Control method, device, equipment and storage medium for preventing vehicle from accelerating and running off track

Abstract

The present invention provides a control method, device, equipment, and storage medium for preventing a vehicle from running off course during acceleration, comprising: obtaining the longitudinal acceleration of the vehicle body and determining whether the longitudinal acceleration of the vehicle body is greater than a first set value; if the longitudinal acceleration of the vehicle body is greater than the first set value, increasing the wheel center height of the set-side wheel on the driving end and simultaneously lowering the wheel center height of the diagonal wheel, or lowering the wheel center height of the set-side wheel on the driving end and simultaneously raising the wheel center height of the diagonal wheel; wherein the wheel center height is the height difference between the wheel center position and the vehicle differential. By adjusting the wheel center height of the set-side wheel on the driving end and the wheel center height of the diagonal wheel in opposite directions, the center of gravity height of the vehicle is compensated during the adjustment process, thereby solving the problem of running off course during acceleration and ensuring that the center of gravity of the vehicle remains stable during the adjustment process of the set-side wheel on the driving end, thereby greatly improving the safety of the vehicle under accelerated driving conditions.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a control method, device, equipment and storage medium for preventing a vehicle from accelerating and running off track. Background Art

[0002] In vehicles with a transverse engine (or motor), those using two-stage drive shafts of unequal length are prone to acceleration deviation during sudden acceleration (assuming the left and right wheel centers are at the same height, the drive angle α corresponding to the left drive shaft is greater than the drive angle β corresponding to the right drive shaft, resulting in different drive torques transmitted from the driven shaft to the left and right drive shafts). This is especially true for electric vehicles, where sudden acceleration can generate very high horsepower. Using two-stage drive shafts of unequal length can cause acceleration deviation under these conditions, creating a significant safety hazard and causing significant driver distress. Frequent acceleration deviations can also lead to driver fatigue.

[0003] The solution in the related art is to input the height of the left and right wheels detected by sensors into the control unit. By using actuators to operate the differential gear and the mounting bushing of the accelerator housing, the angles of the two shafts can be corrected, so that the angles of the two drive shafts can be the same.

[0004] However, when raising one side of the wheel, such as the height of the right front wheel center, the vehicle is always in a moving state, which will also cause the center of gravity of the entire vehicle to move upward, affecting the stability of the entire vehicle during high-speed driving and affecting the driving safety of the entire vehicle. Summary of the Invention

[0005] The main purpose of the present invention is to provide a control method, device, equipment and storage medium for preventing a vehicle from accelerating and running off the track, aiming to solve the problem in the related art that the vehicle's steady state is affected during the process of adjusting the wheel center height.

[0006] In a first aspect, the present invention provides a control method for preventing a vehicle from accelerating and running off the track, which adopts the following technical solutions:

[0007] A control method for preventing a vehicle from accelerating and running off the track comprises:

[0008] Obtaining the longitudinal acceleration of the vehicle body, and determining whether the longitudinal acceleration of the vehicle body is greater than a first set value;

[0009] If the longitudinal acceleration of the vehicle body is greater than a first set value, the wheel center height of the wheel on the set side of the driving end is increased and the wheel center height of the wheel on the diagonal side is simultaneously lowered, or the wheel center height of the wheel on the set side of the driving end is lowered and the wheel center height of the wheel on the diagonal side is simultaneously raised; wherein, the wheel center height is the height difference between the wheel center position and the vehicle differential.

[0010] Through the above scheme, by adjusting the wheel center height of the wheel on the set side of the driving end, the wheel center height of the diagonal side wheel is also adjusted at the same time, and the two are adjusted in opposite directions, so that the center of gravity height of the vehicle is compensated during the adjustment process. Ultimately, while solving the problem of acceleration deviation, it is ensured that the center of gravity of the vehicle remains stable during the adjustment process of the wheel on the set side of the driving end, thereby greatly improving the safety of the vehicle in the accelerated driving state.

[0011] In some embodiments, if the longitudinal acceleration of the vehicle body is greater than a first set value, the wheel center height of the set-side wheel at the driving end is increased and the wheel center height of the diagonal wheel is simultaneously lowered, or the wheel center height of the set-side wheel at the driving end is lowered and the wheel center height of the diagonal wheel is simultaneously raised, and the wheel center height of the wheel is adjusted by inflating or deflating the air springs at the set-side wheel and the diagonal wheel.

[0012] Through the above solution, the structural characteristics of the vehicle itself are effectively utilized, and there is no need to set up additional structures such as actuators as in related technologies, which effectively controls costs. At the same time, it can be quickly implemented based on existing technical foundations, which has high practical significance.

[0013] In some embodiments, if the longitudinal acceleration of the vehicle body is greater than a first set value, the wheel center height of the set side wheel of the driving end is increased and the wheel center height of the diagonal side wheel is simultaneously lowered, or the wheel center height of the set side wheel of the driving end is lowered and the wheel center height of the diagonal side wheel is simultaneously raised, and the distance by which the wheel center height of the set side wheel and the wheel center height of the diagonal side wheel are adjusted synchronously is always consistent or is within a set proportional range.

[0014] Through the above scheme, if the wheel center height of the set side wheel and the wheel center height of the diagonal side wheel are adjusted synchronously by the same distance, the vehicle's overall center of gravity will not change in either the horizontal or vertical direction when the wheel center heights of both wheels are adjusted, thereby avoiding affecting the vehicle's stability during driving. If the wheel center heights of both wheels are adjusted within a set ratio range, the vehicle's overall center of gravity can be moved within a range that does not affect driving stability, which can also achieve a certain effect of compensating vehicle stability. At the same time, the specific setting ratio range depends on the relevant vehicle model and has strong applicability.

[0015] In some embodiments, if the longitudinal acceleration of the vehicle body is greater than the first set value, after increasing the wheel center height of the set driving side wheel and simultaneously decreasing the wheel center height of the diagonal side wheel, or decreasing the wheel center height of the set driving side wheel and simultaneously increasing the wheel center height of the diagonal side wheel, the following steps are further included:

[0016] Determining whether the drive shaft angles corresponding to the set side wheel and the other side wheel at the same end of the vehicle are consistent;

[0017] If they are consistent, the wheel center height adjustment of the driving end setting side wheel and the diagonal side wheel is completed.

[0018] Through the above solution, when the wheel drive shaft angles on both sides of the driving end are consistent, the wheel center height adjustment of the set side wheel can be stopped in time, thereby allowing the vehicle to accelerate in a stable state.

[0019] In some embodiments, the determination of whether the drive shaft angles corresponding to the set side wheel and the other side wheel at the same end of the vehicle are consistent is performed by calculating the corresponding drive shaft angles based on the wheel center height and drive shaft length of each side wheel.

[0020] In some embodiments, if the longitudinal acceleration of the vehicle body is greater than the first set value, after increasing the wheel center height of the set driving side wheel and simultaneously decreasing the wheel center height of the diagonal side wheel, or decreasing the wheel center height of the set driving side wheel and simultaneously increasing the wheel center height of the diagonal side wheel, the following steps are further included:

[0021] If it is less than a second set value, the wheel center height of the driving end set side wheel and the diagonal side wheel is restored to the initial state; wherein, the second set value is less than the first set value.

[0022] Through the above scheme, after the longitudinal acceleration of the vehicle body gradually decreases to the second set value, it means that the vehicle is gradually tending to a uniform speed driving process. When the required acceleration is small, the wheel center height of the two wheels can be restored to the initial state, which is convenient for subsequent driving.

[0023] In some embodiments, the first set value is 6m / s 2 .

[0024] In a second aspect, the present invention further provides a control device for preventing a vehicle from accelerating and running off the track, which adopts the following technical solution:

[0025] A control device for preventing a vehicle from accelerating and running off the track, comprising:

[0026] an acceleration determination module, configured to obtain the longitudinal acceleration of the vehicle body and determine whether the longitudinal acceleration of the vehicle body is greater than a first set value;

[0027] An adjustment module is configured to increase the wheel center height of the wheel on the set side of the driving end and simultaneously lower the wheel center height of the wheel on the diagonal side, or to lower the wheel center height of the wheel on the set side of the driving end and simultaneously raise the wheel center height of the wheel on the diagonal side, if the longitudinal acceleration of the vehicle body is greater than a first set value; wherein the wheel center height is the height difference between the wheel center position and the vehicle differential.

[0028] In a third aspect, the present invention also provides a control device for preventing a vehicle from accelerating and running off the track.

[0029] A control device for preventing a vehicle from accelerating and running off the track, the control device for preventing a vehicle from accelerating and running off the track comprising a processor, a memory, and a control program for preventing a vehicle from accelerating and running off the track stored in the memory and executable by the processor, wherein when the control program for preventing a vehicle from accelerating and running off the track is executed by the processor, the steps of the control method for preventing a vehicle from accelerating and running off the track as described above are implemented.

[0030] In a fourth aspect, the present invention further provides a storage medium, which adopts the following technical solution:

[0031] A storage medium is characterized in that a control program for preventing a vehicle from accelerating and running off is stored on the storage medium, wherein when the control program for preventing a vehicle from accelerating and running off is executed by a processor, the steps of the control method for preventing a vehicle from accelerating and running off are implemented as described above.

[0032] The control method, device, equipment and storage medium for preventing vehicle acceleration and deviation provided by the present invention have the following beneficial effects:

[0033] The present invention adjusts the wheel center height of the driving end setting side wheel at the same time as the wheel center height of the diagonal side wheel, and the two are adjusted in opposite directions, so that the center of gravity height of the vehicle is compensated during the adjustment process. Ultimately, while solving the acceleration deviation problem, it ensures that the center of gravity of the vehicle remains stable during the adjustment process of the driving end setting side wheel, thereby greatly improving the safety of the vehicle in the accelerated driving state. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematic diagram of the hardware structure of a control device for preventing a vehicle from accelerating and running off the track in an embodiment of the present invention;

[0035] Figure 2 This is a flow chart of a first embodiment of a control method for preventing a vehicle from accelerating and running off the track according to the present invention;

[0036] Figure 3 A schematic diagram of the structural principle of the control method for preventing a vehicle from accelerating and running off the track according to the present invention;

[0037] Figure 4 This is a functional module diagram of a first embodiment of a control device for preventing a vehicle from accelerating and running off the track according to the present invention.

[0038] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0039] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0040] In vehicles with a transversely arranged engine (or motor), vehicles using two-stage drive shafts of unequal length are prone to acceleration deviation during sudden acceleration (assuming the left and right wheel center heights are the same, the drive angle α corresponding to the left drive shaft is larger than the drive angle β corresponding to the right drive shaft, resulting in different drive torques transmitted from the driven shaft to the left and right drive shafts). In particular, electric vehicles have very high horsepower during sudden acceleration. In this case, the use of two-stage drive shafts of unequal length will cause acceleration deviation under these conditions, which will create a huge safety hazard and cause great trouble to the driver. Frequent acceleration deviation can easily cause driving fatigue. The solution in the related art is that the height of the left and right wheels detected by the sensor is input into the control unit. By using an actuator to operate the mounting bushings of the differential gear and the accelerator housing, the angles of the two shafts can be corrected so that the angles of the two drive shafts can be the same.

[0041] However, while raising one wheel, such as the right front wheel center, the vehicle remains in motion, which can cause the vehicle's center of gravity to shift upward. This can affect the vehicle's stability and driving safety during high-speed driving. Therefore, the present application provides a control method, device, apparatus, and storage medium for preventing vehicle deviation during acceleration.

[0042] The control method, device, equipment and storage medium for preventing vehicle deviation during acceleration provided by the present application have the following invention points: by adjusting the wheel center height of the wheel on the set side of the driving end, the wheel center height of the wheel on the diagonal side is adjusted at the same time, and the two are adjusted in opposite directions, so that the center of gravity height of the vehicle is compensated during the adjustment process. Ultimately, while solving the problem of deviation during acceleration, it is ensured that the center of gravity of the vehicle remains stable during the adjustment process of the wheel on the set side of the driving end, thereby greatly improving the safety of the vehicle in the accelerated driving state.

[0043] In a first aspect, an embodiment of the present invention provides a control device for preventing a vehicle from accelerating and running off the track. The control device for preventing a vehicle from accelerating and running off the track may be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0044] Reference Figure 1 , Figure 1This is a schematic diagram of the hardware structure of the control device for preventing the vehicle from accelerating and running off the track involved in the embodiment of the present invention. In the embodiment of the present invention, the control device for preventing the vehicle from accelerating and running off the track may include a processor 1001 (such as a central processing unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a wireless interface (such as a wireless fidelity WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (RAM), or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may optionally also be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that, Figure 1 The hardware structure shown in the figure does not constitute a limitation of the present invention, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0045] Continue to refer to Figure 1 , Figure 1 Memory 1005, a computer storage medium, may include an operating system, a network communication module, a user interface module, and a control program for preventing vehicle acceleration and deviation. Processor 1001 may invoke the control program for preventing vehicle acceleration and deviation stored in memory 1005 and execute the control method for preventing vehicle acceleration and deviation provided in an embodiment of the present invention.

[0046] In a second aspect, an embodiment of the present invention provides a control method for preventing a vehicle from accelerating and running off the track.

[0047] Reference Figure 2 , a control method for preventing a vehicle from accelerating and running off the track, comprising:

[0048] S100, obtaining the longitudinal acceleration of the vehicle body, and determining whether the longitudinal acceleration of the vehicle body is greater than a first set value;

[0049] S200. If the longitudinal acceleration of the vehicle body is greater than a first set value, increase the wheel center height of the wheel on the set driving side and simultaneously lower the wheel center height of the wheel on the diagonal side, or lower the wheel center height of the wheel on the set driving side and simultaneously raise the wheel center height of the wheel on the diagonal side; wherein the wheel center height is the height difference between the wheel center position and the vehicle differential.

[0050] Specifically, in this embodiment, step S200 increases the wheel center height of the set-side wheel at the driving end and simultaneously decreases the wheel center height of the diagonal wheel. Furthermore, considering that if the wheel center heights of the wheels on both sides of the driving end are adjusted simultaneously, that is, in the related art, the drive shaft angles of the wheels on both sides are simultaneously controlled to increase and decrease until they reach the same vertical position, the drive torque transmitted to the tire end by the drive shaft with the larger angle will increase as the angle gradually decreases, thereby increasing tire wear. Therefore, the embodiment of the present invention further adjusts only the wheel center height of the set-side wheel at the driving end. In this case, the set-side is the side with the smaller drive shaft angle in the initial state, while the wheel center height position of the other side wheel (the side with the larger drive shaft angle in the initial state) remains unchanged. This effectively solves the problem of increased tire wear during the simultaneous adjustment of the wheels on both sides of the driving end, and the overall control process is quick and easy to implement.

[0051] With this arrangement, by adjusting the wheel center height of the wheel on the set side of the driving end, the wheel center height of the wheel on the diagonal side is also adjusted at the same time, and the two are adjusted in opposite directions, so that the center of gravity height of the vehicle is compensated during the adjustment process. Ultimately, while solving the problem of acceleration deviation, it ensures that the center of gravity of the vehicle remains stable during the adjustment process of the wheel on the set side of the driving end, thereby greatly improving the safety of the vehicle in the accelerated driving state.

[0052] Furthermore, in some embodiments, in step S200, if the longitudinal acceleration of the vehicle body is greater than a first set value, the wheel center height of the set-side wheel at the driving end is increased and the wheel center height of the diagonal wheel is simultaneously lowered, or the wheel center height of the set-side wheel at the driving end is lowered and the wheel center height of the diagonal wheel is simultaneously raised, and the wheel center height of the wheel is adjusted by inflating or deflating the air springs at the set-side wheel and the diagonal wheel.

[0053] In this embodiment, refer to Figure 3 Step S200 specifically controls the air tank to inflate the air spring corresponding to the side with the smaller drive shaft angle β (i.e., the set side), thereby lowering the front wheel center height h2 until h1 / b = h2 / c. This ensures that the drive angles α of the left and right drive shafts of unequal lengths equalize β, and the drive torque transmitted to the left and right wheels by the powertrain is consistent, preventing acceleration deviation. Furthermore, the adjustment process also reduces the torque on the tire with the higher torque, minimizing tire wear and significantly improving tire service life. During this process, the inflation or deflation of individual air springs is achieved via an electrically controlled valve connected to each wheel air spring. In addition, other methods for controlling wheel center height adjustment may be employed in other embodiments, such as the related art method of adjusting the differential gear and accelerator housing via an actuator.

[0054] This arrangement effectively utilizes the structural features of the vehicle itself, eliminating the need for additional actuators and other structures as in related technologies, effectively controlling costs. Furthermore, the arrangement can be quickly implemented based on existing technical foundations, thus having high practical significance.

[0055] Furthermore, in some embodiments, in step S200, if the longitudinal acceleration of the vehicle body is greater than a first set value, the wheel center height of the set side wheel of the driving end is increased and the wheel center height of the diagonal side wheel is simultaneously lowered, or the wheel center height of the set side wheel of the driving end is lowered and the wheel center height of the diagonal side wheel is simultaneously raised, and the distance by which the wheel center height of the set side wheel and the wheel center height of the diagonal side wheel are adjusted synchronously is always consistent or is within a set proportional range.

[0056] In this embodiment, the wheel center height of the set side wheel and the wheel center height of the diagonal side wheel are adjusted synchronously by a consistent distance. This ensures that when the wheel center heights of both wheels are adjusted, the vehicle's overall center of gravity remains unchanged, either horizontally or vertically, thereby preventing any impact on the vehicle's stability during driving. In other embodiments, the wheel center heights of both wheels can be adjusted within a set ratio range, thereby achieving a certain degree of stability compensation. The specific range of the set ratio depends on the vehicle model and is not discussed here.

[0057] Furthermore, in some embodiments, after the step S200 of increasing the wheel center height of the set driving side wheel and simultaneously decreasing the wheel center height of the diagonal wheel if the vehicle body longitudinal acceleration is greater than the first set value, or decreasing the wheel center height of the set driving side wheel and simultaneously increasing the wheel center height of the diagonal wheel, further comprising the following steps:

[0058] S300, determining whether the drive shaft angles corresponding to the set side wheel and the other side wheel at the same end of the vehicle are consistent;

[0059] S310: If they are consistent, the wheel center height adjustment of the driving end setting side wheel and the diagonal side wheel is completed.

[0060] This arrangement allows the wheel center height adjustment of the set side wheel to be stopped in time when the wheel drive shaft angles on both sides of the driving end are consistent, thereby allowing the vehicle to accelerate in a stable state.

[0061] Furthermore, in some embodiments, the step S300 determines whether the drive shaft angles corresponding to the set side wheel and the other side wheel at the same end of the vehicle are consistent, and calculates the corresponding drive shaft angles based on the wheel center height and drive shaft length of each side wheel.

[0062] Furthermore, in some embodiments, after the step S200 of increasing the wheel center height of the set driving side wheel and simultaneously decreasing the wheel center height of the diagonal wheel if the vehicle body longitudinal acceleration is greater than the first set value, or decreasing the wheel center height of the set driving side wheel and simultaneously increasing the wheel center height of the diagonal wheel, further comprising the following steps:

[0063] S320: If the height is less than a second set value, restore the wheel center heights of the driving end set side wheel and the diagonal side wheel to an initial state; wherein the second set value is less than the first set value.

[0064] With this setting, after the longitudinal acceleration of the vehicle body gradually decreases to the second set value, it means that the vehicle is gradually tending to a uniform speed driving process. When the required acceleration is small, the wheel center height of the two wheels can be restored to the initial state, which is convenient for subsequent driving.

[0065] Furthermore, in some embodiments, the first set value is 6m / s 2 In other embodiments, the first set value may be adjusted specifically according to different vehicle models.

[0066] In a third aspect, an embodiment of the present invention further provides a control device for preventing a vehicle from accelerating and running off the track.

[0067] Reference Figure 4 , a functional module diagram of the first embodiment of the control device for preventing vehicle acceleration and deviation.

[0068] In this embodiment, the control device for preventing the vehicle from accelerating and running off the track includes:

[0069] an acceleration determination module, configured to obtain the longitudinal acceleration of the vehicle body and determine whether the longitudinal acceleration of the vehicle body is greater than a first set value;

[0070] An adjustment module is configured to increase the wheel center height of the wheel on the set side of the driving end and simultaneously lower the wheel center height of the wheel on the diagonal side, or to lower the wheel center height of the wheel on the set side of the driving end and simultaneously raise the wheel center height of the wheel on the diagonal side, if the longitudinal acceleration of the vehicle body is greater than a first set value; wherein the wheel center height is the height difference between the wheel center position and the vehicle differential.

[0071] Among them, the functional implementation of each module in the above-mentioned control device for preventing vehicle acceleration and deviation corresponds to the various steps in the above-mentioned control method embodiment for preventing vehicle acceleration and deviation, and their functions and implementation processes will not be repeated here one by one.

[0072] Furthermore, since, if the longitudinal acceleration of the vehicle body is greater than the first set value, the wheel center height of the set-side wheel at the driving end is increased and the wheel center height of the diagonal wheel is simultaneously lowered, or the wheel center height of the set-side wheel at the driving end is lowered and the wheel center height of the diagonal wheel is simultaneously raised, the wheel center height is adjusted by inflating or deflating the air springs at the set-side wheel and the diagonal wheel.

[0073] In this embodiment, the adjustment module specifically controls the air tank to inflate the air spring corresponding to the side with the smaller drive shaft angle β (i.e., the set side), thereby lowering the front wheel center height h2 until h1 / b = h2 / c. This ensures that the drive angles α of the left and right drive shafts of unequal lengths equal β, and the drive torque transmitted to the left and right wheels by the powertrain is consistent, eliminating the problem of acceleration deviation. Furthermore, the adjustment process also reduces the torque of the tire on the side with greater torque, minimizing tire wear and significantly improving tire service life. During this process, the inflation or deflation of individual air springs is achieved via an electrically controlled valve connected to each wheel air spring. In addition, other methods for controlling wheel center height adjustment may be employed in other embodiments, such as the related art method of adjusting the differential gear and accelerator housing via an actuator.

[0074] Furthermore, the structural features of the vehicle itself are effectively utilized, and there is no need to set up additional structures such as actuators as in related technologies, which effectively controls costs. At the same time, it can be quickly implemented based on existing technical foundations, which has high practical significance.

[0075] Furthermore, in this embodiment, the wheel center heights of the setting-side wheel and the diagonal wheel are adjusted so that the distance between them is always the same or within a set ratio range during synchronous adjustment. Furthermore, the adjustment module controls the air tank to inflate one of the air springs at the two wheels and deflate the other, achieving the purpose of controlling the synchronous adjustment of the two. In this embodiment, the adjustment module controls the wheel center heights of the setting-side wheel and the diagonal wheel to always be adjusted so that the distance between them is always the same during synchronous adjustment. This ensures that when the wheel center heights of both wheels are adjusted, the vehicle's overall center of gravity remains unchanged, either horizontally or vertically, thereby avoiding affecting the vehicle's stability during driving. In other embodiments, the wheel center heights of both wheels can be adjusted within a set ratio range, thereby achieving a certain degree of stability compensation. The specific set ratio range depends on the vehicle model and is not discussed here.

[0076] In a fourth aspect, an embodiment of the present invention further provides a storage medium.

[0077] The storage medium of the present invention stores a control program for preventing the vehicle from accelerating and running off the track. When the control program for preventing the vehicle from accelerating and running off the track is executed by a processor, the steps of the control method for preventing the vehicle from accelerating and running off the track as described above are implemented.

[0078] Among them, the method implemented when the control program for preventing the vehicle from accelerating and running off is executed can refer to the various embodiments of the control method for preventing the vehicle from accelerating and running off of the vehicle of the present invention, and will not be repeated here.

[0079] The working principle and beneficial effects of the control method, device, equipment and storage medium for preventing vehicle acceleration deviation provided in the present application are as follows: the present invention adjusts the wheel center height of the wheel on the set side of the driving end at the same time as the wheel center height of the diagonal side wheel, and the two are adjusted in opposite directions, thereby achieving compensation for the center of gravity height of the vehicle during the adjustment process. Ultimately, while solving the problem of acceleration deviation, it ensures that the center of gravity of the vehicle remains stable during the adjustment process of the wheel on the set side of the driving end, thereby greatly improving the safety of the vehicle in the accelerated driving state.

[0080] At the same time, because only the wheel center height on the side with the smaller drive shaft angle is increased at the driving end, the wheel center height of the other wheel (the side with the larger drive shaft angle) remains unchanged. This effectively solves the problem of increased tire wear when the wheels on both sides of the driving end are adjusted simultaneously. The overall control process is quick and easy to implement.

[0081] During the adjustment process, the wheel center height is adjusted by inflating and deflating the air spring, effectively utilizing the vehicle's inherent structural features. This eliminates the need for additional actuators and other structures as in related technologies, effectively controlling costs. Furthermore, the system can be rapidly implemented based on existing technical foundations, thus possessing high practical significance. Furthermore, the wheel center height of the side wheel and the wheel center height of the diagonal wheel are set to be consistently adjusted during synchronous adjustment. This ensures that when adjusting the wheel center heights of both wheels, the vehicle's overall center of gravity remains unchanged, either horizontally or vertically, thereby preventing any impact on the vehicle's stability during driving.

[0082] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0083] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0084] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, or of course by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device to execute the methods described in various embodiments of the present invention.

[0085] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A control method for preventing a vehicle from accelerating and running off the track, characterized in that: It includes: Obtaining the longitudinal acceleration of the vehicle body, and determining whether the longitudinal acceleration of the vehicle body is greater than a first set value; If the longitudinal acceleration of the vehicle body is greater than a first set value, the wheel center height of the set driving side wheel is increased and the wheel center height of the diagonal side wheel is simultaneously lowered, or the wheel center height of the set driving side wheel is lowered and the wheel center height of the diagonal side wheel is simultaneously raised; wherein the wheel center height is the height difference between the wheel center position and the vehicle differential; If the longitudinal acceleration of the vehicle body is greater than the first set value, the wheel center height of the set side wheel of the driving end is increased and the wheel center height of the diagonal side wheel is simultaneously lowered, or the wheel center height of the set side wheel of the driving end is lowered and the wheel center height of the diagonal side wheel is simultaneously raised, and the distance adjusted between the wheel center height of the set side wheel and the wheel center height of the diagonal side wheel during the synchronous adjustment is always consistent or within a set proportional range; If the longitudinal acceleration of the vehicle body is greater than the first set value, the wheel center height of the set driving side wheel is increased and the wheel center height of the diagonal side wheel is simultaneously decreased, or the wheel center height of the set driving side wheel is decreased and the wheel center height of the diagonal side wheel is simultaneously increased, the following steps are further included: Determine whether the drive shaft angles corresponding to the set side wheel and the other side wheel at the same end of the vehicle are consistent; If they are consistent, the wheel center height adjustment of the setting side wheel of the driving end and the diagonal side wheel is completed; In the judgment of whether the drive shaft angles corresponding to the set side wheel and the other side wheel at the same end of the vehicle are consistent, the corresponding drive shaft angles are calculated according to the wheel center height and drive shaft length of each side wheel.

2. The control method for preventing a vehicle from accelerating and running off the track according to claim 1, characterized in that: If the longitudinal acceleration of the vehicle body is greater than the first set value, the wheel center height of the set side wheel of the driving end is increased and the wheel center height of the diagonal side wheel is simultaneously lowered, or the wheel center height of the set side wheel of the driving end is lowered and the wheel center height of the diagonal side wheel is simultaneously raised, and the wheel center height of the wheel is adjusted by inflating or deflating the air springs at the set side wheel and the diagonal side wheel.

3. The control method for preventing a vehicle from accelerating and running off the track as claimed in claim 1, characterized in that: If the longitudinal acceleration of the vehicle body is greater than the first set value, the wheel center height of the set driving side wheel is increased and the wheel center height of the diagonal side wheel is simultaneously decreased, or the wheel center height of the set driving side wheel is decreased and the wheel center height of the diagonal side wheel is simultaneously increased, the following steps are further included: If it is less than a second set value, the wheel center height of the driving end set side wheel and the diagonal side wheel is restored to the initial state; wherein, the second set value is less than the first set value.

4. The control method for preventing a vehicle from accelerating and running off the track as claimed in claim 1, characterized in that: The first setting value is 6m / s 2 .

5. A control device for preventing a vehicle from accelerating and running off the track, characterized in that: It includes: an acceleration determination module, configured to obtain the longitudinal acceleration of the vehicle body and determine whether the longitudinal acceleration of the vehicle body is greater than a first set value; an adjustment module configured to, if the longitudinal acceleration of the vehicle body is greater than a first set value, increase the wheel center height of the set driving side wheel and simultaneously decrease the wheel center height of the diagonal side wheel, or decrease the wheel center height of the set driving side wheel and simultaneously increase the wheel center height of the diagonal side wheel; wherein the wheel center height is the height difference between the wheel center position and the vehicle differential; If the longitudinal acceleration of the vehicle body is greater than the first set value, the wheel center height of the set side wheel of the driving end is increased and the wheel center height of the diagonal side wheel is simultaneously lowered, or the wheel center height of the set side wheel of the driving end is lowered and the wheel center height of the diagonal side wheel is simultaneously raised, and the distance adjusted between the wheel center height of the set side wheel and the wheel center height of the diagonal side wheel during the synchronous adjustment is always consistent or within a set proportional range; If the longitudinal acceleration of the vehicle body is greater than the first set value, the wheel center height of the set driving side wheel is increased and the wheel center height of the diagonal side wheel is simultaneously decreased, or the wheel center height of the set driving side wheel is decreased and the wheel center height of the diagonal side wheel is simultaneously increased, the following steps are further included: Determine whether the drive shaft angles corresponding to the set side wheel and the other side wheel at the same end of the vehicle are consistent; If they are consistent, the wheel center height adjustment of the setting side wheel of the driving end and the diagonal side wheel is completed; In the judgment of whether the drive shaft angles corresponding to the set side wheel and the other side wheel at the same end of the vehicle are consistent, the corresponding drive shaft angles are calculated according to the wheel center height and drive shaft length of each side wheel.

6. A control device for preventing a vehicle from accelerating and running off the track, characterized in that: The control device for preventing the vehicle from accelerating and running off the track includes a processor, a memory, and a control program for preventing the vehicle from accelerating and running off the track that is stored in the memory and can be executed by the processor. When the control program for preventing the vehicle from accelerating and running off the track is executed by the processor, the steps of the control method for preventing the vehicle from accelerating and running off the track as described in any one of claims 1 to 4 are implemented.

7. A storage medium, characterized in that: The storage medium stores a control program for preventing the vehicle from accelerating and running off the track, wherein when the control program for preventing the vehicle from accelerating and running off the track is executed by the processor, the steps of the control method for preventing the vehicle from accelerating and running off the track as described in any one of claims 1 to 4 are implemented.

Images