Vehicle stabilizer control method and system

Abstract

The present invention relates to the field of intelligent driving safety technology and provides a vehicle stabilizer wing control method and system, comprising: obtaining vehicle speed, wading conditions, water flow conditions, and wind conditions; controlling the extension and retraction of the stabilizer wing based on the vehicle speed, wading conditions, water flow conditions, and wind conditions; and adjusting the angle of rotation of the stabilizer wing about the Y axis when extending the stabilizer wing to generate downward pressure on the stabilizer wing. Simultaneously, the angle of rotation of the stabilizer wing about the Z axis is adjusted to keep the leading edge of the stabilizer wing facing the wind or water flow. The stabilizer wing is mounted on the bottom of the vehicle or anywhere around the vehicle, and when extended, the stabilizer wing is lower than the vehicle chassis. With the center of gravity of the stabilizer wing as the origin, the Y axis is parallel to the long side of the stabilizer wing, and the Z axis is parallel to the height of the stabilizer wing. This improves the stability of the vehicle body in environments such as water-wading conditions, high-speed headwinds, or crosswinds.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent driving safety technology, and in particular relates to a vehicle stabilizer wing control method and system. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] A slingshot autosculpt is an additional panel installed above the rear of a vehicle, also known as a rear wing. It not only adds a sporty look to the vehicle but also improves grip and stability at high speeds, particularly preventing the vehicle from tipping over in corners and saving fuel.

[0004] However, spoilers have the following problems: they cannot solve the impact force of water flow in water-wading conditions; the airflow on the top of the vehicle is not stable; the spoiler is fixedly installed on the car, which results in the spoiler's diversion angle being fixed, but the wind speed and wind direction are different in different driving environments. For example, the wind resistance is different when driving with a tailwind and driving against a headwind, and it cannot solve the impact force caused by crosswinds.

[0005] Therefore, under the existing technical background, when a vehicle passes through water-wading conditions, high-speed headwind or crosswind environments, the vehicle body will still become unstable due to changes in the adhesion coefficient of the water-wading ground, the lateral impact force of the water flow, the pressure difference formed by the high-speed headwind, and the lateral impact force caused by the crosswind, and in serious cases, even cause safety accidents such as skidding, loss of control and rollover.

[0006] In particular, when the vehicle encounters high-speed crosswinds, the steering wheel is prone to sideways deviation, resulting in poor stability; when the vehicle passes through a flooded road, the water flow is large, which can easily impact the vehicle and cause it to be washed off the road. Summary of the Invention

[0007] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a vehicle stabilizer wing control method and system, which improves the stability of the vehicle body in environments such as water-wading conditions, high-speed headwind or crosswind by controlling the extension and rotation angle of the stabilizer wing.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] A first aspect of the present invention provides a vehicle stabilizer wing control method, comprising:

[0010] Obtain vehicle speed, wading conditions, water flow conditions and wind conditions;

[0011] Based on the vehicle speed, wading conditions, water flow conditions, and wind conditions, the extension and retraction of the stabilizer fins is controlled, and when the stabilizer fins are extended, the angle of rotation of the stabilizer fins about the Y axis is adjusted to generate downward pressure on the stabilizer fins. At the same time, the angle of rotation of the stabilizer fins about the Z axis is adjusted to keep the leading edge of the stabilizer fins facing the wind or water flow;

[0012] Among them, the stabilizer wing is installed at any position under the vehicle or around the vehicle, and the stabilizer wing is lower than the vehicle chassis after being extended; with the center of gravity of the stabilizer wing as the origin, the Y axis is parallel to the long side of the stabilizer wing, and the Z axis is parallel to the height of the stabilizer wing.

[0013] Furthermore, if the vehicle speed is greater than a first threshold and the wading condition is wading, it is determined whether the water flow rate is less than a first specified value or whether the water flow direction is backward; if so, the stabilizer wings are not extended; otherwise, the stabilizer wings are extended, and the angle of rotation of the stabilizer wings around the Y axis is adjusted according to the water flow rate to generate downward pressure of different magnitudes on the stabilizer wings, and the angle of rotation of the stabilizer wings around the Z axis is adjusted according to the water flow direction to keep the leading edge of the stabilizer wings facing the water flow.

[0014] Furthermore, if the vehicle speed is less than or equal to a first threshold and the wading condition is wading, it is determined whether the water flow rate is less than a first specified value or whether the water flow direction is backward; if so, the stabilizer wing is not extended; otherwise, the stabilizer wing is extended, but the rotation angle of the stabilizer wing is not adjusted.

[0015] Furthermore, if the vehicle speed is greater than a first threshold and the wading condition is not wading, it is determined whether the wind force is less than a first set value or whether the wind direction is backward; if so, the stabilizer wings are not extended; otherwise, the stabilizer wings are extended, and the angle of rotation of the stabilizer wings around the Y axis is adjusted according to the wind force to generate downward pressure of different magnitudes on the stabilizer wings, and the angle of rotation of the stabilizer wings around the Z axis is adjusted according to the wind direction to keep the leading edge of the stabilizer wings facing the wind.

[0016] Furthermore, if the vehicle speed is less than or equal to a first threshold and the wading condition is not wading, it is determined whether the wind force is less than a first set value or whether the wind direction is backward; if so, the stabilizer wings are not extended; otherwise, the stabilizer wings are extended, but the rotation angle of the stabilizer wings is not adjusted.

[0017] Furthermore, the wading conditions, water flow conditions and wind conditions are collected by sensors arranged at the bottom of the front of the vehicle.

[0018] Furthermore, the control of the extension and retraction of the stabilizing wing and the adjustment of the rotation angle of the stabilizing wing are achieved by a stabilizing wing actuator composed of a plurality of linear rotating permanent magnet motors.

[0019] A second aspect of the present invention provides a vehicle stabilizer control system, comprising:

[0020] A data acquisition module is configured to: acquire vehicle speed, wading conditions, water flow conditions, and wind conditions;

[0021] a control module configured to: control the extension and retraction of the stabilizer fins based on the vehicle speed, wading conditions, water flow conditions, and wind conditions, and, when extending the stabilizer fins, adjust the angle of rotation of the stabilizer fins about the Y axis to generate downward pressure on the stabilizer fins, and simultaneously adjust the angle of rotation of the stabilizer fins about the Z axis to keep the leading edge of the stabilizer fins facing the wind or water flow;

[0022] Among them, the stabilizer wing is installed at any position under the vehicle or around the vehicle, and the stabilizer wing is lower than the vehicle chassis after being extended; with the center of gravity of the stabilizer wing as the origin, the Y axis is parallel to the long side of the stabilizer wing, and the Z axis is parallel to the height of the stabilizer wing.

[0023] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the vehicle stabilizer wing control method as described above.

[0024] A fourth aspect of the present invention provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the vehicle stabilizer wing control method as described above are implemented.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The present invention provides a vehicle stabilizer wing control method, which can identify the ambient wind force, wind speed, water flow size and direction in real time, and improve the stability of the vehicle body in environments such as water-wading conditions, high-speed headwind or crosswind by controlling the extension and rotation angle of the stabilizer wing in real time.

[0027] The present invention provides a vehicle stabilizer wing control method, which installs the stabilizer wing on the bottom of the vehicle, is compatible with both wind and water working conditions, and the airflow under the vehicle is relatively stable, and the pressure of the stable control output is more stable.

[0028] The present invention provides a vehicle stabilizer wing control method, which controls the extension and rotation angle of the stabilizer wing according to different water flow rates, water flow directions, wind speeds and wind directions. The method can be applied to different environments and has wide applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0030] Figure 1 This is a hardware connection diagram of a vehicle stabilizer wing control method according to the first embodiment of the present invention;

[0031] Figure 21 is a schematic diagram of a rectangular stabilizing wing according to a first embodiment of the present invention;

[0032] Figure 3 Schematic diagram of a stabilizer wing with a raised leading edge and a straight trailing edge according to a first embodiment of the present invention;

[0033] Figure 4 Schematic diagram of wind direction or water flow direction of a vehicle stabilizer wing control method according to embodiment 1 of the present invention. DETAILED DESCRIPTION

[0034] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0035] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0036] Example 1

[0037] This embodiment provides a vehicle stabilizer control method, including:

[0038] Step 1: The controller 6 obtains the vehicle speed and the environmental data collected by the integrated sensor 9.

[0039] Among them, environmental data includes water conditions (whether the vehicle is wading), water flow conditions and wind conditions; water flow conditions include water flow size and direction; wind conditions include wind force (wind speed) and wind direction.

[0040] In one embodiment, the vehicle is a car.

[0041] As an implementation method, the controller can obtain its own vehicle speed signal.

[0042] As an embodiment, the vehicle speed signal can be collected by a separate vehicle speed sensor. The vehicle speed sensor is arranged in the drive axle housing or the transmission housing, and is used to obtain the vehicle speed and upload it to the controller 6 via the sensor signal line 7 or wireless communication.

[0043] like Figure 1 As shown, the integrated sensor 9 is arranged at the bottom of the front of the vehicle body 1, and the integrated sensor 9 includes: a water level sensor, a water flow sensor (water flow size sensor), a water flow direction sensor (water flow direction sensor), a wind speed sensor (wind force size sensor), and a wind direction sensor (wind force direction sensor).

[0044] As an implementation method, the water flow sensor and the water flow direction sensor can be integrated into one sensor; the wind speed sensor and the wind direction sensor can be integrated into one sensor.

[0045] As an embodiment, the vehicle speed sensor and the integrated sensor 9 are both connected to the controller 6 via a sensor signal line 7 or wireless communication.

[0046] Among them, the water level sensor is used to collect whether the vehicle is wading (i.e., the vehicle's wading situation), and upload it to the controller 6 through the sensor signal line 7 or wireless communication; the water flow sensor is used to collect the water flow size when the vehicle is wading (i.e., the water flow size situation currently encountered by the vehicle), and upload it to the controller 6 through the sensor signal line 7 or wireless communication; the water flow direction sensor is used to collect the water flow direction when the vehicle is wading (i.e., the water flow direction situation currently encountered by the vehicle), and upload it to the controller 6 through the sensor signal line 7 or wireless communication; the wind speed sensor is used to collect the wind force of the vehicle's environment (i.e., the wind force situation currently encountered by the vehicle), and upload it to the controller 6 through the sensor signal line 7 or wireless communication; the wind direction sensor is used to collect the wind direction of the vehicle's environment (i.e., the wind direction situation currently encountered by the vehicle), and upload it to the controller 6 through the sensor signal line 7 or wireless communication; the controller 6 receives signals collected by the water level sensor, water flow sensor, water flow direction sensor, wind speed sensor, and wind direction sensor.

[0047] As an implementation method, the wind force is a wind force value calculated by using the ambient wind force and the relative wind force of the vehicle through mechanics (Newton's three laws); the wind direction is also the angle value of the wind force calculation.

[0048] Step 2: The controller 6 analyzes the requirements of the stabilizer wing in real time according to the vehicle speed and environmental data, generates control instructions, and controls the extension and rotation angle of the stabilizer wing 4 through the stabilizer wing actuator 3.

[0049] When the vehicle is stationary (or moving at a low speed) and encounters strong winds or currents, the controller controls the stabilizer actuators to extend the stabilizers. When the vehicle is running (or moving at a high speed) and encounters water, high speed, or crosswinds, the controller controls the stabilizer actuators to extend the stabilizers and control their rotation angle.

[0050] When the controller determines that the stabilizer wings have been extended and still need to be extended, the controller controls the stabilizer wing actuator to keep the stabilizer wings extended; when the controller determines that the stabilizer wings have been extended and there is no need to extend the stabilizer wings, the controller controls the stabilizer wing actuator to retract the stabilizer wings; when the controller determines that the stabilizer wings have not been extended and there is a need to extend the stabilizer wings, the controller controls the stabilizer wing actuator to extend the stabilizer wings; when the controller determines that the stabilizer wings have not been extended and there is no need to extend the stabilizer wings, the controller does not control the stabilizer wing actuator to extend the stabilizer wings.

[0051] When the stabilizer wings are extended, they can generate a downward pressure in the wind (water flow), so that the vehicle body can obtain greater grip in the wind (water flow) to maintain the stability of the vehicle body. Figure 4As shown, the controller controls the stabilizer wing actuator to extend the stabilizer wing, and adjusts the angle of rotation of the stabilizer wing around the Z axis in real time according to the wind direction (water flow direction), which can adapt to the current wind direction and water flow direction encountered by the vehicle; the controller adjusts the angle of rotation of the stabilizer wing around the Y axis in real time according to the wind force (water flow size), which can adjust the size of the stabilizing force.

[0052] The controller can be a separate controller or integrated into any control of the vehicle.

[0053] The stabilizer wing actuator 3 is connected to the controller 6 via a stabilizer wing actuator control line 8 or a wireless communication line. After receiving the control command from the controller 6, the stabilizer wing actuator 3 can extend or retract the stabilizer wing from the vehicle body.

[0054] like Figure 2 and Figure 3 As shown, with the center of gravity of the stabilizer as the origin, the Y axis is parallel to the long side of the stabilizer, the X axis is parallel to the wide side of the stabilizer, and the Z axis is parallel to the height of the stabilizer. When the stabilizer is not extended, the plane containing the Y and X axes is parallel to the bottom of the vehicle (or ground 2).

[0055] like Figure 2 As shown, the shape of the stabilizer wing can be a rectangular parallelepiped. When the stabilizer wing is not extended, a plane formed by the long side and the height faces the front of the vehicle, and this plane is called the leading edge of the stabilizer wing (the front side of the Z axis).

[0056] like Figure 3 As shown, the shape of the stabilizer wing can be a fixed wing, a wing or a spoiler, with a raised leading edge and a straight trailing edge. When the stabilizer wing is not extended, the leading edge (Z-axis front) of the stabilizer wing faces the front of the vehicle.

[0057] The controller 6 analyzes the requirements of the stabilizer wing in real time according to the vehicle speed and environmental data, generates control instructions, and controls the extension and rotation angle of the stabilizer wing 4 through the stabilizer wing actuator 3. The specific steps are as follows:

[0058] (1) Determine the vehicle speed level.

[0059] In one embodiment, the vehicle speed level includes high speed, medium speed, or low speed: if the vehicle speed is within a first speed range (greater than or equal to a second threshold), the vehicle speed is high speed; if the vehicle speed is within a second speed range (greater than the first threshold and less than the second threshold), the vehicle speed is medium speed; if the vehicle speed is within a third speed range (less than or equal to the first threshold), the vehicle speed is medium speed. The second threshold is greater than the first threshold.

[0060] (2) Determine whether the vehicle is wading.

[0061] (3) If the vehicle is traveling at a high or medium speed and is not wading through water, the extension and retraction of the stabilizer fins and the rotation angle control are performed according to the wind force and direction 5.

[0062] As an embodiment, as shown in Table 1, when the vehicle is traveling at a high or medium speed and not wading through water, if the wind force is less than a first set value (i.e., the wind force is low) or the wind direction is rearward (i.e., the wind is blowing from directly behind the vehicle), the stabilizer wings are not extended; if the wind force is greater than the first set value (i.e., the wind force is high or medium), the stabilizer wings are extended, and the angle of rotation of the stabilizer wings around the Y-axis (Y-axis angle) is adjusted according to the wind force, generating different amounts of downward pressure on the stabilizer wings, and the angle of rotation of the stabilizer wings around the Z-axis is adjusted according to the wind direction to keep the leading edge of the stabilizer wings (the front of the Z-axis) facing the wind.

[0063] Table 1. Stabilizer control principle at high or medium speeds and without wading

[0064]

[0065]

[0066] (4) If the vehicle is traveling at a high or medium speed and wading through water, the extension and retraction of the stabilizer fins and the rotation angle control are performed according to the size and direction of the water flow 5.

[0067] As an embodiment, as shown in Table 2, when the vehicle is traveling at high or medium speed and through water, if the water flow rate is less than a first specified value (i.e., the water flow rate is low) or the water flow direction is rearward (i.e., the water flow is from directly behind the vehicle), the stabilizer wings are not extended. If the water flow rate is greater than the first specified value (i.e., the water flow rate is high or medium), the stabilizer wings are extended, and the angle of rotation of the stabilizer wings about the Y axis (Y-axis angle) is adjusted according to the water flow rate, generating varying degrees of downward pressure on the stabilizer wings. The angle of rotation of the stabilizer wings about the Z axis is adjusted according to the direction of the water flow, keeping the leading edge (the front of the Z axis) of the stabilizer wings facing the water flow.

[0068] Table 2. Control principle of stabilizer wing when driving at high or medium speed and wading

[0069]

[0070]

[0071] (4) If the vehicle speed is low and the vehicle is not wading through water, the extension and retraction of the stabilizer blades are controlled according to the wind speed and direction 5, and the rotation angle of the stabilizer blades is not controlled.

[0072] As an embodiment, as shown in Table 3, when the vehicle is at a low speed and not wading through water, if the wind force is less than a first set value (i.e., the wind force is low) or the wind direction is backward (i.e., the wind is blowing from directly behind the vehicle), the stabilizer wings will not be extended; if the wind force is greater than the first set value (i.e., the wind force is high or medium), the stabilizer wings will be extended, but the rotation angle of the stabilizer wings will not be adjusted.

[0073] Table 3. Stabilizer control principle at low speed and without wading

[0074]

[0075]

[0076] (5) If the vehicle speed is low and the vehicle is wading through water, the extension and retraction of the stabilizer fins is controlled according to the size and direction of the water flow 5, and the rotation angle of the stabilizer fins is not controlled.

[0077] As an embodiment, as shown in Table 4, when the vehicle is traveling at a low speed and through water, if the water flow rate is less than a first specified value (i.e., the water flow rate is small) or the water flow direction is rearward (i.e., the water flow is flowing from directly behind the vehicle), the stabilizer wings are not extended. If the water flow rate is greater than the first specified value (i.e., the water flow rate is large or medium), the stabilizer wings are extended, but the rotation angle of the stabilizer wings is not adjusted.

[0078] Table 4. Control principle of stabilizer wing at low speed and wading

[0079]

[0080]

[0081] The stabilizing wing actuator and the stabilizing wing can be installed at any position under the vehicle or around the vehicle, and the stabilizing wing after being extended is lower than the vehicle chassis.

[0082] Preferably, the stabilizer wing actuator and the stabilizer wing are installed at the bottom of the vehicle. The stabilizer wing installed at the bottom of the vehicle can be compatible with both wind and water working conditions, and the airflow at the bottom of the vehicle is relatively stable, and the pressure of the stable control output is more stable.

[0083] The stabilizing wing actuator and the stabilizing wing can be one group or multiple groups.

[0084] Among them, the stabilizer wing actuator can control the stabilizer wing angle in multiple axis systems.

[0085] The size and number of the stabilizer wings are designed based on the wind force (water flow size) that the vehicle often encounters.

[0086] The control of the extension and retraction of the stabilizing wing and the adjustment of the rotation angle of the stabilizing wing are achieved through a stabilizing wing actuator composed of multiple linear rotating permanent magnet motors.

[0087] In one embodiment, the stabilizer wing actuator 3 comprises two linear permanent magnet motors. The output shafts of both motors are connected to the stabilizer wing, and the plane in which the output shafts lie is coplanar with the planes of the Z and X axes. The linear motion of the two motors controls the extension and retraction of the stabilizer wing and the angle of rotation of the stabilizer wing about the Y axis; the rotational motion of the two motors controls the angle of rotation of the stabilizer wing about the Z axis.

[0088] This embodiment provides a vehicle stabilizer wing control method that can identify the ambient wind force, wind speed, water flow size and direction in real time, and improve the stability of the vehicle body in environments such as water-wading conditions, high-speed headwinds or crosswinds by controlling the extension and rotation angles of the stabilizer wing in real time.

[0089] This embodiment provides a vehicle stabilizer wing control method, which installs the stabilizer wing on the bottom of the vehicle. It is compatible with both wind and water working conditions, and the airflow under the vehicle is relatively stable, and the pressure of the stable control output is more stable.

[0090] This embodiment provides a vehicle stabilizer wing control method, which controls the extension and rotation angle of the stabilizer wing according to different water flow rates, water flow directions, wind speeds, and wind directions. It can be applied to different environments and has wide applicability.

[0091] Example 2

[0092] This embodiment provides a vehicle stabilizer control system, which specifically includes: a vehicle speed sensor, an integrated sensor, a stabilizer actuator, a controller and a stabilizer; the controller includes a data acquisition module and a control module.

[0093] A data acquisition module is configured to: acquire vehicle speed, wading conditions, water flow conditions, and wind conditions;

[0094] a control module configured to: control the extension and retraction of the stabilizer fins based on the vehicle speed, wading conditions, water flow conditions, and wind conditions, and, when extending the stabilizer fins, adjust the angle of rotation of the stabilizer fins about the Y axis to generate downward pressure on the stabilizer fins, and simultaneously adjust the angle of rotation of the stabilizer fins about the Z axis to keep the leading edge of the stabilizer fins facing the wind or water flow;

[0095] Among them, the stabilizer wing is installed at any position under the vehicle or around the vehicle, and the stabilizer wing is lower than the vehicle chassis after being extended; with the center of gravity of the stabilizer wing as the origin, the Y axis is parallel to the long side of the stabilizer wing, and the Z axis is parallel to the height of the stabilizer wing.

[0096] The control module is specifically configured to: if the vehicle speed is less than or equal to a first threshold and the wading condition is wading, determine whether the water flow rate is less than a first specified value or whether the water flow direction is rearward; if so, do not extend the stabilizer wings; otherwise, extend the stabilizer wings but do not adjust their rotation angles. If the vehicle speed is greater than the first threshold and the wading condition is not wading, determine whether the wind force is less than a first set value or whether the wind direction is rearward; if so, do not extend the stabilizer wings; otherwise, extend the stabilizer wings and adjust the stabilizer wings' rotation angle about the Y axis based on the wind force to generate varying amounts of downward pressure on the stabilizer wings, and adjust the stabilizer wings' rotation angle about the Z axis based on the wind direction to keep the stabilizer wings' leading edges facing the wind. If the vehicle speed is less than or equal to the first threshold and the wading condition is not wading, determine whether the wind force is less than a first set value or whether the wind direction is rearward; if so, do not extend the stabilizer wings; otherwise, extend the stabilizer wings but do not adjust their rotation angles.

[0097] Among them, the data acquisition module is connected to the vehicle speed sensor and the integrated sensor respectively; the wading conditions, water flow conditions and wind conditions are collected by the integrated sensor set at the bottom of the front of the vehicle; the vehicle speed is collected by the vehicle speed sensor.

[0098] Among them, the control module is connected to the stabilizing wing actuator, and the control of the extension and extension of the stabilizing wing and the adjustment of the rotation angle of the stabilizing wing are achieved through the stabilizing wing actuator composed of multiple linear rotating permanent magnet motors.

[0099] It should be noted here that the various modules in this embodiment correspond one-to-one to the various steps in Example 1, and the specific implementation processes are the same, which will not be repeated here.

[0100] Example 3

[0101] This embodiment provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the steps of the vehicle stabilizer wing control method described in the first embodiment are implemented.

[0102] Example 4

[0103] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the vehicle stabilizer wing control method described in the first embodiment are implemented.

[0104] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.

[0105] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0106] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0107] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0108] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a computer program. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0109] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A vehicle stabilizer control method, characterized in that: include: Obtain vehicle speed, wading conditions, water flow conditions and wind conditions; Based on the vehicle speed, wading conditions, water flow conditions, and wind conditions, the extension and retraction of the stabilizer fins is controlled, and when the stabilizer fins are extended, the angle of rotation of the stabilizer fins about the Y axis is adjusted to generate downward pressure on the stabilizer fins. At the same time, the angle of rotation of the stabilizer fins about the Z axis is adjusted to keep the leading edge of the stabilizer fins facing the wind or water flow; The stabilizer wing is installed at any position on the bottom or around the vehicle, and when extended, it is lower than the vehicle chassis; with the center of gravity of the stabilizer wing as the origin, the Y axis is parallel to the long side of the stabilizer wing, and the Z axis is parallel to the height of the stabilizer wing; When the stabilizer wings are extended, they can generate a downward pressure in the wind and water flow, so that the vehicle body can obtain greater grip in the wind and water flow to maintain the stability of the vehicle body; If the vehicle speed is greater than a first threshold and the wading condition is wading, determining whether the water flow rate is less than a first specified value or whether the water flow direction is backward; if so, not extending the stabilizer fins; otherwise, extending the stabilizer fins and adjusting the angle of rotation of the stabilizer fins about the Y axis according to the water flow rate to generate different amounts of downward pressure on the stabilizer fins, and adjusting the angle of rotation of the stabilizer fins about the Z axis according to the water flow direction to keep the leading edge of the stabilizer fins facing the water flow; If the vehicle speed is greater than a first threshold and the wading condition is not wading, it is determined whether the wind force is less than a first set value or whether the wind direction is backward; if so, the stabilizer wings are not extended; otherwise, the stabilizer wings are extended, and the angle of rotation of the stabilizer wings around the Y axis is adjusted according to the wind force to generate different amounts of downward pressure on the stabilizer wings, and the angle of rotation of the stabilizer wings around the Z axis is adjusted according to the wind direction to keep the leading edge of the stabilizer wings facing the wind.

2. A vehicle stabilizer control method according to claim 1, characterized in that: If the vehicle speed is less than or equal to a first threshold and the wading condition is wading, determine whether the water flow rate is less than a first specified value or whether the water flow direction is backward; if so, do not extend the stabilizer wing; otherwise, extend the stabilizer wing but do not adjust the rotation angle of the stabilizer wing.

3. The vehicle stabilizer control method according to claim 1, wherein: If the vehicle speed is less than or equal to the first threshold and the wading condition is not wading, it is determined whether the wind force is less than a first set value or whether the wind direction is backward; if so, the stabilizer wings are not extended; otherwise, the stabilizer wings are extended but the rotation angle of the stabilizer wings is not adjusted.

4. The vehicle stabilizer control method according to claim 1, wherein: The wading conditions, water flow conditions and wind conditions are collected by sensors arranged at the bottom of the front of the vehicle.

5. The vehicle stabilizer control method according to claim 1, wherein: The control of the extension and retraction of the stabilizing wing and the adjustment of the rotation angle of the stabilizing wing are achieved through a stabilizing wing actuator composed of multiple linear rotating permanent magnet motors.

6. A vehicle stabilizer control system, characterized in that: include: A data acquisition module is configured to: acquire vehicle speed, wading conditions, water flow conditions, and wind conditions; a control module configured to: control the extension and retraction of the stabilizer fins based on the vehicle speed, wading conditions, water flow conditions, and wind conditions, and, when extending the stabilizer fins, adjust the angle of rotation of the stabilizer fins about the Y axis to generate downward pressure on the stabilizer fins, and simultaneously adjust the angle of rotation of the stabilizer fins about the Z axis to keep the leading edge of the stabilizer fins facing the wind or water flow; The stabilizer wing is installed at any position on the bottom or around the vehicle, and when extended, it is lower than the vehicle chassis; with the center of gravity of the stabilizer wing as the origin, the Y axis is parallel to the long side of the stabilizer wing, and the Z axis is parallel to the height of the stabilizer wing; When the stabilizer wings are extended, they can generate a downward pressure in the wind and water flow, so that the vehicle body can obtain greater grip in the wind and water flow to maintain the stability of the vehicle body; If the vehicle speed is greater than a first threshold and the wading condition is wading, determining whether the water flow rate is less than a first specified value or whether the water flow direction is backward; if so, not extending the stabilizer fins; otherwise, extending the stabilizer fins and adjusting the angle of rotation of the stabilizer fins about the Y axis according to the water flow rate to generate different amounts of downward pressure on the stabilizer fins, and adjusting the angle of rotation of the stabilizer fins about the Z axis according to the water flow direction to keep the leading edge of the stabilizer fins facing the water flow; If the vehicle speed is greater than a first threshold and the wading condition is not wading, it is determined whether the wind force is less than a first set value or whether the wind direction is backward; if so, the stabilizer wings are not extended; otherwise, the stabilizer wings are extended, and the angle of rotation of the stabilizer wings around the Y axis is adjusted according to the wind force to generate different amounts of downward pressure on the stabilizer wings, and the angle of rotation of the stabilizer wings around the Z axis is adjusted according to the wind direction to keep the leading edge of the stabilizer wings facing the wind.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of a vehicle stabilizer wing control method according to any one of claims 1 to 5 are implemented.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the vehicle stabilizer wing control method according to any one of claims 1 to 5 are implemented.

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