A vehicle roll-over prevention control method, system, device, apparatus and storage medium

Abstract

This invention discloses a vehicle rollover prevention control method, system, device, equipment, and storage medium. The method includes acquiring vehicle parameter data and a rollover threshold; calculating a rollover evaluation value based on the vehicle parameter data; comparing the rollover evaluation value and the rollover threshold; if the rollover evaluation value is greater than or equal to the rollover threshold, the vehicle has a rollover risk; calculating an additional front wheel steering angle value based on the rollover evaluation value to adjust the vehicle, reducing control time and allowing the vehicle more reaction time for rollover prevention control, thus improving the timeliness of active rollover prevention; when the rollover evaluation value is less than the rollover threshold, further calculating a rollover derivative prediction index value, and determining whether rollover prevention control should intervene based on the rollover derivative prediction index value. The combined mechanism of the rollover evaluation value and the rollover derivative prediction index value ensures that the vehicle has better reaction time to achieve active rollover prevention control under both normal and abnormal driving conditions.

Description

Technical Field

[0001] This invention belongs to the field of automotive steering and relates to a vehicle anti-rollover control method, system, device, equipment, and storage medium. Background Technology

[0002] With rapid economic development, automobiles have gradually become an indispensable means of transportation in people's lives, and their popularity is increasing. In recent years, with the booming development of the automotive industry, the number of large SUVs and freight vehicles has continued to increase. Because these vehicles have a high center of gravity, they are more prone to rollover, and therefore, rollovers pose a great threat to the lives and property of passengers inside the vehicle.

[0003] Currently, the main rollover prevention control methods used in the field include active steering, differential braking, and active / semi-active suspension. The commonly used rollover evaluation index is the Lateral Load Transfer Rate (LTR) rollover evaluation method based on roll rate. Active steering primarily reduces the rollover index by intervening with the steering motor in the opposite direction with additional steering angle. Differential braking generates an additional yaw moment while reducing vehicle speed to decrease the risk of rollover. Active / semi-active suspension mainly adjusts damping by changing the hydraulic orifices of the suspension dampers to enhance the vehicle's anti-rollover capability. However, the rollover indices of these control methods are mostly calculated using roll rate, roll angle, or lateral acceleration to obtain the LTR evaluation index, which is affected by vehicle speed. Traditional methods calculate the LTR value based on the vehicle dynamics model using roll rate and roll angle. Although LTR considers the vehicle mass, it does not account for the inertial force of unsprung mass on rollover, therefore the obtained LTR value cannot accurately reflect the vehicle's rollover state. Summary of the Invention

[0004] The purpose of this invention is to solve the problem that the inertial force of unsprung mass does not take into account the effect of rollover on the vehicle in the prior art, and the calculated LTR value cannot truly reflect the rollover state of the vehicle. This invention provides a vehicle rollover prevention control method, system, device, equipment and storage medium.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] A vehicle rollover prevention control method includes the following steps:

[0007] Obtain vehicle parameter data and rollover threshold values;

[0008] Calculate the rollover assessment value (ILTR) based on vehicle parameter data;

[0009] Compare the rollover assessment value ILTR with the rollover threshold value. If the rollover assessment value ILTR is greater than or equal to the rollover threshold value, the vehicle has a rollover risk, and the front wheel steering angle additional value is calculated based on the rollover assessment value ILTR. If the rollover assessment value ILTR is less than the rollover threshold value, the rollover derivative prediction index value IPLTR is calculated based on the vehicle parameter data and the rollover assessment value ILTR. When |IPLTR|<1, the vehicle has no rollover risk; when |IPLTR|≥1, the vehicle has a rollover risk, and the front wheel steering angle additional value is calculated based on the rollover derivative prediction index value IPLTR.

[0010] The vehicle status is adjusted based on the additional front wheel steering angle.

[0011] A further improvement of the present invention is that:

[0012] The calculation of the rollover assessment value ILTR specifically includes the following steps:

[0013] Establish a vehicle rollover model, including three directions: tilt, lateral, and yaw.

[0014]

[0015] Where m is the total mass of the vehicle, m s Let k1 and k2 be the sprung mass, k1 and k2 be the lateral stiffness, β be the sideslip angle, and I be the sprung mass. xs Let I be the moment of inertia of the sprung mass of the vehicle about the x-axis of the vehicle coordinate system. xz Let I be the moment of inertia of the sprung mass about the z-axis of the vehicle coordinate system, and let e be the distance from the sprung mass to the roll center. z Let be the moment of inertia of the vehicle mass about the z-axis of the vehicle coordinate system, and r be the yaw rate. The body roll angle, The vehicle body roll rate. Let δ be the roll acceleration. f The front wheel steering angle is u, and the vehicle speed is u. For roll stiffness, For roll damping, a y Let be the lateral acceleration of the vehicle body, 'a' be the distance from the center of mass to the front axle, and 'b' be the distance from the center of mass to the rear axle.

[0016] The torque balance of the mass on the spring about the tilt center O is shown in equation (2):

[0017]

[0018] The unsprung mass is taken about the center of the line connecting the two wheel contact points, as shown in equation (3):

[0019]

[0020] Among them, FR and F L These represent the total vertical reaction forces of the right and left wheels, respectively;

[0021] Calculate the lateral acceleration a of the sprung mass. yCG As shown in equation (4):

[0022]

[0023] Among them, v x Indicates the longitudinal speed of the vehicle. This refers to the vehicle's lateral acceleration.

[0024] The rollover evaluation value ILTR is calculated as shown in equation (5):

[0025]

[0026] Where t is the wheel track, m d h is the unsprung mass. d It is the distance from the center of mass of the unsprung mass to the ground.

[0027] The rollover derivative prediction index value IPLTR is specifically expressed as shown in equation (6):

[0028]

[0029] in, Δt represents the derivative of the lateral load transfer rate at time t0, where t0 represents the current time and Δt represents the prediction time.

[0030] The vehicle parameters include roll angle, roll rate, vehicle height, steering wheel angle, front wheel angle, and lateral acceleration.

[0031] A vehicle rollover prevention control system, comprising:

[0032] The data acquisition module is used to acquire vehicle parameter data and rollover threshold values;

[0033] The data calculation module is used to calculate the rollover evaluation value ILTR based on vehicle parameter data;

[0034] The comparison and judgment module compares the rollover evaluation value and the rollover threshold value. If the rollover evaluation value is greater than or equal to the rollover threshold value, the vehicle has a rollover risk, and the front wheel steering angle additional value is calculated based on the rollover evaluation value. If the rollover evaluation value is less than the rollover threshold value, the rollover derivative prediction index value IPLTR is calculated based on the vehicle parameter data and the rollover evaluation value. When |IPLTR|<1, the vehicle has no rollover risk; when |IPLTR|≥1, the vehicle has a rollover risk, and the front wheel steering angle additional value is calculated based on the rollover derivative prediction index value IPLTR.

[0035] An action execution module is used to adjust the vehicle state based on the front wheel steering angle increment.

[0036] A vehicle rollover prevention control device includes a sensing unit, a rollover evaluation unit, a derivative prediction unit, and a control unit;

[0037] The sensing unit is used to acquire vehicle parameter data and transmit the acquired vehicle parameter data to the rollover evaluation unit.

[0038] The rollover evaluation unit substitutes the vehicle parameter data into the evaluation index to calculate the rollover evaluation value ILTR. When |ILTR|<0.8, the vehicle parameter data and the rollover evaluation value ILTR are transmitted to the derivative prediction unit; when |ILTR|≥0.8, the rollover evaluation value ILTR is transmitted to the control unit.

[0039] The derivative prediction unit calculates the rollover derivative prediction index IPLTR value based on vehicle parameter data and rollover evaluation value ILTR. When |IPLTR|<1, the vehicle has no risk of rollover; when |IPLTR|≥1, the rollover derivative prediction index value IPLTR is transmitted to the control unit.

[0040] The control unit calculates the cornering motor control signal based on the rollover evaluation value ILTR or the rollover derivative prediction index value IPLTR, and adjusts the vehicle state according to the cornering motor control signal.

[0041] The control unit includes a corner motor control unit and a corner motor execution unit. The corner motor control unit calculates the corner motor control signal and transmits the corner motor control signal to the corner motor execution unit. The corner motor execution unit adjusts the vehicle state according to the corner motor control signal.

[0042] The sensing unit is a data acquisition sensor, including a roll angle sensor, a vehicle height sensor, a steering wheel sensor, a front wheel angle sensor, and a lateral acceleration sensor.

[0043] An apparatus includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the steps of the method as described in any of the preceding items.

[0044] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method as described in any of the preceding claims.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] This invention discloses a vehicle rollover prevention control method that calculates the rollover evaluation value (ILTR) based on parameter data from actual vehicle operation. When the ILTR is greater than or equal to a rollover threshold, the additional front wheel steering angle is directly calculated to adjust the vehicle, reducing control time and allowing more reaction time for rollover prevention control, thus improving the timeliness of active rollover prevention. When the ILTR is less than the rollover threshold, the rollover derivative prediction index (IPLTR) is further calculated, and the intervention of rollover prevention control is determined based on the IPLTR. This combined mechanism of the ILTR and IPLTR reflects the actual operating state of the vehicle, ensuring better reaction time for active rollover prevention control under both normal and abnormal driving conditions.

[0047] Furthermore, the Rollover Assessment Value (ILTR) is more accurate than the traditional LTR index by considering the effects of sprung and unsprung mass on rollover. The ILTR provides a more precise assessment of the current rollover status of the vehicle.

[0048] Furthermore, by combining the roll derivative prediction index (IPLTR) with the vehicle speed, the prediction time is reduced at low speeds, thus minimizing the impact of rollover prevention control intervention on the driving experience; while the prediction time is increased at high speeds, improving the vehicle's high-speed safety and ensuring sufficient time margin for rollover prevention control to guarantee the safety of the driving experience. Attached Figure Description

[0049] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a flowchart of a vehicle rollover prevention control method according to the present invention;

[0051] Figure 2 This is a block diagram of a vehicle rollover prevention control system according to the present invention;

[0052] Figure 3 This is a structural diagram of a vehicle rollover prevention control device according to the present invention;

[0053] Figure 4 This is a diagram illustrating a vehicle overturned. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0055] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0056] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0057] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0058] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0059] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0060] The present invention will now be described in further detail with reference to the accompanying drawings:

[0061] See Figure 1 The present invention provides a vehicle rollover prevention control method, comprising the following steps:

[0062] S1, acquire vehicle parameter data and rollover threshold; acquire vehicle parameters through sensors, including roll angle φ, vehicle height h, vehicle speed u, and steering wheel angle δ. sw Front wheel steering angle δ f and lateral acceleration a y .

[0063] S2, calculate the rollover assessment value ILTR based on vehicle parameter data, taking the roll angle φ, vehicle height h, and lateral acceleration a as parameters. y Substituting these values ​​into the rollover evaluation index, the rollover evaluation value ILTR is calculated. The calculation of the rollover evaluation value ILTR specifically includes:

[0064] S2.1, Establish a vehicle rollover model, including three directions: tilt, lateral, and yaw. See [link / reference]. Figure 4 This is a diagram illustrating the vehicle's rollover state.

[0065]

[0066] Where m is the total mass of the vehicle, m s Let k1 and k2 be the sprung mass, k1 and k2 be the lateral stiffness, β be the sideslip angle, and I be the sprung mass. xs Let I be the moment of inertia of the sprung mass of the vehicle about the x-axis of the vehicle coordinate system. xz Let I be the moment of inertia of the sprung mass about the z-axis of the vehicle coordinate system, and let e be the distance from the sprung mass to the roll center. z Let be the moment of inertia of the vehicle mass about the z-axis of the vehicle coordinate system, and r be the yaw rate. The body roll angle, The vehicle body roll rate. Let δ be the roll acceleration. f The front wheel steering angle is u, and the vehicle speed is u. For roll stiffness, For roll damping, ay S2.2 represents the lateral acceleration of the vehicle body, a is the distance from the center of mass to the front axle, and b is the distance from the center of mass to the rear axle; S2.2 represents the torque balance of the sprung mass about the roll center O, as shown in equation (2):

[0067]

[0068] S2.3, the unsprung mass is taken about the center of the line connecting the two wheel contact points, as shown in equation (3):

[0069]

[0070] Among them, F R and F L These represent the total vertical reaction forces of the right and left wheels, respectively;

[0071] S2.4, Calculate the lateral acceleration a of the sprung mass. yCG As shown in equation (4):

[0072]

[0073] Among them, v x Indicates the longitudinal speed of the vehicle. This refers to the vehicle's lateral acceleration.

[0074] S2.5, calculate the rollover evaluation value ILTR, as shown in equation (5):

[0075]

[0076] Where t is the wheel track, m d h is the unsprung mass. d It is the distance from the center of mass of the unsprung mass to the ground.

[0077] S3. Compare the rollover assessment value and the rollover threshold value. If the rollover assessment value is greater than the rollover threshold value, the vehicle is at risk of rollover. Calculate the front wheel steering angle additional value based on the rollover assessment value. If the rollover assessment value is less than the rollover threshold value, calculate the rollover derivative prediction index value IPLTR based on the vehicle parameter data and the rollover assessment value. When |IPLTR|<1, the vehicle is not at risk of rollover. When |IPLTR|≥1, the vehicle is at risk of rollover. Calculate the front wheel steering angle additional value based on the rollover derivative prediction index value IPLTR.

[0078] The rollover derivative prediction index IPLTR is specifically expressed as shown in equation (6):

[0079]

[0080] in, Δt represents the derivative of the lateral load transfer rate at time t0, where t0 represents the current time and Δt represents the prediction time.

[0081] S4 adjusts the vehicle status based on the front wheel steering angle bonus.

[0082] The rollover evaluation index established in this invention is more accurate than the traditional LTR index by considering the influence of sprung and unsprung mass on rollover. By calculating the ILTR (Increased Limb Twist Rate), it provides a more precise assessment of the vehicle's current rollover state. When the ILTR exceeds the rollover threshold, the vehicle's operating state is adjusted based on the calculated front wheel steering angle. When the ILTR is less than the rollover threshold, the IPLTR (Increased Limb Twist Rate Prediction Index) is further calculated. The IPLTR is used to determine whether the vehicle is at risk of rollover, further improving the accuracy of prediction and enhancing the timeliness and accuracy of active rollover prevention. Normally, when the driver is driving normally, the ILTR is less than the rollover threshold, and the IPLTR determines whether rollover prevention control should intervene. When the ILTR suddenly increases due to driver error or other unforeseen circumstances, rollover prevention control can be initiated directly, reducing the prediction step and allowing the vehicle more reaction time for rollover prevention control.

[0083] See Figure 2 The diagram shows a vehicle rollover prevention control system module structure according to the present invention, comprising:

[0084] The data acquisition module is used to acquire vehicle parameter data and rollover threshold values;

[0085] The data calculation module is used to calculate the rollover evaluation value ILTR based on vehicle parameter data;

[0086] The comparison and judgment module compares the rollover evaluation value and the rollover threshold value. If the rollover evaluation value is greater than or equal to the rollover threshold value, the vehicle has a rollover risk, and the front wheel steering angle additional value is calculated based on the rollover evaluation value. If the rollover evaluation value is less than the rollover threshold value, the rollover derivative prediction index value IPLTR is calculated based on the vehicle parameter data and the rollover evaluation value. When |IPLTR|<1, the vehicle has no rollover risk; when |IPLTR|≥1, the vehicle has a rollover risk, and the front wheel steering angle additional value is calculated based on the rollover derivative prediction index value IPLTR.

[0087] An action execution module is used to adjust the vehicle state based on the front wheel steering angle increment.

[0088] See Figure 3 The present invention provides a vehicle anti-rollover control device, comprising: a sensing unit, a rollover evaluation unit, a derivative prediction unit, a steering motor control unit, and a steering motor execution unit;

[0089] The sensing unit is a data acquisition sensor used to acquire vehicle parameter data and transmit the acquired vehicle parameter data to the rollover evaluation unit; the data acquisition sensor includes a roll angle sensor, a vehicle height sensor, a steering wheel sensor, a front wheel angle sensor, and a lateral acceleration sensor.

[0090] The rollover evaluation unit substitutes the vehicle parameter data into the evaluation index to calculate the rollover evaluation value ILTR. When |ILTR|<0.8, the vehicle parameter data and the rollover evaluation value ILTR are transmitted to the derivative prediction unit; when |ILTR|≥0.8, the rollover evaluation value ILTR is transmitted to the steering motor control unit.

[0091] The derivative prediction unit calculates the rollover derivative prediction index IPLTR value based on vehicle parameter data and rollover evaluation value ILTR. When |IPLTR|<1, the vehicle has no risk of rollover; when |IPLTR|≥1, the rollover derivative prediction index value IPLTR is transmitted to the steering motor control unit.

[0092] The corner motor control unit calculates the corner motor control signal based on the rollover evaluation value ILTR or the rollover derivative prediction index value IPLTR, and transmits the corner motor control signal to the corner motor execution unit.

[0093] The corner motor actuator adjusts the vehicle state according to the corner motor control signal.

[0094] Finally, the angle motor actuator transmits the angle signal of the angle motor to the angle motor control unit, forming a closed-loop control.

[0095] The derivative prediction index proposed in this invention is combined with vehicle speed. At low speeds, the prediction time is reduced, which reduces the impact of rollover prevention control intervention on the driving experience. At high speeds, the prediction time is increased, which improves the high-speed safety of the vehicle and allows rollover prevention control to have sufficient time margin to ensure driving safety.

[0096] This invention proposes a new rollover evaluation index that is more accurate than the traditional LTR. The rollover derivative prediction index proposed based on the new rollover evaluation not only improves the prediction accuracy but also takes into account the impact of vehicle speed on prediction and control time, thus improving the low-speed driving experience and enhancing the high-speed safety of the vehicle. Finally, the joint mechanism of the rollover evaluation index and the rollover prediction index ensures that the vehicle has better reaction time under both normal and abnormal driving conditions to achieve active rollover prevention control.

[0097] One embodiment of the present invention provides a terminal device. This terminal device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps in the various vehicle rollover prevention control method embodiments described above. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in the various device embodiments described above.

[0098] The computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention.

[0099] The vehicle rollover prevention control device / terminal equipment can be a desktop computer, laptop, handheld computer, or cloud server, etc. The vehicle rollover prevention control device / terminal equipment may include, but is not limited to, a processor and a memory.

[0100] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0101] The memory can be used to store the computer program and / or modules. The processor implements various functions of the vehicle rollover prevention control device / terminal equipment by running or executing the computer program and / or modules stored in the memory and calling the data stored in the memory.

[0102] If the modules / units integrated into the vehicle rollover prevention control device / terminal equipment are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium may be appropriately added to or subtracted from the content as required by the legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium may not include electrical carrier signals and telecommunication signals.

[0103] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A vehicle rollover prevention control method, characterized in that, Includes the following steps: Obtain vehicle parameter data and rollover threshold values; Calculate the rollover assessment value (ILTR) based on vehicle parameter data; Compare the rollover assessment value ILTR with the rollover threshold value. If the rollover assessment value ILTR is greater than or equal to the rollover threshold value, the vehicle has a rollover risk, and the front wheel steering angle additional value is calculated based on the rollover assessment value ILTR. If the rollover assessment value ILTR is less than the rollover threshold value, the rollover derivative prediction index value IPLTR is calculated based on the vehicle parameter data and the rollover assessment value ILTR. When |IPLTR|<1, the vehicle has no rollover risk; when |IPLTR|≥1, the vehicle has a rollover risk, and the front wheel steering angle additional value is calculated based on the rollover derivative prediction index value IPLTR. Adjust the vehicle status based on the front wheel steering angle bonus; The calculation of the rollover assessment value ILTR specifically includes the following steps: Establish a vehicle rollover model, including three directions: tilt, lateral, and yaw. in, m For the total mass of the vehicle, m s For the sprung mass, k 1. k 2 represents lateral stiffness. The sideslip angle is the angle of the center of mass. I xs For the sprung mass of the vehicle about the vehicle coordinate system x Moment of inertia of the shaft I xz For the sprung mass of the vehicle about the vehicle coordinate system z Moment of inertia of the shaft e The distance from the sprung mass to the roll center. I z The total vehicle mass is about the vehicle coordinate system. z Moment of inertia of the shaft r The yaw rate is angular velocity. The body roll angle, The vehicle body roll rate. This is the roll acceleration. For the front wheel steering angle, u For vehicle speed, For roll stiffness, For roll damping, The lateral acceleration of the vehicle body. The distance from the center of gravity to the front axle. b This is the distance from the center of mass to the rear axle; The torque balance of the mass on the spring about the tilt center O is shown in equation (2): The unsprung mass is taken about the center of the line connecting the two wheel contact points, as shown in equation (3): in, F R and F L These represent the total vertical reaction forces of the right and left wheels, respectively; Calculate the lateral acceleration of the sprung mass. As shown in equation (4): in, v x Indicates the longitudinal speed of the vehicle. This refers to the vehicle's lateral acceleration. The rollover evaluation value ILTR is calculated as shown in equation (5): in, t The wheelbase is the distance between the wheels. m d For unsprung mass, h d The distance from the center of mass of the unsprung mass to the ground; The rollover derivative prediction index value IPLTR is specifically expressed as shown in equation (6): in, express t The derivative of the lateral load transfer rate at time 0, t 0 represents the current moment. Indicates the predicted time. .

2. The vehicle rollover prevention control method as described in claim 1, characterized in that, The vehicle parameters include roll angle, roll rate, vehicle height, steering wheel angle, front wheel angle, and lateral acceleration.

3. A vehicle rollover prevention control system, characterized in that, The method described by any one of claims 1 to 2 includes: The data acquisition module is used to acquire vehicle parameter data and rollover threshold values; The data calculation module is used to calculate the rollover evaluation value ILTR based on vehicle parameter data; The comparison and judgment module compares the rollover evaluation value and the rollover threshold value. If the rollover evaluation value is greater than or equal to the rollover threshold value, the vehicle has a rollover risk, and the front wheel steering angle additional value is calculated based on the rollover evaluation value. If the rollover evaluation value is less than the rollover threshold value, the rollover derivative prediction index value IPLTR is calculated based on the vehicle parameter data and the rollover evaluation value. When |IPLTR|<1, the vehicle has no rollover risk; when |IPLTR|≥1, the vehicle has a rollover risk, and the front wheel steering angle additional value is calculated based on the rollover derivative prediction index value IPLTR. An action execution module is used to adjust the vehicle state based on the front wheel steering angle increment.

4. A vehicle rollover prevention control device, characterized in that, The method described using any one of claims 1 to 2 includes a sensing unit, a rollover evaluation unit, a derivative prediction unit, and a control unit; The sensing unit is used to acquire vehicle parameter data and transmit the acquired vehicle parameter data to the rollover evaluation unit. The rollover evaluation unit substitutes the vehicle parameter data into the evaluation index to calculate the rollover evaluation value ILTR. When |ILTR|<0.8, the vehicle parameter data and the rollover evaluation value ILTR are transmitted to the derivative prediction unit; when |ILTR|≥0.8, the rollover evaluation value ILTR is transmitted to the control unit. The derivative prediction unit calculates the rollover derivative prediction index IPLTR value based on vehicle parameter data and rollover evaluation value ILTR. When |IPLTR|<1, the vehicle has no risk of rollover; when |IPLTR|≥1, the rollover derivative prediction index value IPLTR is transmitted to the control unit. The control unit calculates the cornering motor control signal based on the rollover evaluation value ILTR or the rollover derivative prediction index value IPLTR, and adjusts the vehicle state according to the cornering motor control signal.

5. A vehicle rollover prevention control device as described in claim 4, characterized in that, The control unit includes a corner motor control unit and a corner motor execution unit. The corner motor control unit calculates the corner motor control signal and transmits the corner motor control signal to the corner motor execution unit. The corner motor execution unit adjusts the vehicle state according to the corner motor control signal.

6. A vehicle rollover prevention control device as described in claim 4, characterized in that, The sensing unit is a data acquisition sensor, including a roll angle sensor, a vehicle height sensor, a steering wheel sensor, a front wheel angle sensor, and a lateral acceleration sensor.

7. An apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1-2.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1-2.

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