Vehicle large-gradient steering chassis anti-scratching control method and system

Abstract

The present application discloses a vehicle large-gradient steering chassis anti-scuffing control method and system. The method includes the following steps: obtaining the vehicle driving conditions; obtaining the large-gradient steering chassis anti-scuffing driving mode entry conditions of the vehicle according to the obtained vehicle driving conditions; when the vehicle enters the large-gradient steering chassis anti-scuffing driving mode, obtaining the ground clearance of the chassis during large-gradient steering of the vehicle and the ground clearance safety threshold of the chassis; comparing the ground clearance of the chassis during large-gradient steering of the vehicle and the ground clearance safety threshold of the chassis to obtain the comparison conditions; obtaining the current vehicle speed and the distance between the vehicle and the turning ramp; controlling and executing different vehicle large-gradient steering chassis anti-scuffing methods according to the obtained comparison conditions and distance. The present application effectively guarantees the driving safety of the vehicle by automatically identifying and intervening in the chassis anti-scuffing control and controlling and executing different vehicle large-gradient steering chassis anti-scuffing methods according to the obtained comparison conditions, current vehicle speed and distance.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle intelligent control, and specifically relates to a control method and system for preventing chassis rubbing during large-slope turning of a vehicle. Background Art

[0002] When a vehicle passes through a road condition with a large-slope turn, due to the large turning angle value and the inclined road surface, one side of the vehicle body will tilt, and there will be an interference between the chassis and the transition road surface, resulting in chassis rubbing. For traditional vehicle models, especially sedans without ASC, the body height posture cannot be adjusted, and it is more likely to occur when the body posture is low when fully loaded. For vehicle models equipped with ASC, the condition for changing the body height posture is available, and the driver needs to identify and judge in advance. When encountering a risky road condition, the body height should be raised in advance to avoid rubbing the chassis.

[0003] The prior art provides an electronically controlled air suspension vehicle height adjustment control method, which uses a body height sensor to obtain the real-time signal of the body height, filters this signal and transmits it to the vehicle height adjustment control unit. The vehicle height adjustment control unit compares the current body height signal with the target body height signal, and then outputs a control signal according to the pre-set hysteresis interval and vehicle height adjustment control method. The control signal is used to directly control the on-off state of the solenoid valve related to vehicle height adjustment, so as to realize the control of the gas mass flow rate entering or flowing out of the air spring. The control method proposed by the present invention can effectively adjust the body height of the electronically controlled air suspension, prevent the frequent switching of the on-off state of the solenoid valve, improve the service life of the solenoid valve, and reduce the energy consumption of the system.

[0004] However, this technical solution has the following defect problems:

[0005] 1. It has no function of automatically identifying large-slope + turning working conditions;

[0006] 2. The system cannot autonomously intervene to adjust the suspension height. In the case of inexperienced drivers or drivers who are overly confident in their driving skills, the suspension height may not be adjusted, resulting in chassis rubbing and posing a driving hazard. Summary of the Invention

[0007] The purpose of the present application is to overcome the above deficiencies in the background art and provide a control method and system for preventing chassis rubbing during large-slope turning of a vehicle.

[0008] In the first aspect, a control method for preventing chassis rubbing during large-slope turning of a vehicle is provided, including the following steps:

[0009] Obtain the driving condition of the vehicle;

[0010] According to the obtained driving condition of the vehicle, obtain the working condition for entering the driving mode of preventing chassis rubbing during large-slope turning of the vehicle;

[0011] When the vehicle enters the anti-scuffing driving mode for large-slope turning of the chassis, obtain the ground clearance of the chassis when the vehicle makes a large-slope turn and the safety threshold of the ground clearance of the chassis.

[0012] Compare the ground clearance of the chassis when the vehicle makes a large-slope turn with the safety threshold of the ground clearance of the chassis to obtain the comparison working condition.

[0013] Obtain the current vehicle speed and the distance between the vehicle and the turning ramp.

[0014] According to the obtained comparison working condition, current vehicle speed, and the distance between the vehicle and the turning ramp, control and execute different anti-scuffing methods for the large-slope turning chassis of the vehicle.

[0015] According to the first aspect, in the first implementation manner of the first aspect, the steps of obtaining the working condition for entering the anti-scuffing driving mode for the large-slope turning chassis of the vehicle according to the vehicle driving condition specifically include the following steps:

[0016] Obtain the turning requirement working condition in front of the vehicle.

[0017] When there is a turning requirement in front of the vehicle, obtain the working condition of the presence or absence of a ramp at the turning point in front of the vehicle.

[0018] When there is a ramp at the turning point, obtain the slope value of the ramp.

[0019] When the slope value of the ramp exceeds the slope threshold, determine that the vehicle enters the anti-scuffing driving mode for the large-slope turning chassis.

[0020] According to the first aspect, in the second implementation manner of the first aspect, the steps of obtaining the ground clearance of the chassis when the vehicle makes a large-slope turn specifically include the following steps:

[0021] Obtain the corner value when the vehicle makes a large-slope turn.

[0022] According to the obtained corner value, obtain the clearance correction value of the ground clearance of the vehicle chassis.

[0023] Based on the obtained clearance correction value, obtain the ground clearance of the chassis when the vehicle makes a large-slope turn.

[0024] According to the second implementation manner of the first aspect, in the third implementation manner of the first aspect, the steps of controlling and executing different anti-scuffing methods for the large-slope turning chassis of the vehicle according to the obtained comparison working condition, current vehicle speed, and the distance between the vehicle and the turning ramp specifically include the following steps:

[0025] When the distance between the vehicle and the turning ramp is less than the first distance, control and send an anti-scuffing warning instruction.

[0026] According to the third implementation manner of the first aspect, in the fourth implementation manner of the first aspect, the method for preventing the chassis from rubbing during large-slope turning of the vehicle by controlling different current vehicle speeds according to the obtained comparison working conditions, current vehicle speed, and the distance between the vehicle and the turning ramp further includes the following steps:

[0027] When the distance between the vehicle and the turning ramp is less than the second distance and greater than the third distance and the current vehicle speed is greater than the vehicle speed threshold, control the current vehicle speed to decrease to not exceed the vehicle speed upper limit value and raise the air spring;

[0028] When the distance between the vehicle and the turning ramp is less than the second distance and greater than the third distance and the current vehicle speed is not greater than the vehicle speed threshold, control the vehicle to enter the anti-rubbing preparation mode.

[0029] According to the fourth implementation manner of the first aspect, in the fifth implementation manner of the first aspect, the method for preventing the chassis from rubbing during large-slope turning of the vehicle by controlling different current vehicle speeds according to the obtained comparison working conditions, current vehicle speed, and the distance between the vehicle and the turning ramp further includes the following steps:

[0030] When the distance between the vehicle and the turning ramp is greater than the third distance, control the current vehicle speed to decrease to not exceed the vehicle speed upper limit value and raise the air spring.

[0031] According to the first aspect, in the sixth implementation manner of the first aspect, after the steps of the method for preventing the chassis from rubbing during large-slope turning of the vehicle by controlling different current vehicle speeds according to the obtained comparison working conditions, current vehicle speed, and the distance between the vehicle and the turning ramp, the following steps are further included:

[0032] Obtain the working conditions for satisfying the exit condition of the anti-rubbing mode of the large-ramp turning chassis of the vehicle;

[0033] When it is obtained that the current driving condition of the vehicle satisfies the exit condition of the anti-rubbing mode of the large-ramp turning chassis, control to exit the mode.

[0034] In a second aspect, the present application provides a vehicle large-slope turning chassis anti-rubbing control system, including:

[0035] A driving condition acquisition module for acquiring the driving condition of the vehicle;

[0036] A mode entry condition acquisition module, communicatively connected to the driving condition acquisition module, for acquiring the working conditions for entering the anti-rubbing driving mode of the large-ramp turning chassis of the vehicle according to the acquired driving condition of the vehicle;

[0037] A clearance value acquisition module, communicatively connected to the mode entry condition acquisition module, for acquiring the ground clearance of the chassis during large-ramp turning of the vehicle and the safety threshold of the ground clearance of the chassis when the vehicle enters the anti-rubbing driving mode of the large-ramp turning chassis;

[0038] The comparison working condition acquisition module, which is communicatively connected to the clearance value acquisition module, is used to compare the ground clearance of the chassis when the vehicle makes a sharp turn on a slope and the safety threshold of the ground clearance of the chassis, so as to obtain the comparison working condition;

[0039] The vehicle speed and distance acquisition module acquires the current vehicle speed of the vehicle and the distance between the vehicle and the turning ramp;

[0040] The anti-scuffing control module, which is communicatively connected to the comparison working condition acquisition module and the vehicle speed and distance acquisition module, is used to control and execute different anti-scuffing methods for the chassis of the vehicle when making a sharp turn on a slope according to the acquired comparison working condition, current vehicle speed, and the distance between the vehicle and the turning ramp.

[0041] According to the second aspect, in the first implementation manner of the second aspect, the mode entry working condition acquisition module includes:

[0042] The turning requirement working condition acquisition unit is used to acquire the turning requirement working condition in front of the vehicle;

[0043] The ramp presence / absence working condition acquisition unit, when there is a turning requirement in front of the vehicle, acquires the ramp presence / absence working condition at the turning point in front of the vehicle;

[0044] The slope value acquisition unit, which is communicatively connected to the ramp presence / absence working condition acquisition unit, is used to acquire the slope value of the ramp when there is a ramp at the turning point;

[0045] The mode determination unit, which is communicatively connected to the slope value acquisition unit, is used to determine that the vehicle enters the anti-scuffing driving mode for the chassis when making a sharp turn on a slope when the slope value of the ramp exceeds the slope threshold.

[0046] According to the second aspect, in the second implementation manner of the second aspect, the clearance value acquisition module includes:

[0047] The steering angle acquisition unit is used to acquire the steering angle;

[0048] The correction value acquisition unit, which is communicatively connected to the steering angle acquisition unit, is used to acquire the clearance correction value of the ground clearance of the vehicle chassis according to the acquired steering angle value;

[0049] The ground clearance acquisition unit, which is communicatively connected to the correction value acquisition unit, is used to acquire the ground clearance of the vehicle chassis when making a sharp turn on a slope based on the acquired clearance correction value.

[0050] Compared with the prior art, the advantages of the present application are as follows:

[0051] The present application provides a method for preventing chassis scraping during large-gradient turning of a vehicle. By automatically identifying the driving mode for preventing chassis scraping during large-gradient turning of the vehicle and based on the obtained comparison working conditions, the current vehicle speed, and the distance between the vehicle and the turning ramp, different methods for preventing chassis scraping during large-gradient turning of the vehicle are controlled, effectively ensuring the driving safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a flowchart of the method for preventing chassis scraping during large-gradient turning of the vehicle provided by an embodiment of the present application;

[0053] Figure 2 It is another flowchart of the method for preventing chassis scraping during large-gradient turning of the vehicle provided by an embodiment of the present application;

[0054] Figure 3 It is a functional module block diagram of the control system for preventing chassis scraping during large-gradient turning of the vehicle provided by an embodiment of the present application;

[0055] Figure 4 It is another functional module block diagram of the control system for preventing chassis scraping during large-gradient turning of the vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] Now, specific embodiments of the present application will be described in detail. Examples of the present application are illustrated in the accompanying drawings. Although the present application will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the present application to the described embodiments. On the contrary, it is intended to cover modifications, variations, and equivalents included within the spirit and scope of the present application as defined by the appended claims. It should be noted that the method steps described herein can all be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of both.

[0057] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0058] Note: The examples to be introduced next are only specific examples and do not limit the embodiments of the present application to the following specific steps, numerical values, conditions, data, sequences, etc. Those skilled in the art can use the concept of the present application disclosed in this specification to construct more embodiments not mentioned in this specification.

[0059] When a vehicle passes through a road condition with a large gradient turn, due to the body tilt during turning, there is a risk of chassis scraping, which affects the driving safety of the vehicle. In the prior art, there is no method for preventing chassis scraping during large-gradient turning of the vehicle.

[0060] See Figure 1As shown in the figure, an embodiment of the present application provides a vehicle large slope steering chassis anti-scuffing control method, including the following steps:

[0061] Step S1, obtain the vehicle driving condition;

[0062] Step S2, according to the obtained vehicle driving condition, obtain the working condition for entering the large slope steering chassis anti-scuffing driving mode of the vehicle;

[0063] Step S3, when the vehicle enters the large slope steering chassis anti-scuffing driving mode, obtain the ground clearance of the chassis when the vehicle makes a large slope turn and the safety threshold of the chassis ground clearance;

[0064] Step S4, compare the ground clearance of the chassis when the vehicle makes a large slope turn and the safety threshold of the chassis ground clearance to obtain the comparison working condition;

[0065] Step S5, obtain the current vehicle speed and the distance between the vehicle and the turning ramp;

[0066] Step S6, according to the obtained comparison working condition, current vehicle speed and the distance between the vehicle and the turning ramp, control and execute different vehicle large slope steering chassis anti-scuffing methods.

[0067] The vehicle large slope steering chassis anti-scuffing control method provided by the present application automatically identifies the working condition for entering the large slope steering chassis anti-scuffing mode through the vehicle driving condition. When entering this mode, according to the comparison working condition between the current vehicle speed, the distance between the vehicle and the turning ramp, and the ground clearance of the vehicle chassis and the safety threshold of the ground clearance, control and execute different vehicle large slope steering chassis anti-scuffing methods to achieve the effect of chassis anti-scuffing and ensure the driving safety of the vehicle.

[0068] In one embodiment, according to step S2, the step of obtaining the working condition for entering the large slope steering chassis anti-scuffing driving mode of the vehicle according to the vehicle driving condition specifically includes the following steps:

[0069] Step S21, obtain the turning requirement working condition in front of the vehicle;

[0070] Step S22, when there is a turning requirement in front of the vehicle, obtain the working condition of the existence or non-existence of a ramp at the turning point in front of the vehicle;

[0071] Step S23, when there is a ramp at the turning point, obtain the slope value of the ramp;

[0072] Step S24A, when the slope value of the ramp exceeds the slope threshold, determine that the vehicle enters the large slope steering chassis anti-scuffing driving mode;

[0073] Step S24B, when any of the following conditions A)-C) is satisfied, determine that the vehicle does not enter the large slope steering chassis anti-scuffing driving mode:

[0074] A) Step S21 is not satisfied;

[0075] B) Step S21 is satisfied, but step S22 is not satisfied;

[0076] C) Step S21 is satisfied, step S22 is satisfied, but when the ramp value is not greater than the slope threshold.

[0077] The vehicle large-slope steering chassis anti-scuffing control method provided by this application realizes the automatic recognition of whether to enter the large-slope steering chassis anti-scuffing driving mode of the vehicle by sequentially obtaining the turning demand working condition in front of the vehicle, the presence or absence of a ramp condition at the front turning of the vehicle, and the slope value of the ramp at the front turning of the vehicle. Accordingly, an anti-scuffing control method is made to ensure the driving safety of the vehicle.

[0078] In one embodiment, please refer to Figure 2 , when the vehicle passes through a road surface with different angles of inclination and different turning angles, the dynamic model of the vehicle will also show corresponding differences. A large turning angle will cause the front axle to tilt and is more likely to collide. Through a large amount of actual vehicle test data and combined with the vehicle momentum model, the correction value of the influence of the steering wheel turning angle on the vehicle ground clearance can be obtained by simulation in the MATLAB system. The step of obtaining the ground clearance of the chassis during large-slope steering of the vehicle in step S3 specifically includes the following steps:

[0079] Step S31: Obtain the turning angle value during large-slope steering of the vehicle;

[0080] Step S32: According to the obtained turning angle value, obtain the clearance correction value of the vehicle chassis ground clearance;

[0081] Step S33: Based on the obtained clearance correction value, obtain the ground clearance of the chassis during large-slope steering of the vehicle.

[0082] In a more specific embodiment, step S33: Based on the obtained clearance correction value, obtain the ground clearance of the chassis during large-slope steering of the vehicle, and the specific implementation is:

[0083]

[0084] In the formula, H is the minimum safe ground clearance allowed by the vehicle design chassis, h is the ground clearance of the chassis designed on the ramp road surface / horizontal road surface, h' is the ground clearance of the chassis when passing through the turning intersection, α is the inclination angle of the road surface, β is the turning angle required for the turning intersection, the turning angle Ψ of the vehicle steering wheel = β * Z * η (Z is the steering system transmission ratio, η is the steering system efficiency), θ is the angle between the vehicle body and the horizontal road surface when passing through the transition road surface, L is the vehicle wheelbase, B is the vehicle track width, and F(L, B, β) is the clearance correction value.

[0085] In a modified embodiment of the present application, based on different vehicle power models, when the vehicle is turning and there is no obvious body tilt of the vehicle body, without considering the influence of the steering angle on the chassis ground clearance during vehicle steering, the ground clearance of the chassis during large-gradient steering of the vehicle is calculated and obtained according to the following formula in step S3:

[0086]

[0087] In the formula, H is the minimum safe ground clearance allowed for the vehicle's designed chassis, h is the designed chassis ground clearance on the slope road surface / horizontal road surface, h' is the chassis ground clearance when passing through the turning intersection, α is the inclination angle of the road surface, β is the turning angle required for the turning intersection, the steering angle Ψ of the vehicle steering wheel = β * Z * η (Z is the steering system transmission ratio, η is the steering system efficiency), θ is the angle between the vehicle body and the horizontal road surface when passing through the transition road surface, L is the wheelbase of the vehicle, and B is the track width of the vehicle.

[0088] In one embodiment, in step S6, according to the obtained comparison working conditions, the current vehicle speed, and the distance between the vehicle and the turning ramp, different vehicle large-gradient steering chassis anti-scratching methods are controlled, which specifically include the following steps:

[0089] Step S61A: When the distance between the vehicle and the turning ramp is less than the first distance, control to send an anti-scratching warning instruction; and / or,

[0090] Step S62A: When the distance between the vehicle and the turning ramp is less than the second distance and greater than the third distance and the current vehicle speed is greater than the vehicle speed threshold, control the current vehicle speed to be reduced to not exceed the vehicle speed upper limit value and the air spring to be raised; and / or,

[0091] Step S63A: When the distance between the vehicle and the turning ramp is less than the second distance and greater than the third distance and the current vehicle speed is not greater than the vehicle speed threshold, control the vehicle to enter the anti-scratching preparation mode.

[0092] Step S64A: When the distance between the vehicle and the turning ramp is less than the second distance and greater than the third distance and the current vehicle speed is not greater than the vehicle speed threshold.

[0093] Among them, the magnitude relationship of the first distance, the second distance, and the third distance is the first distance > the second distance > the third distance. The first distance, the second distance, the third distance, and the vehicle speed threshold are all calibration values, and are individually matched and calibrated according to the particularity of different vehicle models.

[0094] The vehicle large slope turning chassis anti-scratching control method provided by this application comprehensively considers the current vehicle speed, the distance between the vehicle and the turning slope ahead, and the chassis ground clearance to provide chassis anti-scratching control, provides a suitable time control gradient and the corresponding chassis anti-scratching control method, and realizes the protection effect of the chassis anti-scratching method while ensuring the vehicle driving performance.

[0095] In one embodiment, step S6, according to the obtained comparison working conditions, the current vehicle speed, and the distance between the vehicle and the turning slope, controls the execution of different vehicle large slope turning chassis anti-scratching methods, and can also be realized as further combining whether the vehicle has an obvious turning intention for chassis anti-scratching control, specifically including the following steps:

[0096] Step S61B: When the distance between the vehicle and the turning slope is less than the first distance, no prompt is issued, and after entering S1, it is not restricted by the vehicle speed. ASC only issues a reminder "There is a large slope turn ahead, please drive carefully and slow down", and the prompt instrument pop-up window lasts for 3 s;

[0097] Step S62B: When the distance between the vehicle and the turning slope is less than the second distance and greater than the third distance, and the current vehicle speed is greater than the vehicle speed threshold and there is a clear turning intention, then ASC forcibly intervenes in the control and enters the "anti-scratching chassis mode for large slope turning";

[0098] Step S63B: When the distance between the vehicle and the turning slope is less than the second distance and greater than the third distance, and the current vehicle speed is less than the vehicle speed threshold, then continue to remind, and pre-inflate the air pressure of the air tank in advance to ensure that the air pressure in the air storage tank is at a relatively high pressure value (18 bar), which is convenient for subsequent rapid + lifting; if there is no obvious turning intention, in addition to the warning in S1, a sound reminder is added, with a frequency of 0.5 HZ;

[0099] Step S64B: When the distance between the vehicle and the turning slope is less than the second distance and greater than the third distance, and the current vehicle speed is not greater than the vehicle speed threshold, then regardless of the vehicle speed, as long as there is a clear turning intention, control the current vehicle speed to be reduced to not exceed the vehicle speed upper limit value and the air spring is raised;

[0100] Step S65B: When the distance between the vehicle and the turning slope is less than the second distance and greater than the third distance, and the current vehicle speed is not greater than the vehicle speed threshold and there is no obvious turning intention, then regardless of the vehicle speed, in addition to the warning in S1, a sound reminder is added, with a frequency of 2 HZ;

[0101] Among them, the safety distance S1 < S2 < S3, the speed V1, and they are all calibrated values, and are separately matched and calibrated according to the particularity of different vehicle models.

[0102] The vehicle large-slope steering chassis anti-scuffing control method provided by this application comprehensively considers the current vehicle speed, the distance between the vehicle and the turning slope in front of the vehicle, the chassis ground clearance, and the steering intention, provides chassis anti-scuffing control, provides a suitable time control gradient and the corresponding chassis anti-scuffing control method, and protects the chassis while ensuring the vehicle driving performance.

[0103] In this application, based on the working condition identification and judgment of the large-slope steering chassis anti-scuffing driving mode of the vehicle, it further obtains whether the vehicle has a clear steering intention, strengthens the protection intensity of the vehicle's steering anti-scuffing method, and further ensures the driving safety of the vehicle to make up for the misjudgment of the premise of the vehicle's forward turning intention caused by the accuracy error of vehicle navigation or abnormal road conditions.

[0104] In one embodiment, when any of the following conditions E)-F) is met, it is determined that the vehicle has an obvious steering intention:

[0105] E) The route planned by ADAS for autonomous driving has a clear turning requirement;

[0106] F) Autopilot is not turned on, but there is an obvious speed reduction at the intersection and the turn signal is on;

[0107] G) By positioning, the vehicle is driving in the leftmost left-turn lane;

[0108] H) There is only a turning road ahead of the lane and it is necessary to turn;

[0109] In one embodiment, controlling the current vehicle speed to decrease to not exceed the vehicle speed upper limit value and the air spring to rise is specifically implemented in the following two steps:

[0110] Step A: The ASC requests the VCU to control the vehicle speed to decrease to within 40 Km / h and does not allow the vehicle speed to exceed 40 Km / h to ensure the stability of cornering;

[0111] Step B: Control the whole vehicle to enter the allroad mode, and the air spring rises to the highest height, which can be calibrated according to the specific vehicle model. For example, it is lifted by 60 mm to ensure that the body posture is at the highest position. The high ground clearance ensures good passability and avoids scraping the chassis;

[0112] For some vehicle models, if the computing power is sufficient, it can be combined with the slope and the turning angle. For the same slope, if the included angles of the left turn and the right turn on the road are different, the actual lifting heights required for the left turn and the right turn are also different. The acute-angle working condition is more likely to cause chassis scuffing. According to the vehicle model, the required lifting height H' is simulated and calculated, and the body is controlled to be lifted by H'mm to avoid excessive consumption of high-pressure gas in the air storage tank in step B where it is all lifted to the highest position.

[0113] In one embodiment, the controlling and executing different vehicle steep-slope steering chassis anti-scratch methods based on the obtained comparison working conditions, the current vehicle speed, and the distance between the vehicle and the turning ramp further includes the following steps:

[0114] When the distance between the vehicle and the turning ramp is less than the third distance, the current vehicle speed is controlled to decrease to not exceed the vehicle speed upper limit value and the air spring is increased.

[0115] In one embodiment, after the step of controlling the execution of different vehicle steep-slope steering chassis anti-scratch methods based on the obtained comparison working conditions, the current vehicle speed, and the distance between the vehicle and the turning ramp, the following steps are further included:

[0116] Obtaining the working conditions that satisfy the exit conditions of the vehicle's steep slope steering chassis anti-scratch mode;

[0117] When it is obtained that the current driving condition of the vehicle meets the exit conditions of the steep steering chassis anti-scratch mode, the control exits the mode.

[0118] In one embodiment, when it is determined that the current driving condition of the vehicle satisfies the exit condition of the steep-slope steering chassis anti-scratch mode, the control mode is exited, which is specifically implemented as follows:

[0119] After the vehicle passes the curve, the control unit requests the VCU to release the speed limit; and / or,

[0120] Control returns to the driving mode and suspension height that existed before the anti-scratch control intervention; and / or,

[0121] The control instrument prompts "Exit the vehicle's steep steering chassis anti-scratch driving mode."

[0122] In one embodiment, considering an emergency situation, when it is determined that the current driving condition of the vehicle satisfies the exit condition of the steep steering chassis anti-scratch mode, the control exit mode is specifically implemented as follows:

[0123] Scenario 1: The vehicle has entered the "chassis scratch prevention mode" and the turned-on turn signal is abnormally turned off. The "chassis scratch prevention mode" will be maintained and will not be exited.

[0124] Scenario 2: The vehicle in front of the vehicle suddenly stops while in "chassis anti-slope steering mode." The vehicle brakes suddenly to a stop and remains in "chassis anti-slope steering mode."

[0125] Scenario 3: The navigation clearly indicates that the vehicle will pass through the intersection without turning, and the "chassis scratch prevention mode" has not been entered. However, Example 6 determines that there is a risk of scratching the vehicle when passing through the turning intersection, and the turn signal is suddenly turned on, immediately entering the "chassis scratch prevention mode";

[0126] Case 4: It is impossible to determine whether there is an intention to turn. However, if Example 6 determines that there is a risk of rubbing when passing through a turning intersection, the vehicle will also enter the "Anti-rubbing Chassis Mode for Large-slope Steering".

[0127] In this application, the vehicle's anti-rubbing chassis function for large-slope steering of the vehicle is default automatically enabled for the whole vehicle. If the driver has special requirements, the function can be turned off through the soft switch of the IVI. However, when turning off the instrument, a disclaimer pop-up window prompt is required.

[0128] In this application, the above control method is that the ASC interacts with the ADAS by itself according to the software that has embodied the control strategy to identify, judge and execute.

[0129] In this application, it is necessary to ensure that the air storage tank has a relatively high pressure value at any time to ensure the lifting speed of the air spring.

[0130] The vehicle's anti-rubbing chassis control method for large-slope steering provided by this application enables the ASC system to independently identify the risk of rubbing the chassis in large-slope turning road conditions. In addition to identifying risks, it will take effective pop-up warnings and sound warnings, and the sound will become more urgent as the safety distance shortens. It has good human-computer interaction with the driver, enabling the driver to clearly understand the reason for the body height adjustment and avoid causing panic. If the driver does not perform corresponding actions, the ASC will forcibly control the whole vehicle to enter a safe state to pass through the large-slope turning road conditions.

[0131] Based on the same inventive concept, please refer to Figure 3 , the vehicle's anti-rubbing chassis control system for large-slope steering provided by this application includes a driving condition acquisition module 100, a mode entry condition acquisition module 200, and a clearance value acquisition module 300. The driving condition acquisition module 100 is used to acquire the vehicle driving condition; the mode entry condition acquisition module 200 is communicatively connected to the driving condition acquisition module 100 and is used to acquire the vehicle's anti-rubbing chassis driving mode entry condition for large-slope steering according to the acquired vehicle driving condition; the clearance value acquisition module 300 is communicatively connected to the mode entry condition acquisition module 200 and is used to acquire the ground clearance of the chassis when the vehicle is turning at a large slope and the safety threshold of the ground clearance of the chassis when the vehicle enters the anti-rubbing chassis driving mode for large-slope steering; the comparison condition acquisition module 400 is communicatively connected to the clearance value acquisition module 300 and is used to compare the ground clearance of the chassis when the vehicle is turning at a large slope and the safety threshold of the ground clearance of the chassis to acquire the comparison condition; the vehicle speed and distance acquisition module 500 is used to acquire the current vehicle speed and the distance between the vehicle and the turning ramp; the anti-rubbing control module 600 is communicatively connected to the comparison condition acquisition module 400 and the vehicle speed and distance acquisition module 500 and is used to control and execute different vehicle's anti-rubbing chassis control methods for large-slope steering according to the acquired comparison condition, current vehicle speed, and the distance between the vehicle and the turning ramp.

[0132] In one embodiment, the mode entry working condition acquisition module includes:

[0133] A turning requirement working condition acquisition unit, configured to acquire the turning requirement working condition in front of the vehicle;

[0134] A ramp presence / absence working condition acquisition unit, when there is a turning requirement in front of the vehicle, acquires the ramp presence / absence working condition at the turning point in front of the vehicle;

[0135] A slope value acquisition unit, communicatively connected to the ramp presence / absence working condition acquisition unit, configured to acquire the slope value of the ramp when there is a ramp at the turning point;

[0136] A mode determination unit, communicatively connected to the slope value acquisition unit, configured to determine that the vehicle enters the anti-scuff driving mode for large-slope steering when the slope value of the ramp exceeds the slope threshold.

[0137] In one embodiment, please refer to Figure 4 , the clearance value acquisition module 300 includes a steering angle acquisition unit 310, a correction value acquisition unit 320, and a ground clearance acquisition unit 330. The steering angle acquisition unit 310 is configured to acquire the steering angle; the correction value acquisition unit 320, communicatively connected to the steering angle acquisition unit, is configured to acquire the clearance correction value of the vehicle chassis ground clearance according to the acquired steering angle value; the ground clearance acquisition unit 330, communicatively connected to the correction value acquisition unit, is configured to acquire the ground clearance of the vehicle chassis during large-slope steering based on the acquired clearance correction value.

[0138] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, all or part of the method steps of the above method are implemented.

[0139] All or part of the processes in the above methods can also be implemented by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Among them, the computer program includes computer program code, which can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0140] Based on the same inventive concept, an embodiment of the present application further provides an electronic device, including a memory and a processor. The memory stores a computer program running on the processor. When the processor executes the computer program, all or part of the method steps in the above method are implemented.

[0141] The so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor is the control center of the computer device, connecting various parts of the entire computer device through various interfaces and lines.

[0142] The memory can be used to store computer programs and / or modules. By running or executing the computer programs and / or modules stored in the memory and invoking the data stored in the memory, the processor realizes various functions of the computer device. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0143] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, a server, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can 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.

[0144] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), servers, and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0145] These computer program instructions can 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 generate a manufactured article including an instruction device, and the instruction device realizes the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0146] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions for implementing the steps specified in one process or a plurality of processes and / or blocks Figure 1 one process or a plurality of processes and / or blocks Figure 1 steps for the functions specified in one block or a plurality of blocks.

[0147] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to cover these modifications and variations.

Claims

1. A control method for preventing scratching of a vehicle's large-slope steering chassis, characterized in that, It includes the following steps: Obtain the vehicle driving condition; According to the obtained vehicle driving condition, obtain the working condition for the vehicle to enter the large-slope turning chassis anti-scuffing driving mode, which includes: obtaining the turning demand working condition in front of the vehicle; when there is a turning demand in front of the vehicle, obtain the ramp presence / absence working condition at the turning point in front of the vehicle; when there is a ramp at the turning point, obtain the slope value of the ramp; when the slope value of the ramp exceeds the slope threshold, determine that the vehicle enters the large-slope turning chassis anti-scuffing driving mode; When the vehicle enters the large-slope turning chassis anti-scuffing driving mode, obtain the ground clearance of the chassis when the vehicle makes a large-slope turn and the safety threshold of the chassis ground clearance; Compare the ground clearance of the chassis when the vehicle makes a large-slope turn and the safety threshold of the chassis ground clearance to obtain the comparison working condition; Obtain the current vehicle speed and the distance between the vehicle and the turning ramp; According to the obtained comparison working condition, current vehicle speed, and the distance between the vehicle and the turning ramp, control and execute different large-slope turning chassis anti-scuffing methods for the vehicle, which includes: When the distance between the vehicle and the turning ramp is less than the first distance, control and send an anti-scuffing warning instruction; When the distance between the vehicle and the turning ramp is less than the second distance and greater than the third distance and the current vehicle speed is greater than the vehicle speed threshold, control the current vehicle speed to be reduced to not exceed the vehicle speed upper limit value and the air spring to be raised; When the distance between the vehicle and the turning ramp is less than the second distance and greater than the third distance and the current vehicle speed is not greater than the vehicle speed threshold, control the vehicle to enter the anti-scuffing preparation mode; When the distance between the vehicle and the turning ramp is less than the third distance, control the current vehicle speed to be reduced to not exceed the vehicle speed upper limit value and the air spring to be raised; where the magnitude relationship of the first distance, second distance, and third distance is: first distance > second distance > third distance.

2. The vehicle large-gradient steering chassis anti-scratching control method according to claim 1, characterized in that, The step of obtaining the ground clearance of the chassis when the vehicle makes a large-slope turn specifically includes the following steps: Obtain the steering angle value when the vehicle makes a large-slope turn; According to the obtained steering angle value, obtain the clearance correction value of the vehicle chassis ground clearance; Based on the obtained clearance correction value, obtain the ground clearance of the chassis when the vehicle makes a large-slope turn.

3. The vehicle large-slope steering chassis anti-scuffing control method according to claim 1, wherein After the step of controlling and executing different large-slope turning chassis anti-scuffing methods for the vehicle according to the obtained comparison working condition, current vehicle speed, and the distance between the vehicle and the turning ramp, the following steps are further included: Obtain the working condition for meeting the exit condition of the large-slope turning chassis anti-scuffing mode of the vehicle; When it is obtained that the current driving condition of the vehicle meets the exit condition of the large-slope turning chassis anti-scuffing mode, control to exit the mode.

4. A vehicle large-slope steering chassis anti-scuffing control system, characterized in that, It includes: A driving condition acquisition module for obtaining the vehicle driving condition; A mode entry working condition acquisition module, communicatively connected to the driving condition acquisition module, for obtaining the working condition for the vehicle to enter the large-slope turning chassis anti-scuffing driving mode according to the obtained vehicle driving condition; A clearance value acquisition module, communicatively connected to the mode entry working condition acquisition module, for obtaining the ground clearance of the chassis when the vehicle makes a large-slope turn and the safety threshold of the chassis ground clearance when the vehicle enters the large-slope turning chassis anti-scuffing driving mode; The comparison working condition acquisition module, which is communicatively connected to the clearance value acquisition module, is used to compare the chassis ground clearance and the chassis ground clearance safety threshold when the vehicle turns on a large slope, and acquire the comparison working condition; The vehicle speed and distance acquisition module acquires the current vehicle speed of the vehicle and the distance between the vehicle and the turning ramp; The anti-scratching control module, which is communicatively connected to the comparison working condition acquisition module and the vehicle speed and distance acquisition module, is used to control and execute different anti-scratching methods for the vehicle chassis during large-slope turning according to the acquired comparison working condition, current vehicle speed, and the distance between the vehicle and the turning ramp. It includes: when the distance between the vehicle and the turning ramp is less than the first distance, controlling to send an anti-scratching warning instruction; When the distance between the vehicle and the turning ramp is less than the second distance and greater than the third distance and the current vehicle speed is greater than the vehicle speed threshold, controlling the current vehicle speed to be reduced to not exceed the vehicle speed upper limit value and the air spring to be raised; When the distance between the vehicle and the turning ramp is less than the second distance and greater than the third distance and the current vehicle speed is not greater than the vehicle speed threshold, controlling the vehicle to enter the anti-scratching preparation mode; When the distance between the vehicle and the turning ramp is less than the third distance, controlling the current vehicle speed to be reduced to not exceed the vehicle speed upper limit value and the air spring to be raised; wherein, the magnitude relationship of the first distance, the second distance, and the third distance is: the first distance > the second distance > the third distance.

5. The anti-scratching control system for the vehicle chassis during large-slope turning according to claim 4, characterized in that The mode entry working condition acquisition module includes: The turning requirement working condition acquisition unit is used to acquire the vehicle's front turning requirement working condition; The ramp presence / absence working condition acquisition unit is used to acquire the ramp presence / absence working condition at the vehicle's front turning when there is a turning requirement in front of the vehicle; The slope value acquisition unit, which is communicatively connected to the ramp presence / absence working condition acquisition unit, is used to acquire the slope value of the ramp when there is a ramp at the turning; The mode determination unit, which is communicatively connected to the slope value acquisition unit, is used to determine that the vehicle enters the anti-scratching driving mode for the vehicle chassis during large-slope turning when the slope value of the ramp exceeds the slope threshold.

6. The vehicle large-gradient steering chassis anti-scratching control system according to claim 5, characterized in that The clearance value acquisition module includes: The steering angle acquisition unit is used to acquire the steering angle; The correction value acquisition unit, which is communicatively connected to the steering angle acquisition unit, is used to acquire the clearance correction value of the vehicle chassis ground clearance according to the acquired steering angle value; The ground clearance acquisition unit, which is communicatively connected to the correction value acquisition unit, is used to acquire the ground clearance of the vehicle chassis during large-slope turning based on the acquired clearance correction value.

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