A method, device and equipment for preventing a self-driving vehicle from rolling over and a storage medium
By monitoring the tilt angle of the cargo on board and implementing anti-rollover strategies, the problem of cargo tilting and center of gravity shifting outward in autonomous vehicles under unmanned driving conditions has been solved, thus improving driving safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SAIC MOTOR
- Filing Date
- 2021-09-03
- Publication Date
- 2026-05-12
AI Technical Summary
Existing autonomous vehicles lack monitoring of the status of cargo when driving without a driver, which makes it impossible to prevent overturning in a timely and effective manner when the cargo tilts and the center of gravity shifts outward, potentially leading to cargo damage or traffic accidents.
By acquiring the initial angle of the cargo on board and monitoring the tilt angle at regular intervals, deviations are identified and anti-rollover strategies are implemented, such as alarms, speed limits, steering control, and stopping at the nearest parking spot, to prevent rollovers.
It enables timely and effective prevention of rollovers in autonomous vehicles, improving driving safety and avoiding cargo damage and traffic accidents.
Smart Images
Figure CN115743087B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle technology, and in particular to a method, apparatus, device, and storage medium for preventing rollover of an autonomous vehicle. Background Technology
[0002] With the improvement of people's living standards and the rapid development of the social economy, the usage rate of automobiles has gradually increased, and more and more cars have entered people's lives, bringing great convenience to all aspects of life. Among these, vehicle safety has always been a key concern.
[0003] Currently, vehicle rollover prevention methods typically employ sensors (such as lateral acceleration sensors, suspension load sensors, and vehicle tilt sensors) to measure the vehicle's yaw rate, lateral acceleration, and actual center of gravity. Based on these measurements, they determine whether rollover conditions are met and implement vehicle deceleration control. These sensors operate during road cornering, triggering rollovers when steering speeds are too high. However, a drawback of this method is the lack of monitoring and control over onboard cargo. This leads to vulnerability when the cargo's condition changes (e.g., ...). Figure 1 As shown in the diagram, when cargo tilts and its center of gravity shifts outward, even on straight sections of road (i.e., not during curves), cargo can tip over, and sometimes the entire vehicle can overturn. Avoiding such problems relies entirely on the driver's timely detection. However, in autonomous vehicles, without a driver to observe the area behind, if cargo tilts, the shift in the center of gravity means that by the time sensors detect the tilt, they are no longer able to effectively control the vehicle's speed, potentially leading to cargo damage or even traffic accidents. Therefore, how to effectively and promptly prevent rollovers in autonomous vehicles to improve their driving safety is a pressing issue that needs to be addressed. Summary of the Invention
[0004] The main objective of this application is to provide a method, device, equipment, and storage medium for preventing rollover of autonomous vehicles, which can prevent rollover of autonomous vehicles in a timely and effective manner based on the status of the cargo on board, thereby improving the driving safety of autonomous vehicles.
[0005] This application provides a method for preventing rollover of an autonomous vehicle, including:
[0006] Obtain the initial angle of the cargo on board the target vehicle;
[0007] The tilt angle of the cargo on the target vehicle is acquired periodically according to a preset cycle.
[0008] When it is determined that there is a deviation between the tilt angle of the cargo on the target vehicle and the initial angle of the cargo on the target vehicle, and the tilt angle of the cargo on the target vehicle meets the preset rollover conditions, a preset anti-rollover strategy is executed to control the driving state of the target vehicle in order to prevent the target vehicle from rolling over.
[0009] Optionally, when it is determined that there is a deviation between the tilt angle of the cargo on the target vehicle and the initial angle of the cargo on the target vehicle, and the tilt angle of the cargo on the target vehicle meets the preset rollover conditions, a preset anti-rollover strategy is executed to control the driving state of the target vehicle to prevent the target vehicle from rolling over, including:
[0010] When it is determined that there is a deviation between the tilt angle of the target vehicle's cargo and the initial angle of the target vehicle's cargo, and the tilt angle of the target vehicle's cargo is greater than or equal to a first preset angle and less than a second preset angle, a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted to prevent the target vehicle from overturning.
[0011] Wherein, the first preset angle is smaller than the second preset angle.
[0012] Optionally, when it is determined that there is a deviation between the tilt angle of the cargo on the target vehicle and the initial angle of the cargo on the target vehicle, and the tilt angle of the cargo on the target vehicle meets the preset rollover conditions, a preset anti-rollover strategy is executed to control the driving state of the target vehicle to prevent the target vehicle from rolling over, including:
[0013] When it is determined that there is a deviation between the tilt angle of the target vehicle's cargo and the initial angle of the target vehicle's cargo, and the tilt angle of the target vehicle's cargo is greater than or equal to the second preset angle and less than the third preset angle, a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted, while the straight-line driving speed of the target vehicle is also restricted to prevent the target vehicle from overturning.
[0014] Wherein, the second preset angle is smaller than the third preset angle.
[0015] Optionally, when it is determined that there is a deviation between the tilt angle of the cargo on the target vehicle and the initial angle of the cargo on the target vehicle, and the tilt angle of the cargo on the target vehicle meets the preset rollover conditions, a preset anti-rollover strategy is executed to control the driving state of the target vehicle to prevent the target vehicle from rolling over, including:
[0016] When it is determined that the tilt angle of the cargo on the target vehicle deviates from the initial angle of the cargo on the target vehicle, and the tilt angle of the cargo on the target vehicle is greater than or equal to a third preset angle, a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted. At the same time, the straight-line speed of the target vehicle is restricted, and the target vehicle is controlled to stop at the nearest stop. Simultaneously, a preset emergency call strategy is executed to prevent the target vehicle from overturning.
[0017] This application also provides a device for preventing rollover of autonomous vehicles, including:
[0018] The first acquisition unit is used to acquire the initial angle of the cargo on the target vehicle;
[0019] The second acquisition unit is used to acquire the tilt angle of the cargo carried by the target vehicle at preset intervals.
[0020] The control unit is used to execute a preset anti-rollover strategy and control the driving state of the target vehicle to prevent the target vehicle from rolling over when it is determined that there is a deviation between the tilt angle of the target vehicle's cargo and the initial angle of the target vehicle's cargo, and the tilt angle of the target vehicle's cargo meets the preset rollover conditions.
[0021] Optionally, the control unit is specifically used for:
[0022] When it is determined that there is a deviation between the tilt angle of the target vehicle's cargo and the initial angle of the target vehicle's cargo, and the tilt angle of the target vehicle's cargo is greater than or equal to a first preset angle and less than a second preset angle, a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted to prevent the target vehicle from overturning.
[0023] Wherein, the first preset angle is smaller than the second preset angle.
[0024] Optionally, the control unit is specifically used for:
[0025] When it is determined that there is a deviation between the tilt angle of the target vehicle's cargo and the initial angle of the target vehicle's cargo, and the tilt angle of the target vehicle's cargo is greater than or equal to the second preset angle and less than the third preset angle, a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted, while the straight-line driving speed of the target vehicle is also restricted to prevent the target vehicle from overturning.
[0026] Wherein, the second preset angle is smaller than the third preset angle.
[0027] Optionally, the control unit is specifically used for:
[0028] When it is determined that the tilt angle of the cargo on the target vehicle deviates from the initial angle of the cargo on the target vehicle, and the tilt angle of the cargo on the target vehicle is greater than or equal to a third preset angle, a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted. At the same time, the straight-line speed of the target vehicle is restricted, and the target vehicle is controlled to stop at the nearest stop. Simultaneously, a preset emergency call strategy is executed to prevent the target vehicle from overturning.
[0029] This application embodiment also provides a device for preventing rollover of an autonomous vehicle, including: a processor, a memory, and a system bus;
[0030] The processor and the memory are connected via the system bus;
[0031] The memory is used to store one or more programs, the one or more programs including instructions, which, when executed by the processor, cause the processor to perform any of the above-described methods for preventing rollover of autonomous vehicles.
[0032] This application also provides a computer-readable storage medium storing instructions that, when executed on a terminal device, cause the terminal device to perform any of the above-described methods for preventing rollover of autonomous vehicles.
[0033] This application provides a method, apparatus, device, and storage medium for preventing rollover of an autonomous vehicle. First, the initial angle of the cargo carried by the target vehicle is obtained. Then, the tilt angle of the cargo is obtained periodically according to a preset cycle. Next, when it is determined that there is a deviation between the tilt angle of the cargo and the initial angle, and the tilt angle meets a preset rollover condition, a preset anti-rollover strategy is executed to control the driving state of the target vehicle to prevent it from rolling over. This allows for timely and effective prevention of potential rollovers based on the cargo's condition, thereby improving the driving safety of the target vehicle. Attached Figure Description
[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0035] Figure 1A schematic diagram illustrating the outward shift of the vehicle's center of gravity due to tilting of cargo, as provided in an embodiment of this application.
[0036] Figure 2 A flowchart illustrating a method for preventing rollover of an autonomous vehicle, provided in an embodiment of this application;
[0037] Figure 3 A schematic diagram illustrating the calculation of the tilt angle of the cargo carried by the target vehicle, provided for an embodiment of this application;
[0038] Figure 4 A schematic diagram illustrating the tilt angle of the cargo carried by the target vehicle, provided for an embodiment of this application;
[0039] Figure 5 This is a schematic diagram of the overall structure for preventing rollover of an autonomous vehicle provided in an embodiment of this application;
[0040] Figure 6 This is a schematic diagram illustrating the composition of an anti-rollover device for an autonomous vehicle provided in an embodiment of this application. Detailed Implementation
[0041] With the improvement of people's living standards and the acceleration of work pace, more and more cars have entered people's lives, and vehicle safety has always been a key concern. Taking heavy-duty trucks as an example, existing heavy-duty trucks use ESC (Electronic Stability Control) systems, which monitor vehicle attitude based on yaw rate sensors. When oversteering or other situations are detected, braking measures are taken to prevent the vehicle from rolling over. However, the drawback of this anti-rollover method is the lack of monitoring and corresponding control of the cargo on board. This leads to the situation where the state of the cargo inside the cargo box changes (e.g., ...). Figure 1 As shown in the diagram, when cargo tilts and its center of gravity shifts outward, even on straight sections of road (i.e., not during curves), cargo can tip over, and sometimes the entire vehicle can overturn. Avoiding such problems relies entirely on the driver's timely detection. However, in autonomous vehicles, without a driver to observe the area behind, if cargo tilts, the shift in the center of gravity means that by the time sensors detect the tilt, they are no longer able to effectively control the vehicle's speed, potentially leading to cargo damage or even traffic accidents. Therefore, how to effectively and promptly prevent rollovers in autonomous vehicles to improve their driving safety is a pressing issue that needs to be addressed.
[0042] To address the aforementioned deficiencies, this application provides a method for preventing rollover of an autonomous vehicle. First, the initial angle of the cargo carried by the target vehicle is obtained. Then, the tilt angle of the cargo is periodically obtained according to a preset cycle. Next, when it is determined that there is a deviation between the tilt angle of the cargo and the initial angle, and the tilt angle meets preset rollover conditions, a preset anti-rollover strategy is executed to control the driving state of the target vehicle and prevent it from rolling over. This allows for timely and effective prevention of potential rollovers based on the cargo's condition, thereby improving the vehicle's driving safety.
[0043] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0044] See Figure 2 The document illustrates a flowchart of a method for preventing rollover of an autonomous vehicle according to an embodiment of this application. This embodiment may include the following steps:
[0045] S201: Obtain the initial angle of the cargo on the target vehicle.
[0046] In this embodiment, any vehicle that uses this embodiment to prevent rollover is defined as the target vehicle. In order to provide a rollover warning for the target vehicle, when the target vehicle is started, the target vehicle's Body Control Module (BCM) first obtains the initial angle of the cargo on the target vehicle (defined as θ0 here) through the vehicle camera, in order to execute the subsequent step S203.
[0047] S202: According to a preset cycle, the tilt angle of the cargo on the target vehicle is acquired periodically.
[0048] In this embodiment, after obtaining the initial angle θ0 of the cargo in step S201, in order to prevent the target vehicle from overturning in a timely and effective manner based on the status of the cargo, thereby improving the driving safety of the target vehicle, it is also necessary to periodically obtain the tilt angle of the cargo in the target vehicle according to a preset cycle during the driving process, so as to execute the subsequent step S203.
[0049] The preset period can be set to time T, and the tilt angle of the cargo acquired at intervals of time T can be defined as θT. The specific calculation process for θT is as follows:
[0050] like Figure 3 As shown, the Z-axis height (to the cargo box floor) of the target vehicle is first measured and defined as h. i Where i = 1, 2, 3...n, and n is the number of vertical measurement points. Then, the lateral distance of the cargo protruding from the corresponding height (to the Y-axis limit) is measured and defined as s. i Next, the weighted average cargo height (to the cargo container floor) H can be calculated as follows: The weighted average lateral distance of cargo protrusion (to the Y-direction limit) S is: Therefore, the tilt angle θT of the cargo carried by the target vehicle can be calculated as follows:
[0051]
[0052] Where M represents the number of stacks in the Y direction (which is 1 overall).
[0053] S203: When it is determined that there is a deviation between the tilt angle of the cargo on the target vehicle and the initial angle of the cargo on the target vehicle, and the tilt angle of the cargo on the target vehicle meets the preset rollover conditions, the preset anti-rollover strategy is executed to control the driving state of the target vehicle to prevent the target vehicle from rolling over.
[0054] In this embodiment, after obtaining the initial angle θ0 of the cargo on the target vehicle through step S201 and the tilt angle θT of the cargo on the target vehicle through step S202, when it is determined that there is a deviation between the tilt angle θ0 of the cargo on the target vehicle and the initial angle θT of the cargo on the target vehicle, it can be further determined whether the tilt angle of the cargo on the target vehicle meets the preset rollover conditions. If so, the preset anti-rollover strategy is executed and the driving state of the target vehicle is controlled to prevent the target vehicle from rolling over.
[0055] One possible implementation method is that the specific implementation process of this step S203 is as follows: when it is determined that there is a deviation between the tilt angle of the target vehicle's cargo and the initial angle of the target vehicle's cargo, and the tilt angle of the target vehicle's cargo is greater than or equal to the first preset angle and less than the second preset angle, the background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted to prevent the target vehicle from overturning; wherein, the first preset angle is less than the second preset angle.
[0056] Specifically, after obtaining the initial angle θ0 of the target vehicle's cargo through step S201 and the tilt angle θT of the target vehicle's cargo through step S202, when it is determined that there is a deviation between the tilt angle θ0 and the initial angle θT of the target vehicle's cargo, further, if it is determined that the tilt angle θT of the target vehicle's cargo is greater than or equal to a first preset angle (defined here as θ1) and less than a second preset angle (defined here as θ2), that is, θ1≤θT<θ2, then a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted to prevent the target vehicle from overturning; wherein, the first preset angle θ1 is less than the second preset angle θ2, and the specific values of θ1 and θ2 can be set according to the actual situation and experience values. This application embodiment does not limit this, for example, θ1 and θ2 can be set to 5 degrees and 15 degrees respectively.
[0057] For example, considering the factor of centrifugal force, when the cargo on the target vehicle veers to the left, it is necessary to lower the upper speed limit of the target vehicle when turning right and raise the upper speed limit of the target vehicle when turning left (within the speed limit range) so as to generate an automatic correction effect when turning left and prevent the target vehicle from overturning.
[0058] Another optional implementation method is that the specific implementation process of this step S203 is as follows: when it is determined that there is a deviation between the tilt angle of the target vehicle's cargo and the initial angle of the target vehicle's cargo, and the tilt angle of the target vehicle's cargo is greater than or equal to the second preset angle and less than the third preset angle, the background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted, and the straight-line driving speed of the target vehicle is restricted to prevent the target vehicle from overturning; wherein, the second preset angle is less than the third preset angle.
[0059] Specifically, after obtaining the initial angle θ0 of the target vehicle's cargo through step S201 and the tilt angle θT of the target vehicle's cargo through step S202, when it is determined that there is a deviation between the tilt angle θ0 and the initial angle θT of the target vehicle's cargo, further, if it is determined that the tilt angle θT of the target vehicle's cargo is greater than or equal to the second preset angle θ2 and less than the third preset angle (defined here as θ3), that is, θ2≤θT<θ3, then a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted, and the straight-line driving speed of the target vehicle is also restricted to prevent the target vehicle from overturning; wherein, the second preset angle θ2 is less than the third preset angle θ3, and the specific value of θ3 can be set according to the actual situation and experience value. This application embodiment does not limit this, for example, θ3 can be set to 25 degrees, etc.
[0060] For example, considering the factor of centrifugal force, when the cargo on the target vehicle veers to the left, it is necessary to lower the upper speed limit of the target vehicle when turning right and raise the upper speed limit of the target vehicle when turning left (within the speed limit range) to control the straight speed of the target vehicle so as to generate an automatic correction effect when turning left and prevent the target vehicle from overturning.
[0061] Another optional implementation method is that the specific implementation process of this step S203 is as follows: when it is determined that there is a deviation between the tilt angle of the target vehicle's cargo and the initial angle of the target vehicle's cargo, and the tilt angle of the target vehicle's cargo is greater than or equal to the third preset angle, the background alarm strategy is executed, and the target vehicle is controlled to stop nearby. At the same time, the preset call for rescue strategy is executed to prevent the target vehicle from overturning.
[0062] Specifically, after obtaining the initial angle θ0 of the cargo on the target vehicle through step S201 and the tilt angle θT of the cargo on the target vehicle through step S202, when it is determined that there is a deviation between the tilt angle θ0 and the initial angle θT of the cargo on the target vehicle, further, if it is determined that the tilt angle θT of the cargo on the target vehicle is greater than or equal to the third preset angle θ3, that is, θT≥θ3, then the background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted, the straight-line driving speed of the target vehicle is restricted, and the target vehicle is controlled to stop nearby. At the same time, the preset call for rescue strategy is executed to prevent the target vehicle from overturning.
[0063] The preset emergency call strategy can be pre-set according to user needs, such as alarm handling measures.
[0064] It is understandable that, in addition to the above processing methods, after obtaining the initial angle θ0 of the target vehicle's cargo through step S201 and the tilt angle θT of the target vehicle's cargo through step S202, if it is determined that there is a deviation between the tilt angle θ0 and the initial angle θT of the target vehicle's cargo, further, if it is determined that the tilt angle θT of the target vehicle's cargo is less than the first preset angle θ3, that is, θT < θ1, then the target vehicle can continue to drive normally without anti-rollover processing. A schematic diagram of the overall analysis of the tilt angle of the target vehicle's cargo is shown below. Figure 4 As shown.
[0065] Thus, by executing steps S201-S203 above, the onboard camera of the target vehicle replaces the driver in monitoring the movement / change of the cargo's position. It assesses and judges cargo movement during transportation, and implements measures such as alarm prompts, speed limits, and temporary stops, thereby improving the target vehicle's driving safety. Even while the target vehicle is traveling in a straight line, changes in the cargo's status can be detected, allowing for timely speed control and alarms. Furthermore, relevant measures prevent accidents caused by excessive cargo movement, improving the driving safety of the autonomous vehicle when it is used as the target vehicle.
[0066] In summary, the method for preventing rollover of an autonomous vehicle provided in this application first obtains the initial angle of the cargo carried by the target vehicle; then, according to a preset cycle, the tilt angle of the cargo carried by the target vehicle is obtained periodically; next, when it is determined that there is a deviation between the tilt angle of the cargo carried by the target vehicle and the initial angle of the cargo carried by the target vehicle, and the tilt angle of the cargo carried by the target vehicle meets the preset rollover conditions, a preset anti-rollover strategy is executed to control the driving state of the target vehicle to prevent the target vehicle from rolling over. Thus, based on the state of the cargo carried by the vehicle, the method can prevent the target vehicle from rolling over in a timely and effective manner, thereby improving the driving safety of the target vehicle.
[0067] For ease of understanding, this application also provides a schematic diagram of the overall structure for preventing rollover of autonomous vehicles, such as... Figure 5 The diagram illustrates the detailed process of the method for preventing rollover of autonomous vehicles provided in this application.
[0068] See Figure 5 The specific implementation process of the method for preventing rollover of autonomous vehicles provided in this application is as follows: During the driving process of the target vehicle, the tilt angle θT of the cargo on the vehicle is obtained at intervals T. When it is determined that the tilt angle θT of the cargo on the target vehicle is greater than or equal to a third preset angle θ3, that is, θT≥θ3, the background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted. At the same time, the straight driving speed of the target vehicle is restricted, and the target vehicle is controlled to stop nearby. At the same time, the preset rescue call strategy is executed to prevent the target vehicle from rolling over.
[0069] When it is determined that the tilt angle θT of the cargo on the target vehicle is greater than or equal to the second preset angle θ2 and less than the third preset angle θ3, that is, θ2≤θT<θ3, the background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted. At the same time, the straight-line speed of the target vehicle is restricted, and the tilt angle θT3 of the cargo on the vehicle at time T3 is recorded. When it is determined that θT3≥θ3, the background alarm strategy is executed, and the target vehicle is controlled to stop at the nearest stop. At the same time, the preset rescue call strategy is executed to prevent the target vehicle from overturning.
[0070] When it is determined that the tilt angle θT of the cargo on the target vehicle is greater than or equal to the first preset angle θ1 and less than the second preset angle θ2, that is, θ1≤θT<θ2, the background alarm strategy is executed, and the turning direction and speed of the target vehicle are restricted. The tilt angle θT2 of the cargo on the vehicle at time T2 is recorded. When it is determined that θT2≥θ2, the background alarm strategy is executed, and the turning direction and speed of the target vehicle are restricted. At the same time, the straight-line driving speed of the target vehicle is restricted to prevent the target vehicle from overturning.
[0071] The above embodiments describe in detail the technical solution of the method of this application. Accordingly, this application also provides a device for preventing rollover of autonomous vehicles, which will be described below.
[0072] See Figure 6 This is a schematic diagram of the composition of an anti-rollover device for an autonomous vehicle provided in this embodiment. The device includes:
[0073] The first acquisition unit 601 is used to acquire the initial angle of the cargo carried by the target vehicle;
[0074] The second acquisition unit 602 is used to acquire the tilt angle of the cargo on the target vehicle at preset intervals.
[0075] The control unit 603 is used to execute a preset anti-rollover strategy and control the driving state of the target vehicle to prevent the target vehicle from rolling over when it is determined that there is a deviation between the tilt angle of the cargo on the target vehicle and the initial angle of the cargo on the target vehicle, and the tilt angle of the cargo on the target vehicle meets the preset rollover conditions.
[0076] In one implementation of this embodiment, the control unit 603 is specifically used for:
[0077] When it is determined that there is a deviation between the tilt angle of the target vehicle's cargo and the initial angle of the target vehicle's cargo, and the tilt angle of the target vehicle's cargo is greater than or equal to a first preset angle and less than a second preset angle, a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted to prevent the target vehicle from overturning.
[0078] Wherein, the first preset angle is smaller than the second preset angle.
[0079] In one implementation of this embodiment, the control unit 603 is specifically used for:
[0080] When it is determined that there is a deviation between the tilt angle of the target vehicle's cargo and the initial angle of the target vehicle's cargo, and the tilt angle of the target vehicle's cargo is greater than or equal to the second preset angle and less than the third preset angle, a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted, while the straight-line driving speed of the target vehicle is also restricted to prevent the target vehicle from overturning.
[0081] Wherein, the second preset angle is smaller than the third preset angle.
[0082] In one implementation of this embodiment, the control unit 603 is specifically used for:
[0083] When it is determined that the tilt angle of the cargo on the target vehicle deviates from the initial angle of the cargo on the target vehicle, and the tilt angle of the cargo on the target vehicle is greater than or equal to a third preset angle, a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted. At the same time, the straight-line speed of the target vehicle is restricted, and the target vehicle is controlled to stop at the nearest stop. Simultaneously, a preset emergency call strategy is executed to prevent the target vehicle from overturning.
[0084] Thus, the anti-rollover device for autonomous vehicles provided in this application first obtains the initial angle of the cargo carried by the target vehicle; then, according to a preset cycle, it periodically obtains the tilt angle of the cargo carried by the target vehicle; next, when it is determined that there is a deviation between the tilt angle of the cargo carried by the target vehicle and the initial angle of the cargo carried by the target vehicle, and the tilt angle of the cargo carried by the target vehicle meets the preset rollover conditions, a preset anti-rollover strategy is executed to control the driving state of the target vehicle to prevent the target vehicle from rolling over. In this way, it can prevent the target vehicle from rolling over in a timely and effective manner according to the state of the cargo carried, thereby improving the driving safety of the target vehicle.
[0085] Furthermore, this application embodiment also provides a device for preventing rollover of an autonomous vehicle, including: a processor, a memory, and a system bus;
[0086] The processor and the memory are connected via the system bus;
[0087] The memory is used to store one or more programs, the one or more programs including instructions, which, when executed by the processor, cause the processor to perform any of the above-described implementations of the method for preventing rollover of autonomous vehicles.
[0088] Furthermore, embodiments of this application also provide a computer-readable storage medium storing instructions that, when executed on a terminal device, cause the terminal device to perform any of the above-described methods for preventing rollover of autonomous vehicles.
[0089] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network communication device such as a media gateway, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.
[0090] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.
[0091] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0092] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A method for preventing rollover of an autonomous vehicle, characterized in that, include: Obtain the initial angle of the cargo on board the target vehicle; The Z-axis height h of the cargo on the target vehicle is acquired periodically according to a preset cycle. i and Z-axis height h i The protruding lateral distance of the goods , i = 1, 2, 3...n, where n is the number of vertical measurement points; Based on the Z-axis height h of the cargo carried by the target vehicle i The weighted average cargo height H is determined by the number n of the vertical measurement points. Based on the Z-axis height h of the cargo carried by the target vehicle i The number of vertical measurement points n and the Z-axis height h i The cargo protrudes laterally. Determine the weighted average lateral distance S of the cargo protrusion; Determine the tilt angle of the cargo carried by the target vehicle. : M represents the number of stacks in the Y direction, where the Y direction is the horizontal direction; When it is determined that there is a deviation between the tilt angle of the cargo on the target vehicle and the initial angle of the cargo on the target vehicle, and the tilt angle of the cargo on the target vehicle meets the preset rollover conditions, a preset anti-rollover strategy is executed to control the driving state of the target vehicle in order to prevent the target vehicle from rolling over.
2. The method according to claim 1, characterized in that, When it is determined that the tilt angle of the cargo on the target vehicle deviates from the initial angle of the cargo, and the tilt angle of the cargo on the target vehicle meets the preset rollover conditions, a preset anti-rollover strategy is executed to control the driving state of the target vehicle to prevent the target vehicle from rolling over, including: When it is determined that there is a deviation between the tilt angle of the target vehicle's cargo and the initial angle of the target vehicle's cargo, and the tilt angle of the target vehicle's cargo is greater than or equal to a first preset angle and less than a second preset angle, a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted to prevent the target vehicle from overturning. Wherein, the first preset angle is smaller than the second preset angle.
3. The method according to claim 1, characterized in that, When it is determined that the tilt angle of the cargo on the target vehicle deviates from the initial angle of the cargo, and the tilt angle of the cargo on the target vehicle meets the preset rollover conditions, a preset anti-rollover strategy is executed to control the driving state of the target vehicle to prevent the target vehicle from rolling over, including: When it is determined that there is a deviation between the tilt angle of the target vehicle's cargo and the initial angle of the target vehicle's cargo, and the tilt angle of the target vehicle's cargo is greater than or equal to the second preset angle and less than the third preset angle, a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted, while the straight-line driving speed of the target vehicle is also restricted to prevent the target vehicle from overturning. Wherein, the second preset angle is smaller than the third preset angle.
4. The method according to claim 1, characterized in that, When it is determined that the tilt angle of the cargo on the target vehicle deviates from the initial angle of the cargo, and the tilt angle of the cargo on the target vehicle meets the preset rollover conditions, a preset anti-rollover strategy is executed to control the driving state of the target vehicle to prevent the target vehicle from rolling over, including: When it is determined that the tilt angle of the cargo on the target vehicle deviates from the initial angle of the cargo on the target vehicle, and the tilt angle of the cargo on the target vehicle is greater than or equal to a third preset angle, a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted. At the same time, the straight-line speed of the target vehicle is restricted, and the target vehicle is controlled to stop at the nearest stop. Simultaneously, a preset emergency call strategy is executed to prevent the target vehicle from overturning.
5. A device for preventing rollover in autonomous vehicles, characterized in that, include: The first acquisition unit is used to acquire the initial angle of the cargo on the target vehicle; The second acquisition unit is used to periodically acquire the Z-axis height h of the cargo carried by the target vehicle according to a preset period. i and Z-axis height h i The protruding lateral distance of the goods i = 1, 2, 3...n, where n is the number of vertical measurement points; based on the Z-axis height h of the cargo carried by the target vehicle. i The weighted average cargo height H is determined by the number n of the vertical measurement points; the Z-axis height h of the cargo on the target vehicle is determined by... i The number of vertical measurement points n and the Z-axis height h i The cargo protrudes laterally. Determine the weighted average lateral distance S of the cargo protrusion; determine the tilt angle of the cargo on the target vehicle. : M represents the number of stacks in the Y direction, where the Y direction is the horizontal direction; The control unit is used to execute a preset anti-rollover strategy and control the driving state of the target vehicle to prevent the target vehicle from rolling over when it is determined that there is a deviation between the tilt angle of the target vehicle's cargo and the initial angle of the target vehicle's cargo, and the tilt angle of the target vehicle's cargo meets the preset rollover conditions.
6. The apparatus according to claim 5, characterized in that, The control unit is specifically used for: When it is determined that there is a deviation between the tilt angle of the target vehicle's cargo and the initial angle of the target vehicle's cargo, and the tilt angle of the target vehicle's cargo is greater than or equal to a first preset angle and less than a second preset angle, a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted to prevent the target vehicle from overturning. Wherein, the first preset angle is smaller than the second preset angle.
7. The apparatus according to claim 5, characterized in that, The control unit is specifically used for: When it is determined that there is a deviation between the tilt angle of the target vehicle's cargo and the initial angle of the target vehicle's cargo, and the tilt angle of the target vehicle's cargo is greater than or equal to the second preset angle and less than the third preset angle, a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted, while the straight-line driving speed of the target vehicle is also restricted to prevent the target vehicle from overturning. Wherein, the second preset angle is smaller than the third preset angle.
8. The apparatus according to claim 5, characterized in that, The control unit is specifically used for: When it is determined that the tilt angle of the cargo on the target vehicle deviates from the initial angle of the cargo on the target vehicle, and the tilt angle of the cargo on the target vehicle is greater than or equal to a third preset angle, a background alarm strategy is executed, and the steering direction and speed of the target vehicle are restricted. At the same time, the straight-line speed of the target vehicle is restricted, and the target vehicle is controlled to stop at the nearest stop. Simultaneously, a preset emergency call strategy is executed to prevent the target vehicle from overturning.
9. A device for preventing rollover of an autonomous vehicle, characterized in that, include: Processor, memory, system bus; The processor and the memory are connected via the system bus; The memory is used to store one or more programs, the one or more programs including instructions that, when executed by the processor, cause the processor to perform the method according to any one of claims 1-4.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a terminal device, cause the terminal device to perform the method described in any one of claims 1-4.