Vehicle suspension control method, apparatus, and medium

Abstract

The application provides a vehicle suspension control method, device and medium. The method detects whether a target vehicle is in a rollover state through a chassis domain controller, generates a first rollover signal and sends the signal to a suspension system when the vehicle is in the rollover state, judges whether there is a rollover risk according to driving state information and external environment information through an intelligent driving domain controller, generates a second rollover signal and sends the signal to the suspension system when there is the rollover risk, and then the suspension system adjusts the hardness and height of one end corresponding to a rollover direction of the suspension in response to the first rollover signal or the second rollover signal, so that the hardness and height of the one end are greater than those of the other end. The hardness and height of the suspension system are adjusted when the vehicle rolls over or when there is a rollover risk, the rollover possibility is reduced by increasing the hardness and height of the one end, and the vehicle safety is improved. The problem of low safety caused by the fixed suspension posture when the vehicle is about to roll over in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, specifically to a vehicle suspension control method, device, and medium. Background Technology

[0002] Currently, the air suspension system in vehicles uses a suspension control air compressor to generate compressed air, which is then sent to the air chambers of the springs and shock absorbers. This causes the springs to automatically compress or extend, thereby lowering or raising the chassis ground clearance and thus changing the vehicle's height.

[0003] However, this method has the following problem: when the vehicle is about to roll over, the suspension posture is fixed and cannot be adjusted, resulting in low vehicle safety. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present invention aims to provide a vehicle suspension control method, device and medium to solve the problem of low safety caused by the fixed suspension posture when the vehicle is about to roll over in the prior art.

[0005] This invention provides a vehicle suspension control method, comprising:

[0006] The chassis domain controller of the target vehicle detects whether the target vehicle is in a rollover state. If so, it generates a first rollover signal and sends it to the suspension system of the target vehicle.

[0007] The intelligent driving domain controller of the target vehicle determines whether the target vehicle has a risk of rollover based on the driving status information of the target vehicle and the external environment information. If so, it generates a second rollover signal and sends it to the suspension system.

[0008] The suspension system responds to the first rollover signal or the second rollover signal, determines the rollover direction of the target vehicle, identifies the end of the suspension corresponding to the rollover direction as the target end, and adjusts the stiffness and height of the target end so that the stiffness and height of the target end are greater than the stiffness and height of the end opposite to the target end.

[0009] Optionally, the chassis domain controller of the target vehicle detects whether the target vehicle is in a rollover state, including:

[0010] The chassis domain controller acquires the vehicle center of gravity coordinates, longitudinal axis rotation angle, and vertical axis rotation angle of the target vehicle.

[0011] The chassis domain controller determines the current direction of motion of the target vehicle based on the vehicle's center of gravity coordinates, the vehicle's longitudinal axis rotation angle, and the vehicle's vertical axis rotation angle.

[0012] The chassis domain controller detects whether the target vehicle is in a rollover state based on the current direction of motion.

[0013] Optionally, the chassis domain controller determines the current direction of motion of the target vehicle based on the vehicle's center of gravity coordinates, the vehicle's longitudinal axis rotation angle, and the vehicle's vertical axis rotation angle, including:

[0014] The chassis domain controller determines the longitudinal acceleration signal and the vertical acceleration signal of the target vehicle based on the vehicle's center of gravity coordinates, the vehicle's longitudinal axis rotation angle, and the vehicle's vertical axis rotation angle.

[0015] The chassis domain controller determines the current direction of motion of the target vehicle based on the longitudinal acceleration signal and the vertical axis acceleration signal.

[0016] Optionally, before the intelligent driving domain controller of the target vehicle determines whether the target vehicle has a rollover risk based on the target vehicle's driving status information and external environment information, the method further includes:

[0017] The chassis domain controller sends the current direction of motion to the intelligent driving domain controller;

[0018] The intelligent driving domain controller determines the driving status information of the target vehicle based on the current direction of movement, the current wheel speed of the target vehicle, the current vehicle height of the target vehicle, and the current movement path of the target vehicle.

[0019] Optionally, before the intelligent driving domain controller of the target vehicle determines whether the target vehicle has a rollover risk based on the target vehicle's driving status information and external environment information, the method further includes:

[0020] The radar sensor of the target vehicle acquires obstacle information of the target vehicle and sends the obstacle information to the intelligent driving domain controller;

[0021] The intelligent driving domain controller determines the external environment information of the target vehicle based on the obstacle information and the target vehicle's intended driving path.

[0022] Optionally, the intelligent driving domain controller of the target vehicle determines whether the target vehicle has a rollover risk based on the target vehicle's driving status information and external environmental information, including:

[0023] The intelligent driving domain controller determines the predicted rollover probability of the target vehicle based on the driving status information and the external environment information.

[0024] The intelligent driving domain controller determines whether the predicted rollover probability is greater than a preset probability threshold. If so, it determines that the target vehicle has a rollover risk.

[0025] Optionally, after determining that the target vehicle has a rollover risk, the method further includes:

[0026] The intelligent driving domain controller determines the rollover risk level of the target vehicle based on the predicted rollover probability, and determines the degree of stiffness adjustment and the degree of height adjustment according to the rollover risk level;

[0027] Accordingly, adjusting the hardness and height of the target end includes:

[0028] The hardness of the target end is adjusted according to the hardness adjustment degree, and the height of the target end is adjusted according to the height adjustment degree.

[0029] Optionally, the intelligent driving domain controller determines the predicted rollover probability of the target vehicle based on the driving state information and the external environment information, including:

[0030] Based on the driving status information and the external environment information, the intelligent driving domain controller determines whether there are obstacles in the path to be driven by the target vehicle, and whether the obstacles are run over by one wheel of the target vehicle.

[0031] If so, the predicted rollover probability of the target vehicle is determined based on the height of the obstacle and the driving status information.

[0032] This invention also provides an electronic device, the electronic device comprising:

[0033] Processor and memory;

[0034] The processor executes the steps of the vehicle suspension control method provided in any embodiment of the present invention by calling the program or instructions stored in the memory.

[0035] This invention also provides a computer-readable storage medium storing a program or instructions that cause a computer to perform the steps of the vehicle suspension control method provided in any embodiment of this invention.

[0036] In summary, this invention proposes a vehicle suspension control method. The chassis domain controller detects whether the target vehicle is in a rollover state. When in a rollover state, a first rollover signal is generated and sent to the suspension system. The intelligent driving domain controller determines whether there is a rollover risk based on driving status information and external environmental information. If a rollover risk exists, a second rollover signal is generated and sent to the suspension system. The suspension system then responds to either the first or second rollover signal to determine the rollover direction and adjusts the stiffness and height of the suspension at the end corresponding to the rollover direction, making the stiffness and height of that end greater than those of the other end. This achieves adjustment of the suspension system's stiffness and height when the vehicle rolls over or when there is a risk of rollover. By increasing the stiffness and height of the rollover end, the probability of rollover at that end is reduced, thereby improving vehicle driving safety and solving the problem of low safety caused by the fixed suspension posture when the vehicle is about to roll over in existing technologies. Attached Figure Description

[0037] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a flowchart of a vehicle suspension control method provided in an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0040] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0041] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0042] As mentioned in the background section, in view of the problems in the prior art, the present invention proposes a vehicle suspension control method. Figure 1 This is a flowchart of a vehicle suspension control method provided in an embodiment of the present invention.

[0043] See Figure 1 The specific methods for controlling the vehicle suspension include:

[0044] S110. The chassis domain controller of the target vehicle detects whether the target vehicle is in a rollover state. If so, it generates a first rollover signal and sends it to the suspension system of the target vehicle.

[0045] The chassis domain controller can be a processor used to control the chassis of the target vehicle. Specifically, the chassis domain controller can have control functions related to the vehicle's lateral, longitudinal, and vertical directions, such as braking, steering, and suspension.

[0046] In this embodiment, a rollover state can be defined as a situation where one wheel of the target vehicle is off the ground and it is tilted to the other side. Specifically, the chassis domain controller can determine whether the target vehicle is in a rollover state based on its current direction of movement.

[0047] In one specific implementation, the chassis domain controller of the target vehicle detects whether the target vehicle is in a rollover state, including: the chassis domain controller acquiring the vehicle center of gravity coordinates, the longitudinal axis rotation angle, and the vertical axis rotation angle of the target vehicle; the chassis domain controller determining the current direction of motion of the target vehicle based on the vehicle center of gravity coordinates, the longitudinal axis rotation angle, and the vertical axis rotation angle; and the chassis domain controller detecting whether the target vehicle is in a rollover state based on the current direction of motion.

[0048] The current direction of motion can include the direction of motion of three degrees of freedom, namely the direction of motion of the longitudinal axis, the horizontal axis and the vertical axis. The longitudinal axis, the horizontal axis and the vertical axis can be regarded as the x-axis, the y-axis and the z-axis respectively. Specifically, the longitudinal axis can correspond to the longitudinal direction of travel of the target vehicle, the horizontal axis can correspond to the lateral direction of travel of the target vehicle, and the vertical axis can correspond to the direction of change of height of the target vehicle.

[0049] In this embodiment, the longitudinal axis rotation angle of the vehicle body can be the rotation angle of the vehicle body along the longitudinal driving direction, and the vertical axis rotation angle of the vehicle body can be the rotation angle of the vehicle body along the vertical axis. Specifically, the chassis domain controller can determine the current direction of motion through the vehicle's center of gravity coordinates, the longitudinal axis rotation angle of the vehicle body, and the vertical axis rotation angle of the vehicle body, where the horizontal axis rotation angle of the vehicle body can be ignored.

[0050] Optionally, the chassis domain controller determines the current direction of motion of the target vehicle based on the vehicle's center of gravity coordinates, the longitudinal axis rotation angle, and the vertical axis rotation angle, including: the chassis domain controller determines the longitudinal acceleration signal and the vertical axis acceleration signal of the target vehicle based on the vehicle's center of gravity coordinates, the longitudinal axis rotation angle, and the vertical axis rotation angle; the chassis domain controller determines the current direction of motion of the target vehicle based on the longitudinal acceleration signal and the vertical axis acceleration signal.

[0051] Specifically, the chassis domain controller can determine the longitudinal acceleration signal based on the vehicle's center of gravity coordinates and the longitudinal axis rotation angle, and determine the vertical axis acceleration signal based on the vehicle's center of gravity coordinates and the vertical axis rotation angle.

[0052] Furthermore, the chassis domain controller can determine the current direction of motion based on the longitudinal acceleration signal and the vertical axis acceleration signal. This method enables accurate determination of the current direction of motion, facilitating accurate assessment of whether the target vehicle is in a rollover state.

[0053] After obtaining the current direction of motion, the chassis domain controller can determine whether the target vehicle is in a rollover state based on the current direction of motion. For example, if the target vehicle's current direction of motion is such that the left wheel has an upward acceleration in the vertical axis direction and the right wheel has a downward acceleration in the vertical axis direction, then the target vehicle can be determined to be in a rollover state; or, if the current direction of motion is such that the right wheel has an upward acceleration in the vertical axis direction and the left wheel has a downward acceleration in the vertical axis direction, then the target vehicle can be determined to be in a rollover state.

[0054] In this embodiment, the chassis domain controller can acquire the vehicle's center of gravity coordinates, longitudinal axis rotation angle, and vertical axis rotation angle in real time to collect the current direction of motion and thus detect whether the target vehicle is in a rollover state in real time.

[0055] The above method enables the chassis domain controller to detect the rollover state based on the current direction of motion. By using the current direction of motion, the system can detect the rollover state at the initial moment when the target vehicle enters the rollover state, and then promptly control the suspension stiffness and height to minimize the risk of vehicle rollover.

[0056] Specifically, when the chassis domain controller detects that the target vehicle is in a rollover state, it generates a first rollover signal and sends the first rollover signal to the target vehicle's suspension system. The first rollover signal is used to indicate that the target vehicle is in a rollover state.

[0057] S120: The intelligent driving domain controller of the target vehicle determines whether the target vehicle has a risk of rollover based on the driving status information of the target vehicle and the external environment information. If so, it generates a second rollover signal and sends it to the suspension system.

[0058] In this embodiment, while the chassis domain controller detects whether the target vehicle is in a rollover state, the intelligent driving domain controller can determine whether the target vehicle has a rollover risk.

[0059] Specifically, the chassis domain controller can acquire driving status information and external environment information, and determine whether the target vehicle is at risk of rollover based on this information. The driving status information can describe driving-related data of the target vehicle, such as current wheel speed, current vehicle height, and current vehicle speed. The external environment information can describe information about obstacles around the target vehicle, such as obstacle distance and obstacle volume.

[0060] In one specific implementation, before the intelligent driving domain controller of the target vehicle determines whether the target vehicle has a risk of rollover based on the target vehicle's driving status information and external environment information, the method further includes: the chassis domain controller sending the current direction of motion to the intelligent driving domain controller; and the intelligent driving domain controller determining the target vehicle's driving status information based on the current direction of motion, the target vehicle's current wheel speed, the target vehicle's current vehicle height, and the target vehicle's current movement path.

[0061] That is, the chassis domain controller can send the current direction of motion to the intelligent driving domain controller. Furthermore, the intelligent driving domain controller can use the current direction of motion, current wheel speed, current vehicle height, and current path of motion as driving status information to further determine whether there is a risk of rollover. Among them, the current wheel speed, current vehicle height, and current path of motion can be sent to the intelligent driving domain controller by the target vehicle's body sensors.

[0062] The above methods enable real-time acquisition of driving status information, facilitating the intelligent driving domain controller to accurately determine whether the target vehicle is at risk of rollover.

[0063] In another specific implementation, before the intelligent driving domain controller of the target vehicle determines whether the target vehicle has a risk of rollover based on the target vehicle's driving status information and external environment information, the method further includes: the target vehicle's radar sensor acquiring obstacle information of the target vehicle and sending the obstacle information to the intelligent driving domain controller; the intelligent driving domain controller determining the target vehicle's external environment information based on the obstacle information and the target vehicle's intended driving path.

[0064] The obstacle information can describe the obstacles surrounding the target vehicle, such as obstacle size, distance, direction, and height. The driving path can be the route the target vehicle will take, which can be obtained through vehicle navigation data or determined by the target vehicle's front camera.

[0065] Specifically, radar sensors such as millimeter-wave radar or lidar can detect obstacle information of the target vehicle in real time and send it to the intelligent driving domain controller. Furthermore, the intelligent driving domain controller uses the obstacle information and the driving path as information about the target vehicle's external environment.

[0066] The above methods enable real-time acquisition of external environmental information, facilitating the intelligent driving domain controller to accurately determine whether the target vehicle is at risk of rollover.

[0067] Specifically, the intelligent driving domain controller can input driving status information and external environment information into a pre-trained classifier, which then outputs a predicted category, which can be either "there is a risk of rollover" or "there is no risk of rollover." Alternatively, the intelligent driving domain controller can predict the probability of the target vehicle rolling over based on the driving status information and external environment information, and determine whether there is a risk of rollover based on the probability.

[0068] Optionally, the intelligent driving domain controller of the target vehicle determines whether the target vehicle has a rollover risk based on the target vehicle's driving status information and external environment information, including: the intelligent driving domain controller determines the predicted rollover probability of the target vehicle based on the driving status information and external environment information; the intelligent driving domain controller determines whether the predicted rollover probability is greater than a preset probability threshold, and if so, determines that the target vehicle has a rollover risk.

[0069] Specifically, the intelligent driving domain controller can input driving status information and external environment information into a probabilistic prediction model. This model can be a Bayesian Network (BN), a Dynamic Bayesian Network (DBN), a ridge regression model, or a least squares method, among others, to output probabilities. Furthermore, the predicted rollover probability output by the probabilistic prediction model can be obtained.

[0070] Alternatively, the intelligent driving domain controller can simulate various driving scenarios for the target vehicle using driving status information and external environmental information, and then determine the predicted rollover probability of the target vehicle based on whether a rollover occurs in each driving scenario. For example, if 20 driving scenarios are simulated, and 2 of them result in a rollover, then the predicted rollover probability could be 2 / 20 = 10%.

[0071] In one specific implementation, the intelligent driving domain controller determines the predicted rollover probability of the target vehicle based on driving status information and external environment information, including: the intelligent driving domain controller determines whether there is an obstacle in the target vehicle's driving path based on driving status information and external environment information, and whether the obstacle is run over by one side wheel of the target vehicle; if so, the predicted rollover probability of the target vehicle is determined based on the height of the obstacle and driving status information.

[0072] Specifically, the intelligent driving domain controller can determine whether an obstacle is located in the driving path and whether the obstacle will be run over by one side of the target vehicle's wheel based on the driving path and obstacle information in the external environment.

[0073] If the obstacle is located in the path to be driven and will be run over by one side of the target vehicle's wheels, the predicted rollover probability can be further determined. Specifically, the intelligent driving domain controller can determine the predicted rollover probability based on the obstacle's height and the current vehicle speed in the driving status information. For example, the higher the obstacle, the higher the predicted rollover probability; the higher the current vehicle speed, the higher the predicted rollover probability.

[0074] By using the above method, it is possible to determine whether the obstacle is located in the driving path and is run over by one side of the wheel before determining the predicted rollover probability. If the obstacle is not located in the driving path, or if the obstacle is run over by both sides of the wheel, the probability of the target vehicle rolling over is extremely low. In this case, it is not necessary to determine the predicted rollover probability. This reduces the computational load of the intelligent driving domain controller while ensuring the accuracy of the predicted rollover probability.

[0075] Furthermore, the intelligent driving domain controller can compare the predicted rollover probability with a preset probability threshold. If the predicted rollover probability is greater than the preset probability threshold, it can be determined that the target vehicle has a rollover risk; if the predicted rollover probability does not exceed the preset probability threshold, it can be determined that the target vehicle does not have a rollover risk. The preset probability threshold can be a pre-set rollover probability threshold, such as 25%, but this embodiment does not limit it.

[0076] Through the above methods, the intelligent driving domain controller can accurately determine the predicted rollover probability and judge whether the target vehicle has a rollover risk based on the predicted rollover probability. This enables accurate detection of rollover risk, which facilitates timely adjustment of the suspension height and stiffness when a rollover risk is detected, thereby reducing the probability of rollover.

[0077] In this embodiment, if the intelligent driving domain controller determines that the target vehicle has a rollover risk, the intelligent driving domain controller can generate a second rollover signal and send the second rollover signal to the suspension system. The second rollover signal is used to indicate that the target vehicle has a rollover risk.

[0078] S130. The suspension system responds to the first rollover signal or the second rollover signal, determines the rollover direction of the target vehicle, identifies the end of the suspension corresponding to the rollover direction as the target end, and adjusts the stiffness and height of the target end so that the stiffness and height of the target end are greater than the stiffness and height of the end opposite to the target end.

[0079] Specifically, after receiving the first or second rollover signal, the suspension system can adjust the height and stiffness of the suspension to prevent a complete rollover or reduce the possibility of a rollover when the vehicle is in a rollover state or when there is a risk of rollover.

[0080] In this embodiment, the suspension system can first determine the rollover direction based on a first rollover signal or a second rollover signal. The rollover direction can be the direction in which the target vehicle tilts; for example, if the vehicle tilts towards the left wheel, the rollover direction is the left end of the vehicle; or, if the vehicle tilts towards the right wheel, the rollover direction is the right end of the vehicle.

[0081] Furthermore, the suspension system can use the end of the suspension corresponding to the rollover direction as the target end to adjust the stiffness and height of the target end. For example, if the rollover direction is to the left of the vehicle, the left end of the suspension can be used as the target end.

[0082] Specifically, the suspension system can adjust the stiffness and height of the target end to make the stiffness of the target end greater than that of the opposite end, and the height of the target end greater than that of the opposite end, thereby enhancing the stiffness and height of the target end.

[0083] In this embodiment, by increasing the rigidity and height of the target end, the possibility of the target vehicle overturning towards the target end can be reduced, thereby stabilizing the target vehicle and improving the vehicle's driving safety.

[0084] It should be noted that the suspension system can also adjust the stiffness and height of the target end to different degrees. Optionally, after determining that the target vehicle has a rollover risk, the system further includes: the intelligent driving domain controller determining the rollover risk level of the target vehicle based on the predicted rollover probability, and determining the degree of stiffness adjustment and height adjustment based on the rollover risk level; accordingly, adjusting the stiffness and height of the target end, including: adjusting the stiffness of the target end according to the degree of stiffness adjustment, and adjusting the height of the target end according to the degree of height adjustment.

[0085] That is, after determining that the target vehicle has a rollover risk, the intelligent driving domain controller can also determine the rollover risk level by predicting the rollover probability. For example, the higher the predicted rollover probability, the higher the rollover risk level. Furthermore, the rollover risk level determines the degree of stiffness adjustment and height adjustment. For example, the higher the rollover risk level, the higher the degree of stiffness and height adjustment. For instance, the corresponding adjustment levels can be pre-set for different risk levels to form a risk level table, and then the stiffness and height adjustment levels corresponding to the rollover risk level can be retrieved from the risk level table.

[0086] The intelligent driving domain controller can write the stiffness and height adjustment levels into the second rollover signal and send them to the suspension system. Furthermore, when adjusting the stiffness and height of the target end, the suspension system can adjust the stiffness of the target end based on the stiffness adjustment level in the second rollover signal, and adjust the height of the target end based on the height adjustment level in the second rollover signal.

[0087] The above methods enable adjustments to the hardness and height of the target end to varying degrees. The hardness and height of the target end can be dynamically adjusted in real time according to the risk level of rollover, achieving precise adjustment and further reducing the possibility of rollover.

[0088] The vehicle suspension control method provided in this invention detects whether the target vehicle is in a rollover state through a chassis domain controller. When in a rollover state, a first rollover signal is generated and sent to the suspension system. The intelligent driving domain controller determines whether there is a rollover risk based on driving status information and external environment information. If there is a rollover risk, a second rollover signal is generated and sent to the suspension system. The suspension system then responds to the first or second rollover signal to determine the rollover direction and adjusts the stiffness and height of the end of the suspension corresponding to the rollover direction so that the stiffness and height of that end are greater than those of the other end. This achieves the adjustment of the stiffness and height of the suspension system when the vehicle rolls over or when there is a risk of rollover. By increasing the stiffness and height of the rollover end, the possibility of rollover at that end is reduced, thereby improving the driving safety of the vehicle and solving the problem of low safety caused by the fixed suspension posture when the vehicle is about to roll over in the prior art.

[0089] Figure 2 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. For example... Figure 2 As shown, the electronic device 500 includes one or more processors 501 and memory 502.

[0090] The processor 501 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 500 to perform desired functions.

[0091] The memory 502 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 501 may execute the program instructions to implement the vehicle suspension control method of any embodiment of the present invention described above and / or other desired functions. Various contents such as initial extrinsic parameters and thresholds may also be stored in the computer-readable storage medium.

[0092] In one example, the electronic device 500 may further include an input device 503 and an output device 504, these components being interconnected via a bus system and / or other forms of connection mechanisms (not shown). The input device 503 may include, for example, a keyboard, a mouse, etc. The output device 504 may output various information to the outside, including warning messages, braking force, etc. The output device 504 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0093] Of course, for the sake of simplicity, Figure 2 Only some of the components of the electronic device 500 relevant to the present invention are shown, omitting components such as buses, input / output interfaces, etc. In addition, the electronic device 500 may include any other suitable components depending on the specific application.

[0094] In addition to the methods and devices described above, embodiments of the present invention may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps of the vehicle suspension control method provided in any embodiment of the present invention.

[0095] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of the present invention. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0096] Furthermore, embodiments of the present invention may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps of the vehicle suspension control method provided in any embodiment of the present invention.

[0097] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0098] It should be noted that the terminology used in this invention is for describing specific embodiments only and is not intended to limit the scope of the invention. As shown in the specification and claims, unless the context clearly indicates otherwise, words such as "a," "an," "an," and / or "the" do not specifically refer to the singular and may include the plural. The terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, 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, 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, or apparatus that includes said element.

[0099] It should also be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Unless otherwise expressly specified and limited, the terms "installed," "connected," "linked," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components. For those skilled in the art, the specific meaning of the above terms in the present invention can be understood according to the specific circumstances.

[0100] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, and the objective existence of infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. A vehicle suspension control method, characterized in that, include: The chassis domain controller of the target vehicle detects whether the target vehicle is in a rollover state. If so, it generates a first rollover signal and sends it to the suspension system of the target vehicle. The chassis domain controller determines whether the target vehicle is in a rollover state based on the current direction of movement of the target vehicle. The current direction of movement is determined based on the coordinates of the vehicle's center of gravity, the longitudinal axis rotation angle of the vehicle body, and the vertical axis rotation angle of the vehicle body. The chassis domain controller sends the current direction of motion to the intelligent driving domain controller; The intelligent driving domain controller determines the driving status information of the target vehicle based on the current direction of movement, the current wheel speed of the target vehicle, the current vehicle height of the target vehicle, and the current movement path of the target vehicle. The intelligent driving domain controller of the target vehicle determines whether the target vehicle has a risk of rollover based on the driving status information of the target vehicle and the external environment information. If so, it generates a second rollover signal and sends it to the suspension system. The suspension system responds to the first rollover signal or the second rollover signal, determines the rollover direction of the target vehicle, identifies the end of the suspension corresponding to the rollover direction as the target end, and adjusts the stiffness and height of the target end so that the stiffness and height of the target end are greater than the stiffness and height of the end opposite to the target end.

2. The method according to claim 1, characterized in that, The chassis domain controller of the target vehicle detects whether the target vehicle is in a rollover state, including: The chassis domain controller acquires the vehicle center of gravity coordinates, longitudinal axis rotation angle, and vertical axis rotation angle of the target vehicle. The chassis domain controller determines the current direction of motion of the target vehicle based on the vehicle's center of gravity coordinates, the vehicle's longitudinal axis rotation angle, and the vehicle's vertical axis rotation angle. The chassis domain controller detects whether the target vehicle is in a rollover state based on the current direction of motion.

3. The method according to claim 2, characterized in that, The chassis domain controller determines the current direction of motion of the target vehicle based on the vehicle's center of gravity coordinates, the vehicle's longitudinal axis rotation angle, and the vehicle's vertical axis rotation angle, including: The chassis domain controller determines the longitudinal acceleration signal and the vertical acceleration signal of the target vehicle based on the vehicle's center of gravity coordinates, the vehicle's longitudinal axis rotation angle, and the vehicle's vertical axis rotation angle. The chassis domain controller determines the current direction of motion of the target vehicle based on the longitudinal acceleration signal and the vertical axis acceleration signal.

4. The method according to claim 3, characterized in that, Before the intelligent driving domain controller of the target vehicle determines whether the target vehicle has a risk of rollover based on the target vehicle's driving status information and external environment information, the method further includes: The radar sensor of the target vehicle acquires obstacle information of the target vehicle and sends the obstacle information to the intelligent driving domain controller; The intelligent driving domain controller determines the external environment information of the target vehicle based on the obstacle information and the target vehicle's intended driving path.

5. The method according to claim 4, characterized in that, The intelligent driving domain controller of the target vehicle determines whether the target vehicle has a risk of rollover based on the target vehicle's driving status information and external environmental information, including: The intelligent driving domain controller determines the predicted rollover probability of the target vehicle based on the driving status information and the external environment information. The intelligent driving domain controller determines whether the predicted rollover probability is greater than a preset probability threshold. If so, it determines that the target vehicle has a rollover risk.

6. The method according to claim 5, characterized in that, After determining that the target vehicle has a rollover risk, the method further includes: The intelligent driving domain controller determines the rollover risk level of the target vehicle based on the predicted rollover probability, and determines the degree of stiffness adjustment and the degree of height adjustment according to the rollover risk level; Accordingly, adjusting the hardness and height of the target end includes: The hardness of the target end is adjusted according to the hardness adjustment degree, and the height of the target end is adjusted according to the height adjustment degree.

7. The method according to claim 5, characterized in that, The intelligent driving domain controller determines the predicted rollover probability of the target vehicle based on the driving status information and the external environment information, including: Based on the driving status information and the external environment information, the intelligent driving domain controller determines whether there are obstacles in the path to be driven by the target vehicle, and whether the obstacles are run over by one wheel of the target vehicle. If so, the predicted rollover probability of the target vehicle is determined based on the height of the obstacle and the driving status information.

8. An electronic device, characterized in that, The electronic device includes: Processor and memory; The processor executes the steps of the vehicle suspension control method as described in any one of claims 1 to 7 by calling the program or instructions stored in the memory.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program or instructions that cause a computer to perform the steps of the vehicle suspension control method as described in any one of claims 1 to 7.

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