A vehicle balance control method, device, equipment and storage medium

Abstract

The application discloses a vehicle balance control method, device, equipment and storage medium, which can be applied to a controller of a vehicle gravity control system, and the vehicle gravity control system further comprises an electromagnetic induction device installed at a predetermined position of a vehicle compartment. By obtaining the gravity center position in the current state of the vehicle and the gravity center position in the balanced state of the vehicle, the gravity center offset distance of the vehicle is determined. When the gravity center offset distance does not satisfy a preset balance condition, the current of the electromagnetic induction device is adjusted, so that the magnetic force generated by the electromagnetic induction device adjusts the gravity center position in the current state of the vehicle, until the gravity center offset distance corresponding to the adjusted gravity center position satisfies the preset balance condition. Based on this, the adjustment of the gravity center position of the vehicle can be realized, so that the offset distance between the adjusted gravity center position and the gravity center position in the balanced state of the vehicle satisfies the preset balance condition, and the vehicle overturning caused by the imbalance of the vehicle is avoided.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a vehicle balance control method, device, equipment, and storage medium. Background Technology

[0002] Heavy trucks, especially when traveling with a heavy load, can easily lose balance and overturn when going around curves due to excessive speed or displacement of cargo in the truck bed, which can affect traffic safety.

[0003] Based on this, this application proposes a vehicle balance control method, device, equipment, and storage medium to solve the problem of vehicle rollover. Summary of the Invention

[0004] In view of this, this application provides a vehicle balance control method, device, equipment, and storage medium for solving the problem of vehicle rollover.

[0005] To achieve the above objectives, the following solution is proposed:

[0006] A vehicle balance control method is applied to a controller of a vehicle center of gravity control system. The vehicle center of gravity control system further includes: an electromagnetic induction device installed at a predetermined position within the vehicle body. The predetermined position includes at least two symmetrical positions located on either side of the vehicle's centerline. The vehicle centerline is a straight line passing through the center of the rectangular base of the vehicle body and parallel to the vehicle's direction of travel. The method includes:

[0007] Obtain the center of gravity position of the vehicle in its current state and the center of gravity position of the vehicle in its balanced state.

[0008] Based on the vehicle's current center of gravity position and the vehicle's center of gravity position in a balanced state, the vehicle's center of gravity offset distance is determined.

[0009] When the center of gravity offset distance does not meet the preset balance condition, the current of the electromagnetic induction device is adjusted so that the magnetic force generated by the electromagnetic induction device adjusts the center of gravity position of the vehicle in its current state until the center of gravity offset distance corresponding to the adjusted center of gravity position of the vehicle in its current state meets the preset balance condition.

[0010] Optionally, the two positions are located at the two intersections of the vertical centerline and the rectangular bottom surface of the carriage, wherein the vertical centerline is a straight line passing through the center of the rectangular bottom surface of the carriage and perpendicular to the vehicle centerline;

[0011] The electromagnetic induction device installed at a predetermined position in the carriage includes two electromagnetic induction devices installed at two intersection points of the vertical centerline and the rectangular bottom surface of the carriage.

[0012] Optionally, the two positions are located at two vertices symmetrical about the centerline of the vehicle on the rectangular bottom surface of the carriage, and also include two other vertices on the rectangular bottom surface of the carriage;

[0013] The electromagnetic induction device installed at a predetermined position in the carriage includes four electromagnetic induction devices respectively installed at the four apex corners of the rectangular bottom surface of the carriage.

[0014] Optionally, when the center of gravity offset distance does not meet the preset balance condition, adjusting the current of the electromagnetic induction device so that the magnetic force generated by the electromagnetic induction device adjusts the center of gravity position of the vehicle in its current state until the center of gravity offset distance corresponding to the adjusted center of gravity position of the vehicle in its current state meets the preset balance condition includes:

[0015] When the center of gravity offset distance does not meet the preset balance condition, determine the offset direction and the opposite offset direction of the center of gravity position of the vehicle in the current state;

[0016] The current of the electromagnetic induction device corresponding to the offset direction is increased, and the current of the electromagnetic induction device corresponding to the opposite offset direction is decreased, so that the magnetic force generated by the electromagnetic induction device adjusts the center of gravity position of the vehicle in the current state, and the adjusted center of gravity position of the vehicle is obtained.

[0017] Based on the adjusted center of gravity position of the vehicle and the center of gravity position of the vehicle in a balanced state, the adjusted center of gravity offset distance is determined.

[0018] When the adjusted center of gravity offset distance meets the preset balance condition, the control of the current of the electromagnetic induction device is stopped.

[0019] When the adjusted center of gravity offset distance does not meet the preset balance condition, the step of determining the offset direction and the opposite offset direction of the center of gravity position of the vehicle in the current state is executed until the adjusted center of gravity offset distance meets the preset balance condition.

[0020] Optionally, the vehicle center of gravity control system further includes a gyroscope, and the center of gravity position of the vehicle in the current state is the center of gravity position calculated by the gyroscope based on the vehicle's driving parameters, which at least include: vehicle speed, steering wheel angle, and vehicle acceleration.

[0021] A vehicle balance control device is applied to the controller of a vehicle center of gravity control system. The vehicle center of gravity control system further includes: an electromagnetic induction device installed at a predetermined position within the vehicle body. The predetermined position includes at least two symmetrical positions located on either side of the vehicle's centerline. The vehicle centerline is a straight line passing through the center of the rectangular base of the vehicle body and parallel to the vehicle's direction of travel. The device includes:

[0022] The position information acquisition unit is used to acquire the center of gravity position of the vehicle in its current state and the center of gravity position of the vehicle in its balanced state.

[0023] The offset determination unit is used to determine the offset distance of the vehicle's center of gravity based on the center of gravity position of the vehicle in its current state and the center of gravity position of the vehicle in its balanced state.

[0024] The center of gravity adjustment unit is used to adjust the current of the electromagnetic induction device when the center of gravity offset distance does not meet the preset balance condition, so that the magnetic force generated by the electromagnetic induction device adjusts the center of gravity position of the vehicle in the current state until the center of gravity offset distance corresponding to the adjusted center of gravity position of the vehicle in the current state meets the preset balance condition.

[0025] Optionally, the two positions are located at the two intersections of the vertical centerline and the rectangular bottom surface of the carriage, wherein the vertical centerline is a straight line passing through the center of the rectangular bottom surface of the carriage and perpendicular to the vehicle centerline;

[0026] The electromagnetic induction device installed at a predetermined position in the carriage includes two electromagnetic induction devices installed at two intersection points of the vertical centerline and the rectangular bottom surface of the carriage.

[0027] Optionally, the two positions are located at two vertices symmetrical about the centerline of the vehicle on the rectangular bottom surface of the carriage, and also include two other vertices on the rectangular bottom surface of the carriage;

[0028] The electromagnetic induction device installed at a predetermined position in the carriage includes four electromagnetic induction devices respectively installed at the four apex corners of the rectangular bottom surface of the carriage.

[0029] A vehicle balance control device, including a memory and a processor;

[0030] The memory is used to store programs;

[0031] The processor is used to execute the program to implement each step of any of the vehicle balance control methods described above.

[0032] A storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the vehicle balance control methods described above.

[0033] This application embodiment compares the offset distance between the vehicle's current center of gravity position and its center of gravity position in a balanced state with preset balance conditions to determine whether the conditions for vehicle balance are met. If not, the vehicle cannot maintain balance and may tip over. The vehicle's center of gravity position can be adjusted by controlling the current of an electromagnetic induction device. The current causes the electromagnetic induction device to generate a magnetic force, which adjusts the vehicle's offset angle, thereby adjusting the vehicle's center of gravity position. This ensures that the offset distance between the adjusted center of gravity position and the center of gravity position in a balanced state meets the preset balance conditions, preventing the vehicle from becoming unbalanced and tipping over. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0035] Figure 1 A schematic flowchart of a vehicle balance control method provided in an embodiment of this application;

[0036] Figure 2 This is a schematic diagram of the projection of the bottom surface of the carriage provided in an embodiment of this application;

[0037] Figure 3 This is an example diagram illustrating an application of the vehicle balance control method provided in this application embodiment;

[0038] Figure 4 A schematic diagram of a vehicle balance control device provided in an embodiment of this application;

[0039] Figure 5 This is a schematic diagram of a vehicle balance control device provided in an embodiment of this application. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] During vehicle operation, the vehicle's passenger compartment and every object within it are subject to gravity. Effectively, the gravitational forces acting on all parts of the vehicle are concentrated at a single point, the center of gravity. To maintain balance during operation, the tires on both sides of the vehicle experience uniform force, which is counteracted by the reaction force from the ground, thus maintaining the vehicle's equilibrium.

[0042] However, during vehicle operation, especially during high-speed turns, the vehicle's center of gravity may shift from its original position, moving towards the outer tires. This uneven distribution of force between the tires creates torque that is unbalanced with the vehicle's gravitational torque. Consequently, the vehicle cannot maintain its balance, ultimately leading to a rollover accident.

[0043] Therefore, this application provides a vehicle balance control method applied to a vehicle center of gravity control system, which adjusts the vehicle's center of gravity through external force, so that the vehicle maintains a balanced state during driving and reduces the probability of vehicle rollover accidents.

[0044] Reference Figure 1 This document illustrates an optional flowchart of a vehicle balance control method provided in an embodiment of this application. The vehicle balance control method can be applied to a controller of a vehicle center of gravity control system installed on a vehicle. The vehicle center of gravity control system may further include an electromagnetic induction device installed at a predetermined location within the vehicle compartment. This electromagnetic induction device can be a magnetic induction coil, an inductor coil, or similar device, which generates a magnetic field based on a current-carrying conductor, producing a magnetic force F. The magnitude of the magnetic field is controlled by controlling the current in the current-carrying conductor, thereby controlling the magnitude of the magnetic force F. In this embodiment, the magnetic force F generated by the electromagnetic induction device is used to change the force state of the vehicle, thereby adjusting the vehicle's center of gravity position and maintaining the vehicle's balance.

[0045] The predetermined positions include at least two symmetrical positions located on either side of the vehicle's centerline, where the vehicle centerline is a straight line passing through the center of the rectangular base of the carriage and parallel to the vehicle's direction of travel. Figure 2 The diagram shows a projection of the bottom surface of a vehicle body. Typically, the bottom surface of a vehicle chassis or vehicle body is designed as a rectangle. The rectangle in the diagram is a projection of the bottom surface of the vehicle chassis or vehicle body. a, b, c, d, e, and f in the diagram are electromagnetic induction devices.

[0046] In this embodiment of the application, the center of the rectangle is used as the coordinate reference point, the straight line passing through the center and parallel to the vehicle's driving direction is used as the vehicle centerline, and the straight line passing through the center and perpendicular to the vehicle centerline is used as the vertical centerline. The two positions can be located at two positions symmetrical about the centerline on the rectangular bottom surface of the carriage.

[0047] Optionally, the two locations are situated at the two intersections of the vertical centerline and the rectangular base of the carriage. The vertical centerline is a straight line passing through the center of the rectangular base of the carriage and perpendicular to the vehicle's centerline. Therefore, the electromagnetic induction device installed at the predetermined location in the carriage comprises two electromagnetic induction devices respectively installed at the two intersections of the vertical centerline and the rectangular base of the carriage. It can be understood that the two locations described above are... Figure 2 The two positions of e and f in the middle of the rectangle.

[0048] This application embodiment is not limited to installing two electromagnetic induction devices; optionally, four or more electromagnetic induction devices may be installed. For example, the two positions located at the two symmetrical apex corners of the rectangular bottom surface of the carriage about the vehicle centerline also include two other apex corners of the rectangular bottom surface of the carriage; the electromagnetic induction devices installed at the predetermined positions in the carriage include: four electromagnetic induction devices respectively installed at the four apex corners of the rectangular bottom surface of the carriage. It is understood that the positions described above are located at... Figure 2 The two positions of a, b, c, and d are shown.

[0049] Reference Figure 1 The specific process of the vehicle balance control method corresponding to the above-mentioned vehicle center of gravity control system will be described, and the process may include:

[0050] Step S110: Obtain the center of gravity position of the vehicle in its current state and the center of gravity position of the vehicle in its balanced state.

[0051] The vehicle's center of gravity position in its balanced state typically remains unchanged. When the vehicle's current center of gravity position coincides with the center of gravity position in its balanced state, it ensures that the vehicle's tires receive uniform force, preventing imbalance due to uneven force distribution. In this embodiment, the vehicle's center of gravity position in its balanced state can be obtained during vehicle operation.

[0052] The vehicle's center of gravity position in its current state is related to the vehicle's geometry and the mass distribution of objects inside the vehicle. The vehicle's geometry is usually fixed, so the main factors affecting the center of gravity are the mass distribution of passengers, cargo, and other objects inside the vehicle. However, during vehicle operation, cargo may shift or sway within the vehicle due to unstable placement, affecting the mass distribution and causing a change in the vehicle's center of gravity position.

[0053] To ensure vehicle driving safety, this embodiment acquires the vehicle's center of gravity position in real time during operation. The vehicle's center of gravity position can be obtained using a gyroscope positioned at the center of the vehicle or the center of the passenger compartment. The current center of gravity position is calculated by the gyroscope based on the vehicle's driving parameters, which include at least: vehicle speed, steering wheel angle, and vehicle acceleration. The gyroscope, also known as an angular velocity sensor, can calculate the current vehicle center of gravity position based on the collected vehicle driving parameters such as vehicle speed, steering wheel angle, and acceleration.

[0054] Step S120: Determine the center of gravity offset distance of the vehicle based on the center of gravity position of the vehicle in its current state and the center of gravity position of the vehicle in its balanced state.

[0055] In the embodiments of this application, it can be used as Figure 2 Using the center shown as the origin of the coordinate system, a three-dimensional spatial coordinate system is established. Then, the center of gravity position of the vehicle in its current state and the center of gravity position of the vehicle in its balanced state are three-dimensional coordinate points. When determining the center of gravity offset distance between the two, the straight-line distance between the two three-dimensional coordinate points can be directly calculated.

[0056] For example, if the coordinates of the center of gravity of the vehicle in its current state are (x1, y1, z1) and the coordinates of the center of gravity of the vehicle in its balanced state are (x2, y2, z2), then the formula for calculating the center of gravity offset distance can be the following formula (1):

[0057]

[0058] Step S130: Determine whether the center of gravity offset distance meets the preset balance condition. If the preset balance condition is not met, proceed to step S140. If the preset balance condition is met, the vehicle's center of gravity does not need to be adjusted and the current state can be maintained to continue driving.

[0059] Step S140: Adjust the current of the electromagnetic induction device so that the magnetic force generated by the electromagnetic induction device adjusts the center of gravity position of the vehicle in its current state until the center of gravity offset distance corresponding to the adjusted center of gravity position of the vehicle in its current state meets the preset balance condition.

[0060] In this embodiment, at least one electromagnetic induction device is installed on each side of the centerline. Alternatively, one electromagnetic induction device can be installed at each of the four apex corners of the rectangle. By adjusting the magnitude of the magnetic force at the four corners of the carriage, the tilt angle of the carriage can be adjusted, thereby changing the position of the vehicle's center of gravity.

[0061] The process of adjusting the vehicle's center of gravity position using an electromagnetic induction device in this application embodiment may include: when the center of gravity offset distance does not meet a preset balance condition, determining the offset direction and the opposite offset direction of the vehicle's center of gravity position in the current state; controlling the current of the electromagnetic induction device corresponding to the offset direction to increase and the current of the electromagnetic induction device corresponding to the opposite offset direction to decrease, so that the magnetic force generated by the electromagnetic induction device adjusts the center of gravity position of the vehicle in the current state, thereby obtaining the adjusted center of gravity position of the vehicle; and determining the adjusted center of gravity offset distance based on the adjusted center of gravity position of the vehicle and the center of gravity position of the vehicle in a balanced state.

[0062] When the adjusted center of gravity offset distance meets the preset balance condition, the control of the current of the electromagnetic induction device is stopped; when the adjusted center of gravity offset distance does not meet the preset balance condition, the steps of determining the offset direction and the opposite offset direction of the center of gravity position of the vehicle in the current state are executed until the adjusted center of gravity offset distance meets the preset balance condition.

[0063] Reference Figure 3 The diagram shown is an application example of the vehicle balance control method provided in this application embodiment. Figure 3 This can be understood as a schematic diagram of the carriages projected from the rear of the vehicle. The diagram includes: 10 carriages, 20 gyroscopes, and two 30 electromagnetic induction devices, labeled a and b. The dotted line in the diagram represents the balance line. When the swaying range of carriage 10 remains within the preset range of the balance line, carriage 10 can maintain balance. The swaying range can be represented by the distance of the center of gravity offset.

[0064] However, when the vehicle's center of gravity shifts beyond the preset balance condition, it proves that the 10-carriage compartment has seriously deviated from the balance line and cannot maintain a balanced state. In this embodiment, the preset balance condition can be a threshold for the allowable center of gravity shift distance. Assuming the allowable center of gravity shift distance threshold is 10mm, when the center of gravity shift distance is not less than 10mm, it can be determined that the center of gravity shift distance does not meet the preset balance condition, and the vehicle is currently unbalanced.

[0065] Vehicle imbalance can cause the vehicle to veer severely to one side of the balance line, such as... Figure 2 As shown, carriage 10 has clearly shifted at an angle, with the entire carriage tilted to the left. Therefore, the left side of the vertical balance line can be determined as the direction of the shift, and the right side can be determined as the opposite direction of the shift.

[0066] Based on the direction of the offset, it can be seen that the pressure on the left and right sides of the vehicle is uneven, with the left side experiencing a greater force than the right side. To maintain the balance between the two sides, the pressure on the left side can be reduced, and / or the pressure on the right side can be increased at the same time, so that the force on both sides is even.

[0067] Based on the above concept, this embodiment of the application increases the current of the electromagnetic induction device in the offset direction, causing the electromagnetic induction device in the offset direction, i.e., the left electromagnetic induction device, to generate an upward magnetic force. As the current increases, the magnetic force also increases, and this magnetic force can cancel out the pressure on the left side, thereby reducing the pressure on the left side. At the same time, the current of the electromagnetic induction device in the opposite offset direction can be reduced, thereby reducing the magnetic force generated by the right electromagnetic induction device. The reduction in the magnetic force on the right side will reduce the pressure canceled out on the right side, thus increasing the pressure on the right side.

[0068] like Figure 3 By controlling the current of electromagnetic induction device a in the offset direction and electromagnetic induction device c on the same side (not shown), a and c generate a magnetic force F, which counteracts the downward pressure in the offset direction. Electromagnetic induction device b in the opposite offset direction and electromagnetic induction device d on the same side (not shown) can be controlled or not. If b and d are not controlled, and a, b, c, and d are controlled simultaneously, the adjustment speed of the vehicle's center of gravity will be faster, further reducing the probability of vehicle rollover.

[0069] As the pressure on both sides changes, the center of gravity of the vehicle or carriage also changes accordingly. In this embodiment of the application, when adjusting the forces on both sides through the electromagnetic induction device, the center of gravity position of the vehicle can be obtained in real time through a gyroscope, and the center of gravity offset distance between the adjusted center of gravity position and the center of gravity position in the vehicle's balanced state can be calculated. When the center of gravity offset distance meets the preset balance condition, the current control of the electromagnetic induction device is stopped to avoid missing the current or force state that can keep the vehicle in balance.

[0070] If the center of gravity offset distance does not meet the preset balance condition, the current of the electromagnetic induction device will continue to be controlled to adjust the center of gravity position of the vehicle or carriage.

[0071] In summary, this embodiment calculates the offset distance between the current vehicle center of gravity and the center of gravity position in the vehicle's balanced state, compares this offset distance with preset balance conditions, and if the preset balance conditions are not met, the vehicle cannot maintain its balance and is at risk of overturning. Furthermore, the current in the electromagnetic induction device can be controlled to generate magnetic force. This magnetic force can adjust the offset angles of the vehicle's four corners, thereby adjusting the vehicle's center of gravity position and ensuring that the offset distance between the adjusted center of gravity position and the center of gravity position in the vehicle's balanced state meets the preset balance conditions, thus preventing the vehicle from becoming unbalanced and overturning.

[0072] The vehicle balance control device provided in the embodiments of this application is described below. The vehicle balance control device described below can be referred to in correspondence with the vehicle balance control method described above.

[0073] First, combined Figure 3 This section introduces the vehicle balance control device, which is used in the controller of the vehicle center of gravity control system, such as... Figure 3 As shown, the vehicle balance control device may include:

[0074] The position information acquisition unit 100 is used to acquire the center of gravity position of the vehicle in its current state and the center of gravity position of the vehicle in its balanced state.

[0075] The offset determination unit 200 is used to determine the center of gravity offset distance of the vehicle based on the center of gravity position of the vehicle in its current state and the center of gravity position of the vehicle in its balanced state.

[0076] The center of gravity adjustment unit 300 is used to adjust the current of the electromagnetic induction device when the center of gravity offset distance does not meet the preset balance condition, so that the magnetic force generated by the electromagnetic induction device adjusts the center of gravity position of the vehicle in the current state until the center of gravity offset distance corresponding to the adjusted center of gravity position of the vehicle in the current state meets the preset balance condition.

[0077] This application embodiment compares the offset distance between the current vehicle center of gravity position and the center of gravity position under balanced conditions with preset balance conditions to determine whether there is a risk that the vehicle cannot maintain balance. It then determines whether to control the current of the electromagnetic induction device to adjust the vehicle's center of gravity position. The current causes the electromagnetic induction device to generate magnetic force, which adjusts the vehicle's offset angle, thereby adjusting the vehicle's center of gravity position. This ensures that the offset distance between the adjusted center of gravity position and the center of gravity position under balanced conditions meets the preset balance conditions, preventing the vehicle from becoming unbalanced and overturning.

[0078] Optionally, the two positions are located at the two intersections of the vertical centerline and the rectangular bottom surface of the carriage, wherein the vertical centerline is a straight line passing through the center of the rectangular bottom surface of the carriage and perpendicular to the vehicle centerline;

[0079] The electromagnetic induction device installed at a predetermined position in the carriage includes two electromagnetic induction devices installed at two intersection points of the vertical centerline and the rectangular bottom surface of the carriage.

[0080] Optionally, the two positions are located at two vertices symmetrical about the centerline of the vehicle on the rectangular bottom surface of the carriage, and also include two other vertices on the rectangular bottom surface of the carriage;

[0081] The electromagnetic induction device installed at a predetermined position in the carriage includes four electromagnetic induction devices respectively installed at the four apex corners of the rectangular bottom surface of the carriage.

[0082] Optionally, the center of gravity adjustment unit 300 includes:

[0083] The direction determination subunit is used to determine the offset direction and the opposite offset direction of the center of gravity position of the vehicle in its current state when the center of gravity offset distance does not meet the preset balance condition.

[0084] The current control subunit is used to control the increase of the current of the electromagnetic induction device corresponding to the offset direction and the decrease of the current of the electromagnetic induction device corresponding to the opposite offset direction, so that the magnetic force generated by the electromagnetic induction device adjusts the center of gravity position of the vehicle in the current state, and obtains the adjusted center of gravity position of the vehicle.

[0085] The offset distance determination subunit is used to determine the adjusted center of gravity offset distance based on the adjusted center of gravity position of the vehicle and the center of gravity position of the vehicle in a balanced state.

[0086] The control cutoff subunit is used to stop controlling the current of the electromagnetic induction device when the adjusted center of gravity offset distance meets the preset balance condition.

[0087] The control rotor unit is used to execute the step of determining the offset direction and the opposite offset direction of the center of gravity position of the vehicle in its current state when the adjusted center of gravity offset distance does not meet the preset balance condition, until the adjusted center of gravity offset distance meets the preset balance condition.

[0088] Optionally, the vehicle center of gravity control system further includes a gyroscope, and the vehicle center of gravity position is the center of gravity position calculated by the gyroscope and the vehicle's driving parameters, which at least include: vehicle speed, steering wheel angle, and vehicle acceleration.

[0089] The vehicle balance control device provided in this application embodiment can be applied to vehicle balance control equipment.

[0090] Figure 5 A schematic diagram of the vehicle balance control device is shown, for reference. Figure 5 The structure of the vehicle balance control device may include: at least one processor 10, at least one memory 20, and at least one communication bus 30 and at least one communication interface 40;

[0091] In this embodiment, the number of processor 10, memory 20, communication bus 30, and communication interface 40 is at least one, and processor 10, memory 20, and communication interface 40 communicate with each other through communication bus 30.

[0092] The processor 10 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0093] The memory 20 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk storage device;

[0094] The memory stores a program, and the processor can call the program stored in the memory. The program is used to implement the various processing flows in the aforementioned vehicle balance control scheme.

[0095] This application embodiment also provides a storage medium that can store a program suitable for execution by a processor, the program being used to implement various processing flows in the aforementioned vehicle balance control scheme.

[0096] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0097] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0098] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle balance control method, characterized in that, A controller for a vehicle center of gravity control system, the vehicle center of gravity control system further comprising: an electromagnetic induction device installed at a predetermined position in the vehicle body, the predetermined position comprising at least two symmetrical positions located on either side of the vehicle centerline, the vehicle centerline being a straight line passing through the center of the rectangular base of the vehicle body and parallel to the vehicle's direction of travel; the method comprising: The center of gravity position of the vehicle in its current state and the center of gravity position in the vehicle's balanced state are obtained by calculating the vehicle's center of gravity position based on the vehicle's driving parameters using a gyroscope. The driving parameters include at least: vehicle speed, steering wheel angle and vehicle acceleration. Based on the vehicle's current center of gravity position and the vehicle's center of gravity position in a balanced state, the vehicle's center of gravity offset distance is determined. When the center of gravity offset distance does not meet the preset balance condition, the offset direction and the opposite offset direction of the center of gravity position are determined; the current of the electromagnetic induction device corresponding to the offset direction is increased to generate a magnetic force to counteract the pressure in that direction, and / or the current of the electromagnetic induction device corresponding to the opposite offset direction is decreased to reduce the magnetic force to counteract the pressure in that direction, so that the magnetic force generated by the electromagnetic induction device adjusts the center of gravity position of the vehicle in the current state, and the adjusted center of gravity position of the vehicle is obtained. Based on the adjusted center of gravity position of the vehicle and the center of gravity position of the vehicle in a balanced state, the adjusted center of gravity offset distance is determined; When the adjusted center of gravity offset distance meets the preset balance condition, the control of the current of the electromagnetic induction device is stopped. When the adjusted center of gravity offset distance does not meet the preset balance condition, the step of determining the offset direction and the opposite offset direction of the center of gravity position of the vehicle in its current state is executed until the center of gravity offset distance corresponding to the adjusted center of gravity position of the vehicle in its current state meets the preset balance condition.

2. The method according to claim 1, characterized in that, The two positions are located at the two intersections of the vertical centerline and the rectangular bottom surface of the carriage. The vertical centerline is a straight line that passes through the center of the rectangular bottom surface of the carriage and is perpendicular to the vehicle centerline. The electromagnetic induction device installed at a predetermined position in the carriage includes two electromagnetic induction devices installed at two intersection points of the vertical centerline and the rectangular bottom surface of the carriage.

3. The method according to claim 1, characterized in that, The two positions are located at two vertices symmetrical about the centerline of the vehicle on the rectangular bottom surface of the carriage, and also include two other vertices on the rectangular bottom surface of the carriage; The electromagnetic induction device installed at a predetermined position in the carriage includes four electromagnetic induction devices respectively installed at the four apex corners of the rectangular bottom surface of the carriage.

4. A vehicle balance control device, characterized in that, A controller for a vehicle center of gravity control system, the vehicle center of gravity control system further comprising: an electromagnetic induction device installed at a predetermined position in the vehicle body, the predetermined position comprising at least two symmetrical positions located on either side of the vehicle centerline, the vehicle centerline being a straight line passing through the center of the rectangular base of the vehicle body and parallel to the vehicle's direction of travel; the device comprising: The position information acquisition unit is used to calculate and obtain the center of gravity position of the vehicle in its current state and the center of gravity position in the vehicle's balanced state based on the vehicle's driving parameters using a gyroscope. The driving parameters include at least: vehicle speed, steering wheel angle and vehicle acceleration. The offset determination unit is used to determine the offset distance of the vehicle's center of gravity based on the center of gravity position of the vehicle in its current state and the center of gravity position of the vehicle in its balanced state. A center-of-gravity adjustment unit is used to determine the offset direction and the opposite offset direction of the center-of-gravity position when the center-of-gravity offset distance does not meet a preset balance condition; control the current of the electromagnetic induction device corresponding to the offset direction to generate a magnetic force to counteract the pressure in that direction, and / or decrease the current of the electromagnetic induction device corresponding to the opposite offset direction to reduce the magnetic force to counteract the pressure in that direction, so that the magnetic force generated by the electromagnetic induction device adjusts the center-of-gravity position of the vehicle in its current state, thereby obtaining the adjusted center-of-gravity position of the vehicle; based on the adjusted center-of-gravity position and the center-of-gravity position of the vehicle in its balanced state, determine the adjusted center-of-gravity offset distance; when the adjusted center-of-gravity offset distance meets the preset balance condition, stop controlling the current of the electromagnetic induction device; when the adjusted center-of-gravity offset distance does not meet the preset balance condition, execute the step of determining the offset direction and the opposite offset direction of the center-of-gravity position of the vehicle in its current state until the center-of-gravity offset distance corresponding to the adjusted center-of-gravity position of the vehicle in its current state meets the preset balance condition.

5. The control device according to claim 4, characterized in that, The two positions are located at the two intersections of the vertical centerline and the rectangular bottom surface of the carriage. The vertical centerline is a straight line that passes through the center of the rectangular bottom surface of the carriage and is perpendicular to the vehicle centerline. The electromagnetic induction device installed at a predetermined position in the carriage includes two electromagnetic induction devices installed at two intersection points of the vertical centerline and the rectangular bottom surface of the carriage.

6. The control device according to claim 4, characterized in that, The two positions are located at two vertices symmetrical about the centerline of the vehicle on the rectangular bottom surface of the carriage, and also include two other vertices on the rectangular bottom surface of the carriage; The electromagnetic induction device installed at a predetermined position in the carriage includes four electromagnetic induction devices respectively installed at the four apex corners of the rectangular bottom surface of the carriage.

7. A vehicle balance control device, characterized in that, Including memory and processor; The memory is used to store programs; The processor is configured to execute the program to implement the various steps of the vehicle balance control method as described in any one of claims 1-3.

8. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the various steps of the vehicle balance control method as described in any one of claims 1-3.

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