;
and when the linear state is determined to be a curve state according to the road condition characteristics and the road surface leveling state is an inclined state, determining the rollover threshold coefficient according to the second acceleration, the bending angle of the driving path and the road surface inclination angle of the driving path.
4. The vehicle control method according to any one of claims 1 to 3, wherein the controlling the vehicle into the rollover intervention state includes:
acquiring the inclination direction of the vehicle according to the positive and negative information of the roll angle of the vehicle;
acquiring intervention torque of a driving wheel of the vehicle according to the first acceleration and the inclination direction;
adjusting the torque of the drive wheel according to the intervention torque.
5. A vehicle control apparatus characterized by comprising:
the acquisition unit is used for acquiring road condition characteristics of a driving path and vehicle driving information;
the processing unit is used for determining a target rollover threshold value according to the road condition characteristics and the vehicle driving information, and comprises:
determining a rollover threshold coefficient according to the road condition characteristics and the vehicle driving information, and determining a target rollover threshold according to the rollover threshold coefficient and a quasi-static rollover threshold of the vehicle, so that the target rollover threshold dynamically changes along with the change of the road condition characteristics and the vehicle driving information;
a control unit for controlling the vehicle to enter a rollover intervention state when the ratio of the first acceleration to the gravitational acceleration is greater than or equal to the target rollover threshold,
the road condition characteristics comprise one or more of a bending angle of the running path, a road surface inclination angle of the running path and a road surface leveling state, the vehicle running information comprises second acceleration and/or vehicle type information of the vehicle, the first acceleration is the acceleration in the direction perpendicular to the advancing direction of the vehicle, and the second acceleration is the acceleration in the advancing direction of the vehicle.
6. An apparatus comprising a processor, a memory, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps in the method of any of claims 1-4.
7. A computer-readable storage medium storing a computer program for controlling a vehicle, wherein the computer program causes a computer to perform the method according to any one of claims 1-4.
8. A vehicle, characterized in that it comprises the device of claim 6.
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