A control method and related device for a stabilizer bar

Abstract

An embodiment of the present invention provides a control method and related device for a roll bar. The method includes: when the vehicle is in a turning state, determining the current lateral acceleration of the vehicle; when the absolute value of the current lateral acceleration is greater than a first preset acceleration value, determining the maximum anti-roll moment that the roll bar can provide as the target anti-roll moment; when the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value, determining a first anti-roll moment according to the current lateral acceleration, and determining a target anti-roll moment less than or equal to the first anti-roll moment according to the absolute value of the current lateral acceleration; controlling the roll bar according to the target anti-roll moment. Through the embodiment of the present invention, the active control of the roll bar is optimized, the existence of risks that cannot be perceived by the driver due to the active control of the roll bar is avoided, and the risk of vehicle rollover or fishtailing accidents is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automobiles, and particularly to a control method and related device for a lateral stabilizer bar. Background Art

[0002] During the driving of a vehicle, when making a sharp turn, due to the action of centrifugal force, the vehicle body may roll over or skid. To reduce the probability of accidents, a lateral stabilizer bar is usually installed on the left and right suspensions of the vehicle. When the vehicle body rolls under the action of centrifugal force, the left and right suspensions will be stretched and compressed, and the lateral stabilizer bar will twist, thereby providing an anti-roll moment to the vehicle body and reducing the possibility of rollover.

[0003] Currently, through the parameters fed back by in-vehicle sensors, active control of the lateral stabilizer bar can be achieved. Specifically, according to the fed-back parameters, the magnitude of the anti-roll moment provided by the lateral stabilizer bar can be actively adjusted, that is, a moment adapted to the driving state is provided to reduce the roll angle of the vehicle body. In an ideal state, the roll angle of the vehicle body can be zero, that is, the vehicle body is kept in a horizontal state.

[0004] However, in the existing active control methods for the lateral stabilizer bar, according to the fed-back parameters, the roll angle of the vehicle body is minimized as much as possible to achieve a better anti-roll effect and keep the vehicle body in a horizontal state. However, when the vehicle is making a sharp turn, if the vehicle body remains in a horizontal state or at a low inclination angle, the driver may not be able to perceive the existence of risks, and thus may not perform corrective operations (such as deceleration) on the vehicle, which may instead increase the risk of rollover or skid of the vehicle. Summary of the Invention

[0005] In view of the above problems, a control method and related device for a lateral stabilizer bar are provided to overcome the above problems or at least partially solve the above problems, including:

[0006] A control method for a lateral stabilizer bar, the method including:

[0007] When the vehicle is in a turning state, determine the current lateral acceleration of the vehicle;

[0008] When the absolute value of the current lateral acceleration is greater than a first preset acceleration value, determine the maximum anti-roll moment that the lateral stabilizer bar can provide as the target anti-roll moment;

[0009] When the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value, determine a first anti-roll moment according to the current lateral acceleration, and determine a target anti-roll moment less than or equal to the first anti-roll moment according to the absolute value of the current lateral acceleration;

[0010] Control the anti-roll bar according to the target anti-roll moment.

[0011] Optionally, determine the target anti-roll moment less than or equal to the first anti-roll moment according to the absolute value of the current lateral acceleration, including:

[0012] When the absolute value of the current lateral acceleration is less than or equal to the second preset acceleration value, determine the first anti-roll moment as the target anti-roll moment, and the second preset acceleration value is less than the first preset acceleration value;

[0013] When the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value and greater than the second preset acceleration value, determine the second anti-roll moment less than the first anti-roll moment as the target anti-roll moment.

[0014] Optionally, it further includes:

[0015] When the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value and greater than the second preset acceleration value, generate a prompt message.

[0016] Optionally, determine the first anti-roll moment according to the current lateral acceleration, including:

[0017] Determine the current desired roll angle according to the current lateral acceleration;

[0018] Determine the first anti-roll moment according to the current desired roll angle and the actual roll angle of the vehicle.

[0019] Optionally, determine the current desired roll angle according to the current lateral acceleration, including:

[0020] Use a preset function to calculate the current lateral acceleration to obtain the current desired roll angle. The preset function is obtained by fitting the relationship between the lateral acceleration and the desired roll angle in different situations;

[0021] Or, look up the current lateral acceleration in the preset relationship table to obtain the current desired roll angle. The preset relationship table stores the data calculated by the preset function.

[0022] Optionally, the relationship between the lateral acceleration and the desired roll angle includes:

[0023] When the absolute value of the lateral acceleration is less than the third preset acceleration value, the magnitude of the desired roll angle tends to zero, and the third preset acceleration value is less than the first preset acceleration value;

[0024] When the absolute value of the lateral acceleration is greater than or equal to the third preset acceleration, within the positive or negative direction interval of the lateral acceleration direction, the magnitude of the desired roll angle is positively correlated with the absolute value of the lateral acceleration.

[0025] Optionally, before determining the current lateral acceleration of the vehicle when the vehicle is in a turning state, it further includes:

[0026] Obtain the steering wheel angle and the actual roll angle of the vehicle;

[0027] When the steering wheel angle is greater than or equal to a preset angle, or the actual roll angle is greater than or equal to a preset roll angle, it is determined that the vehicle is in a turning state.

[0028] A control device for a stabilizer bar, the device includes:

[0029] A current lateral acceleration determination module, configured to determine the current lateral acceleration of the vehicle when the vehicle is in a turning state;

[0030] A maximum anti-roll moment determination module, configured to determine the maximum anti-roll moment that the stabilizer bar can provide as the target anti-roll moment when the absolute value of the current lateral acceleration is greater than a first preset acceleration value;

[0031] A less than or equal to first anti-roll moment determination module, configured to determine a first anti-roll moment according to the current lateral acceleration, and determine a target anti-roll moment less than or equal to the first anti-roll moment according to the absolute value of the current lateral acceleration when the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value;

[0032] A stabilizer bar control module, configured to control the stabilizer bar according to the target anti-roll moment.

[0033] An electronic device, including a processor, a memory, and a computer program stored on the memory and capable of running on the processor, where when the computer program is executed by the processor, it implements the control method of the stabilizer bar as described above.

[0034] A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the control method of the stabilizer bar as described above.

[0035] A vehicle, the vehicle includes the electronic device as described above.

[0036] The embodiments of the present invention have the following advantages:

[0037] In an embodiment of the present invention, when the vehicle is in a turning state, the current lateral acceleration of the vehicle is determined. When the absolute value of the current lateral acceleration is greater than a first preset acceleration value, the maximum anti-roll moment that the anti-roll bar can provide is determined as the target anti-roll moment. When the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value, a first anti-roll moment is determined according to the current lateral acceleration, and a target anti-roll moment less than or equal to the first anti-roll moment is determined according to the absolute value of the current lateral acceleration. Then, the anti-roll bar is controlled according to the target anti-roll moment, which realizes the optimization of the active control of the anti-roll bar, avoids the existence of risks that the driver cannot perceive due to the active control of the anti-roll bar, and thus enables the driver to timely operate and correct the vehicle, reducing the risk of vehicle rollover or fishtailing accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the present invention, the drawings required for the description of the present invention will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1 is a flowchart of the steps of a method for controlling an anti-roll bar provided by an embodiment of the present invention;

[0040] Figure 2 is a schematic structural diagram of an active stabilizer bar system provided by an embodiment of the present invention;

[0041] Figure 3 is a flowchart of the steps of another method for controlling an anti-roll bar provided by an embodiment of the present invention;

[0042] Figure 4 is a flowchart of the steps of another method for controlling an anti-roll bar provided by an embodiment of the present invention;

[0043] Figure 5 is a flowchart of the steps of another method for controlling an anti-roll bar provided by an embodiment of the present invention;

[0044] Figure 6 is a flowchart of the steps of another method for controlling an anti-roll bar provided by an embodiment of the present invention;

[0045] Figure 7 is a block diagram of the structure of a control device for an anti-roll bar provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] To make the above objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0047] Referring to Figure 1 , a flowchart of steps of a control method for a stabilizer bar provided in an embodiment of the present invention is shown. This method can be applied to a controller in an active stabilizer bar system, and the active stabilizer bar system can be used to actively control the stabilizer bar, such as Figure 2 , the active stabilizer bar system may include a controller 201, and a sensor assembly 202 and an actuator 203 connected to the controller 201. The sensor assembly 202 and the actuator 203 can be connected to the controller 201 through a CAN bus.

[0048] The sensor assembly 202 may include a vehicle body roll angle sensor 2021 and a lateral acceleration sensor 2022. The sensor assembly 202 can transmit parameters such as the roll angle and lateral acceleration collected by the sensors to the controller 201 through the CAN bus. The controller 201 can analyze the received parameters to obtain an anti-roll moment for controlling the stabilizer bar, and then can output the anti-roll moment to the actuator 203. The actuator 203 can control the stabilizer bar according to the anti-roll moment.

[0049] Specifically, it may include the following steps:

[0050] Step 101, when the vehicle is in a turning state, determine the current lateral acceleration of the vehicle.

[0051] When the vehicle is in a turning state, the risk of rollover or fishtailing accidents is relatively high, and there is a correlation between rollover or fishtailing accidents and the lateral acceleration of the vehicle. Then, the current lateral acceleration of the vehicle can be collected by a lateral acceleration sensor deployed on the vehicle for analysis.

[0052] In an embodiment of the present invention, before step 101, it may further include: obtaining the steering wheel angle and the actual roll angle of the vehicle; when the steering wheel angle is greater than or equal to a preset angle, or, the actual roll angle is greater than or equal to a preset roll angle, it is determined that the vehicle is in a turning state.

[0053] As an example, the preset angle may be 10 degrees, and the preset roll angle may be 0.5 degrees.

[0054] In a specific implementation, the sensor assembly of the active stabilizer bar system may further include a steering wheel angle sensor, so that the steering wheel angle of the vehicle can be obtained through the steering wheel angle sensor, and the actual roll angle of the vehicle can be obtained through the body roll angle sensor.

[0055] When the steering wheel angle is greater than or equal to a preset angle, or when the actual roll angle is greater than or equal to a preset roll angle, it can be determined that the vehicle is in a turning state, and then the active control of the anti-roll bar can be performed.

[0056] When the steering wheel angle is less than the preset angle and the actual roll angle is less than the preset roll angle, it can be determined that the vehicle is in a non-turning state, and there is no need to perform active control on the anti-roll bar. That is, the active stabilizer bar system enters the no-control mode, and the controller in the active stabilizer bar system is in the standby state. The anti-roll bar is not controlled by the actuator, and the anti-roll bar can rotate freely, but the active stabilizer bar system can still monitor the driving state of the vehicle in real time.

[0057] Step 102, when the absolute value of the current lateral acceleration is greater than the first preset acceleration value, determine the maximum anti-roll moment that the anti-roll bar can provide as the target anti-roll moment.

[0058] As an example, the first preset acceleration value can be 15 m / s 2 。

[0059] When the vehicle is in a turning state and the absolute value of the current lateral acceleration is greater than the first preset acceleration value, the vehicle has reached the roll limit, and the risk of rollover or fishtailing accidents is relatively high. The anti-roll bar needs to reduce the degree of vehicle roll as much as possible. Then the active stabilizer bar system can enter the safety mode, and the maximum anti-roll moment that the anti-roll bar can provide can be determined as the target anti-roll moment. By providing the maximum anti-roll moment, the vehicle can be kept stable, and the risk of rollover or fishtailing accidents can be reduced, and the reliability is higher.

[0060] Step 103, when the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value, determine the first anti-roll moment according to the current lateral acceleration, and determine the target anti-roll moment that is less than or equal to the first anti-roll moment according to the absolute value of the current lateral acceleration.

[0061] When the vehicle is in a turning state and the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value, the vehicle has not reached the roll limit, and the risk of rollover or fishtailing accidents is not high. Then the first anti-roll moment required to suppress the body roll can be determined according to the current lateral acceleration.

[0062] Among them, the first anti-roll moment is a moment adapted to the driving state of the vehicle. Specifically, if the anti-roll bar is controlled to provide a first anti-roll force, the actual roll angle of the vehicle can be reduced to the desired roll angle. In an ideal state, the roll angle of the vehicle body can be maintained at zero. When the vehicle is in a sharp turn, the vehicle body can still be kept in a horizontal state or a low tilt angle.

[0063] After determining the first anti-roll moment, if the anti-roll bar is directly and solely controlled to provide the first anti-roll moment, it will cause the vehicle body to remain in a horizontal state or a low tilt angle when the vehicle is in a sharp turn. As a result, the driver cannot perceive the existence of risks and will not perform corrective operations on the vehicle, which may instead increase the risk of rollover or fishtailing accidents of the vehicle.

[0064] To avoid the risks caused by directly controlling the anti-roll bar to provide the first anti-roll moment, the target anti-roll moment less than or equal to the first anti-roll moment can be further determined according to the actual magnitude of the absolute value of the current lateral acceleration. Compared with directly controlling the anti-roll bar to provide the first anti-roll moment, by outputting the target anti-roll moment less than or equal to the first anti-roll moment, the vehicle can have a small increase in roll on the premise of ensuring safety, enabling the driver to timely perceive the existence of risks, and then timely perform operation corrections on the vehicle, reducing the risk of rollover or fishtailing accidents of the vehicle.

[0065] In an embodiment of the present invention, determining the first anti-roll moment according to the current lateral acceleration may include:

[0066] Sub-step 11: Determine the current desired roll angle according to the current lateral acceleration.

[0067] In an embodiment of the present invention, sub-step 11 may include:

[0068] Use a preset function to calculate the current lateral acceleration to obtain the current desired roll angle. The preset function is obtained by fitting the relationship between the lateral acceleration and the desired roll angle in different situations.

[0069] Alternatively, in the preset relationship table, look up the current lateral acceleration to obtain the current desired roll angle. The preset relationship table stores the data calculated by the preset function.

[0070] Among them, the relationship between the lateral acceleration and the desired roll angle may include:

[0071] 1. When the absolute value of the lateral acceleration is less than the third preset acceleration value, the magnitude of the desired roll angle can tend to zero, that is, in an ideal state, the roll angle of the vehicle body can be maintained at zero.

[0072] Among them, the third preset acceleration value is less than the first preset acceleration value, such as 5 m / s 2 .

[0073] 2. When the absolute value of the lateral acceleration is greater than or equal to the third preset acceleration, within the interval where the direction of the lateral acceleration is the positive direction or the negative direction, the magnitude of the expected roll angle is positively correlated with the absolute value of the lateral acceleration.

[0074] Among them, the positive direction and the negative direction are the positive direction of the longitudinal axis in the vehicle coordinate system. The origin of the vehicle coordinate system coincides with the center of mass. When the vehicle is stationary on a horizontal road surface, the horizontal axis is parallel to the ground and points in the front direction of the vehicle, the vertical axis passes through the center of mass of the vehicle and points upward, and the longitudinal axis points to the left of the driver.

[0075] Specifically, within the interval where the direction of the lateral acceleration is the positive direction, the magnitude of the expected roll angle increases as the absolute value of the lateral acceleration increases. Considering the directions of the acceleration and the angle, that is, the expected roll angle increases as the lateral acceleration increases.

[0076] Within the interval where the direction of the lateral acceleration is the negative direction, the magnitude of the expected roll angle increases as the absolute value of the lateral acceleration increases. Considering the directions of the acceleration and the angle, that is, the expected roll angle decreases as the lateral acceleration decreases.

[0077] According to the relationship between the lateral acceleration and the expected roll angle, the relationship curve between the lateral acceleration and the expected roll angle can be divided into three segments to obtain a piecewise function. By using this piecewise function, the lateral acceleration can be input to obtain the expected roll angle. However, due to the problem of numerical step in the differential process of the piecewise function, using the piecewise function to control the expected roll angle will affect the riding comfort.

[0078] Based on this, according to the relationship curves of the lateral acceleration and the expected roll angle in three segments, through the polynomial fitting method, a fitting curve can be obtained, and then the preset function corresponding to this fitting curve can be obtained, which can be an expression of the first-order Nth power.

[0079] When the computing power of the vehicle is sufficient, the preset function can be directly used on the in-vehicle computer to calculate the current lateral acceleration to obtain the current expected roll angle. Of course, the offline calculation method can also be used. The corresponding data of the expected roll angle and the lateral acceleration calculated by the preset function are stored in the preset relationship table, and then the preset relationship table is downloaded to the in-vehicle computer. After obtaining the current lateral acceleration, the current expected roll angle can be directly found in the table.

[0080] Sub-step 12: Determine the first anti-roll moment according to the current expected roll angle and the actual roll angle of the vehicle.

[0081] After determining the current desired roll angle, the first anti-roll moment required to suppress vehicle body roll can be determined by combining the current desired roll angle and the actual roll angle collected by the vehicle body roll angle sensor.

[0082] In an embodiment of the present invention, determining a target anti-roll moment less than or equal to the first anti-roll moment according to the absolute value of the current lateral acceleration may include:

[0083] Sub-step 21, when the absolute value of the current lateral acceleration is less than or equal to a second preset acceleration value, determining the first anti-roll moment as the target anti-roll moment.

[0084] Wherein, the second preset acceleration value is less than the first preset acceleration value.

[0085] As an example, the second preset acceleration value may be 10 m / s 2 .

[0086] When the absolute value of the current lateral acceleration is less than or equal to the second preset acceleration value, the degree of roll of the vehicle is not high, and the risk of rollover or fishtailing accidents is relatively low. Then, the active stabilizer bar system can enter the general working mode and directly determine the first anti-roll moment required to suppress vehicle body roll as the target anti-roll moment.

[0087] Sub-step 22, when the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value and greater than the second preset acceleration value, determining a second anti-roll moment less than the first anti-roll moment as the target anti-roll moment.

[0088] When the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value and greater than the second preset acceleration value, the vehicle is already approaching the roll limit. If the driver does not perform operation correction, the vehicle will enter the roll limit. Then, the active stabilizer bar system can enter the safety warning mode, determine a second anti-roll moment less than the first anti-roll moment as the target anti-roll moment, and further enable the vehicle to increase a small amount of roll on the premise of ensuring safety, so that the driver can perceive the risk of rollover or fishtailing accidents and timely perform operation correction on the vehicle to reduce the risk of rollover or fishtailing accidents of the vehicle.

[0089] Step 104, controlling the lateral stabilizer bar according to the target anti-roll moment.

[0090] After determining the target anti-roll moment, the controller in the active stabilizer bar system can adopt a PID (Proportional Integral Derivative) control mode to input the target anti-roll moment to the actuator, and then the actuator can control the lateral stabilizer bar.

[0091] In an embodiment of the present invention, it may further include: generating a prompt message when the absolute value of the current lateral acceleration is less than or equal to a first preset acceleration value and greater than a second preset acceleration value.

[0092] When the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value and greater than the second preset acceleration value, that is, when the active stabilizer bar system enters the safety warning mode, a prompt message can be generated and can be prompted to the driver through devices such as an in-vehicle audio, an in-vehicle screen, and an indicator light, so that the driver can perceive the risk of rollover or fishtailing accidents, and then can operate and correct the vehicle in time to reduce the risk of vehicle rollover or fishtailing accidents.

[0093] In an embodiment of the present invention, when the vehicle is in a turning state, the current lateral acceleration of the vehicle is determined. When the absolute value of the current lateral acceleration is greater than the first preset acceleration value, the maximum anti-roll moment that the stabilizer bar can provide is determined as the target anti-roll moment. When the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value, a first anti-roll moment is determined according to the current lateral acceleration, and a target anti-roll moment less than or equal to the first anti-roll moment is determined according to the absolute value of the current lateral acceleration. Then, the stabilizer bar is controlled according to the target anti-roll moment, realizing the optimization of the active control of the stabilizer bar, avoiding the existence of risks that the driver cannot perceive due to the active control of the stabilizer bar, and further enabling the driver to operate and correct the vehicle in time to reduce the risk of vehicle rollover or fishtailing accidents.

[0094] Refer to Figure 3 , which shows a step flowchart of another control method for a stabilizer bar provided by an embodiment of the present invention, and may specifically include the following steps:

[0095] Step 301, obtain the steering wheel angle and the actual roll angle of the vehicle.

[0096] Step 302, determine that the vehicle is in a turning state when the steering wheel angle is greater than or equal to a preset angle or the actual roll angle is greater than or equal to a preset roll angle.

[0097] Step 303, determine the current lateral acceleration of the vehicle when the vehicle is in a turning state.

[0098] Step 304, when the absolute value of the current lateral acceleration is greater than the first preset acceleration value, determine the maximum anti-roll moment that the stabilizer bar can provide as the target anti-roll moment.

[0099] Step 305, control the stabilizer bar according to the target anti-roll moment.

[0100] Refer to Figure 4, showing a flowchart of steps of another method for controlling a stabilizer bar provided by an embodiment of the present invention, which may specifically include the following steps:

[0101] Step 401, obtain the steering wheel angle and the actual roll angle of the vehicle.

[0102] Step 402, determine that the vehicle is in a turning state when the steering wheel angle is greater than or equal to a preset angle, or the actual roll angle is greater than or equal to a preset roll angle.

[0103] Step 403, determine the current lateral acceleration of the vehicle when the vehicle is in a turning state.

[0104] Step 404, when the absolute value of the current lateral acceleration is less than or equal to a first preset acceleration value, determine a first anti-roll moment according to the current lateral acceleration.

[0105] In an embodiment of the present invention, determining the first anti-roll moment according to the current lateral acceleration may include: using a preset function to calculate the current lateral acceleration to obtain a current desired roll angle, and the preset function is obtained by fitting the relationship between the lateral acceleration and the desired roll angle in different situations.

[0106] In an embodiment of the present invention, determining the first anti-roll moment according to the current lateral acceleration may include: looking up the current lateral acceleration in a preset relationship table to obtain a current desired roll angle, and the preset relationship table stores data calculated by the preset function.

[0107] In an embodiment of the present invention, the relationship between the lateral acceleration and the desired roll angle may include:

[0108] When the absolute value of the lateral acceleration is less than a third preset acceleration value, the magnitude of the desired roll angle tends to zero, and the third preset acceleration value is less than the first preset acceleration value.

[0109] When the absolute value of the lateral acceleration is greater than or equal to the third preset acceleration, within the interval where the direction of the lateral acceleration is the positive direction or the negative direction, the magnitude of the desired roll angle is positively correlated with the absolute value of the lateral acceleration.

[0110] Step 405, determine a target anti-roll moment that is less than or equal to the first anti-roll moment according to the absolute value of the current lateral acceleration.

[0111] Step 406, control the stabilizer bar according to the target anti-roll moment.

[0112] In an embodiment of the present invention, it may further include: generating a prompt message when the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value and greater than the second preset acceleration value.

[0113] Refer to Figure 5 , which shows the flowchart of steps of another control method for a lateral stabilizer bar provided by an embodiment of the present invention, and specifically may include the following steps:

[0114] Step 501, obtain the steering wheel angle and the actual roll angle of the vehicle.

[0115] Step 502, determine that the vehicle is in a turning state when the steering wheel angle is greater than or equal to a preset angle, or the actual roll angle is greater than or equal to a preset roll angle.

[0116] Step 503, determine the current lateral acceleration of the vehicle when the vehicle is in a turning state.

[0117] Step 504, when the absolute value of the current lateral acceleration is less than or equal to a first preset acceleration value, determine the current desired roll angle according to the current lateral acceleration, and determine a first anti-roll moment according to the current desired roll angle and the actual roll angle of the vehicle.

[0118] Step 505, when the absolute value of the current lateral acceleration is less than or equal to a second preset acceleration value, determine the first anti-roll moment as the target anti-roll moment, and the second preset acceleration value is less than the first preset acceleration value.

[0119] Step 506, control the lateral stabilizer bar according to the target anti-roll moment.

[0120] Refer to Figure 6 , which shows the flowchart of steps of another control method for a lateral stabilizer bar provided by an embodiment of the present invention, and specifically may include the following steps:

[0121] Step 601, obtain the steering wheel angle and the actual roll angle of the vehicle.

[0122] Step 602, determine that the vehicle is in a turning state when the steering wheel angle is greater than or equal to a preset angle, or the actual roll angle is greater than or equal to a preset roll angle.

[0123] Step 603, determine the current lateral acceleration of the vehicle when the vehicle is in a turning state.

[0124] Step 604, when the absolute value of the current lateral acceleration is less than or equal to a first preset acceleration value, determine the current desired roll angle according to the current lateral acceleration, and determine a first anti-roll moment according to the current desired roll angle and the actual roll angle of the vehicle.

[0125] Step 605: When the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value and greater than the second preset acceleration value, determine the second anti-roll moment less than the first anti-roll moment as the target anti-roll moment, where the second preset acceleration value is less than the first preset acceleration value.

[0126] Step 606: Control the anti-roll bar according to the target anti-roll moment.

[0127] It should be noted that for the method embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of the present invention are not limited by the described action sequences, because according to the embodiments of the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential for the embodiments of the present invention.

[0128] Refer to Figure 7 , which shows a schematic structural diagram of a control device for an anti-roll bar provided by an embodiment of the present invention, and specifically may include the following modules:

[0129] The current lateral acceleration determination module 701 can be used to determine the current lateral acceleration of the vehicle when the vehicle is in a turning state.

[0130] The maximum anti-roll moment determination module 702 can be used to determine the maximum anti-roll moment that the anti-roll bar can provide as the target anti-roll moment when the absolute value of the current lateral acceleration is greater than the first preset acceleration value.

[0131] The less than or equal to the first anti-roll moment determination module 703 is used to determine the first anti-roll moment according to the current lateral acceleration and determine the target anti-roll moment less than or equal to the first anti-roll moment according to the absolute value of the current lateral acceleration when the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value.

[0132] The anti-roll bar control module 704 can be used to control the anti-roll bar according to the target anti-roll moment.

[0133] In an embodiment of the present invention, the less than or equal to the first anti-roll moment determination module 703 may include:

[0134] The equal to the first anti-roll moment determination sub-module can be used to determine the first anti-roll moment as the target anti-roll moment when the absolute value of the current lateral acceleration is less than or equal to the second preset acceleration value, where the second preset acceleration value is less than the first preset acceleration value.

[0135] The sub-module for determining a moment less than the first anti-roll moment can be used to determine that the second anti-roll moment less than the first anti-roll moment is the target anti-roll moment when the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value and greater than the second preset acceleration value.

[0136] In an embodiment of the present invention, it may further include:

[0137] The prompt message generation module can be used to generate a prompt message when the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value and greater than the second preset acceleration value.

[0138] In an embodiment of the present invention, the module 703 for determining less than or equal to the first anti-roll moment may include:

[0139] The current desired roll angle determination sub-module can be used to determine the current desired roll angle according to the current lateral acceleration.

[0140] The first anti-roll moment determination sub-module can be used to determine the first anti-roll moment according to the current desired roll angle and the actual roll angle of the vehicle.

[0141] In an embodiment of the present invention, the previous desired roll angle determination sub-module may include:

[0142] The online calculation unit can be used to calculate the current lateral acceleration by using a preset function to obtain the current desired roll angle, and the preset function is obtained by fitting the relationship between the lateral acceleration and the desired roll angle in different situations.

[0143] The offline calculation unit can be used to look up the current lateral acceleration in a preset relationship table to obtain the current desired roll angle, and the preset relationship table stores the data calculated by the preset function.

[0144] In an embodiment of the present invention, the relationship between the lateral acceleration and the desired roll angle may include:

[0145] In the case where the absolute value of the lateral acceleration is less than the third preset acceleration value, the magnitude of the desired roll angle tends to zero, and the third preset acceleration value is less than the first preset acceleration value.

[0146] In the case where the absolute value of the lateral acceleration is greater than or equal to the third preset acceleration, within the interval where the direction of the lateral acceleration is the positive direction or the negative direction, the magnitude of the desired roll angle is positively correlated with the absolute value of the lateral acceleration.

[0147] In an embodiment of the present invention, it may further include:

[0148] The angle acquisition module can be used to acquire the steering wheel angle and the actual roll angle of the vehicle.

[0149] A turning state determination module can be used to determine that the vehicle is in a turning state when the steering wheel angle is greater than or equal to a preset angle, or the actual roll angle is greater than or equal to a preset roll angle.

[0150] In an embodiment of the present invention, when the vehicle is in a turning state, the current lateral acceleration of the vehicle is determined. When the absolute value of the current lateral acceleration is greater than a first preset acceleration value, the maximum anti-roll moment that the anti-roll bar can provide is determined as the target anti-roll moment. When the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value, a first anti-roll moment is determined according to the current lateral acceleration, and a target anti-roll moment less than or equal to the first anti-roll moment is determined according to the absolute value of the current lateral acceleration. Then, the anti-roll bar is controlled according to the target anti-roll moment, realizing the optimization of the active control of the anti-roll bar, avoiding the situation that the driver cannot perceive the risk due to the active control of the anti-roll bar, and thus enabling the driver to timely operate and correct the vehicle, reducing the risk of vehicle rollover or fishtailing accidents.

[0151] An embodiment of the present invention further provides an electronic device, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, the above-mentioned control method of the anti-roll bar is realized.

[0152] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by the processor, the above-mentioned control method of the anti-roll bar is realized.

[0153] An embodiment of the present invention further provides a vehicle, which includes the above-mentioned electronic device.

[0154] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For the related parts, refer to the partial description of the method embodiment.

[0155] Each embodiment in this specification is described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, refer to each other.

[0156] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, an apparatus, or a computer program product. Therefore, the embodiments of the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0157] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented 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 terminal devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing terminal devices generate a device for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0158] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device that implements the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0159] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, such that a series of operation steps are executed on the computer or other programmable terminal device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable terminal device provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0160] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0161] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent in such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising the said element.

[0162] The above provides a detailed introduction to a control method for a stabilizer bar and related devices. Specific examples are used in this text to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A control method for a stabilizer bar, characterized in that, The method includes: When the vehicle is in a turning state, determining the current lateral acceleration of the vehicle; When the absolute value of the current lateral acceleration is greater than a first preset acceleration value, determining the maximum anti-roll moment that the anti-roll bar can provide as the target anti-roll moment; wherein, when the absolute value of the current lateral acceleration is greater than the first preset acceleration value, the vehicle has reached the roll limit; When the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value, determining a first anti-roll moment according to the current lateral acceleration, and determining a target anti-roll moment that is less than or equal to the first anti-roll moment according to the absolute value of the current lateral acceleration; Controlling the anti-roll bar according to the target anti-roll moment; The determining a target anti-roll moment that is less than or equal to the first anti-roll moment according to the absolute value of the current lateral acceleration includes: When the absolute value of the current lateral acceleration is less than or equal to a second preset acceleration value, determining the first anti-roll moment as the target anti-roll moment, and the second preset acceleration value is less than the first preset acceleration value; When the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value and greater than the second preset acceleration value, determining a second anti-roll moment that is less than the first anti-roll moment as the target anti-roll moment; wherein, when the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value and greater than the second preset acceleration value, the vehicle is approaching the roll limit; The determining a first anti-roll moment according to the current lateral acceleration includes: Determining a current desired roll angle according to the current lateral acceleration; Determining a first anti-roll moment according to the current desired roll angle and the actual roll angle of the vehicle; The relationship between the lateral acceleration and the desired roll angle includes: When the absolute value of the lateral acceleration is less than a third preset acceleration value, the magnitude of the desired roll angle tends to zero, and the third preset acceleration value is less than the first preset acceleration value; When the absolute value of the lateral acceleration is greater than or equal to the third preset acceleration, within the interval where the direction of the lateral acceleration is the positive direction or the negative direction, the magnitude of the desired roll angle is positively correlated with the absolute value of the lateral acceleration.

2. The method according to claim 1, characterized in that, It further includes: When the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value and greater than the second preset acceleration value, generating a prompt message.

3. The method according to claim 1, characterized in that, The determining a current desired roll angle according to the current lateral acceleration includes: Using a preset function to calculate the current lateral acceleration to obtain a current desired roll angle, and the preset function is obtained by fitting the relationship between the lateral acceleration and the desired roll angle in different cases; Alternatively, in a preset relationship table, looking up the current lateral acceleration to obtain a current desired roll angle, and the preset relationship table stores data calculated by the preset function.

4. The method according to claim 1, characterized in that, Before determining the current lateral acceleration of the vehicle when the vehicle is in a turning state, the following steps are further included: Obtain the steering wheel angle and the actual roll angle of the vehicle; When the steering wheel angle is greater than or equal to a preset angle, or the actual roll angle is greater than or equal to a preset roll angle, determine that the vehicle is in a turning state.

5. A control device for a stabilizer bar, characterized in that, The device includes: A current lateral acceleration determination module, configured to determine the current lateral acceleration of the vehicle when the vehicle is in a turning state; A maximum anti-roll moment determination module, configured to determine the maximum anti-roll moment that the anti-roll bar can provide as the target anti-roll moment when the absolute value of the current lateral acceleration is greater than a first preset acceleration value; wherein, when the absolute value of the current lateral acceleration is greater than the first preset acceleration value, the vehicle has reached the roll limit; A less than or equal to first anti-roll moment determination module, configured to determine a first anti-roll moment according to the current lateral acceleration and determine a target anti-roll moment less than or equal to the first anti-roll moment according to the absolute value of the current lateral acceleration when the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value; An anti-roll bar control module, configured to control the anti-roll bar according to the target anti-roll moment; The first anti-roll moment determination module includes: An equal to first anti-roll moment determination sub-module, configured to determine the first anti-roll moment as the target anti-roll moment when the absolute value of the current lateral acceleration is less than or equal to a second preset acceleration value, and the second preset acceleration value is less than the first preset acceleration value; A less than first anti-roll moment determination sub-module, configured to determine a second anti-roll moment less than the first anti-roll moment as the target anti-roll moment when the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value and greater than the second preset acceleration value; wherein, when the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value and greater than the second preset acceleration value, the vehicle is approaching the roll limit; The first anti-roll moment determination module includes: A current desired roll angle determination sub-module, configured to determine a current desired roll angle according to the current lateral acceleration; A first anti-roll moment determination sub-module, configured to determine a first anti-roll moment according to the current desired roll angle and the actual roll angle of the vehicle; The relationship between the lateral acceleration and the desired roll angle includes: When the absolute value of the lateral acceleration is less than a third preset acceleration value, the magnitude of the desired roll angle tends to zero, and the third preset acceleration value is less than the first preset acceleration value; When the absolute value of the lateral acceleration is greater than or equal to the third preset acceleration, within the positive direction interval or the negative direction interval of the lateral acceleration direction, the magnitude of the desired roll angle is positively correlated with the absolute value of the lateral acceleration.

6. An electronic device, characterized in that, It includes a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the control method of the anti-roll bar according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is executed by the processor, it implements the control method of the anti-roll bar according to any one of claims 1 to 4.

8. A vehicle, characterized in that, The vehicle includes the electronic device according to claim 6.

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