A control method and related device of lateral stabilizer bar

Abstract

The embodiment of the present invention provides a control method of a lateral stabilizer bar and a related device, the method comprising: determining a first torque for controlling the target driving wheel to contact the ground when detecting that the target driving wheel of the vehicle is in a suspended state; and controlling the lateral stabilizer bar according to the first torque. Through the embodiment of the present invention, the suspended driving wheel is brought into contact with the ground by controlling the lateral stabilizer bar, thereby getting the vehicle out of trouble and improving the vehicle's ability to cope with bumpy roads.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a control method and a related device for a lateral stabilizer bar. Background Art

[0002] With the development of automobile technology, users have higher and higher requirements for the roll stability of vehicles. In vehicles using passively controlled anti-roll bars, when the stiffness of the anti-roll bars is large, the handling stability is better. However, the high-rigidity anti-roll bars will cause the left and right suspensions to affect each other, reducing the smoothness. The actively controlled anti-roll bars can enable the vehicle to achieve better handling stability and smoothness.

[0003] However, the existing active control scheme of the anti-roll bar can only deal with the situation where the vehicle's drive wheels are in contact with the ground. On a bumpy road, when one of the vehicle's drive wheels is suspended in the air, it has no driving force relative to the ground, and due to the equal-torque transmission principle of the differential, the other drive wheel of the vehicle will also have no driving force relative to the ground, resulting in the vehicle having no driving force and then getting into trouble. Summary of the invention

[0004] In view of the above problems, a control method and related device of a lateral stabilizer bar are proposed to overcome the above problems or at least partially solve the above problems, including:

[0005] A method for controlling a lateral stabilizer bar, the method comprising:

[0006] In a case where it is detected that the target driving wheel of the vehicle is in a suspended state, determining a first torque for controlling the target driving wheel to contact with the ground;

[0007] According to the first moment, the anti-roll bar is controlled.

[0008] Optionally, in the case where it is detected that the target driving wheel of the vehicle is in a suspended state, before determining the first torque for controlling the target driving wheel to contact with the ground, the method further includes:

[0009] Obtaining the vehicle speed and the wheel speed of the target driving wheel;

[0010] When the vehicle speed is less than or equal to the first speed threshold and the wheel speed is greater than the second speed threshold, it is determined that the target drive wheel is detected to be in the suspended state.

[0011] Optionally, in the case where it is detected that the target driving wheel of the vehicle is in a suspended state, before determining the first torque for controlling the target driving wheel to contact the ground, the method further includes:

[0012] Get human-computer interaction instructions;

[0013] When the human-computer interaction instruction includes information indicating that the target driving wheel is suspended, it is determined that the target driving wheel is detected to be in a suspended state.

[0014] Optionally, controlling the lateral stabilizer bar according to the first moment includes:

[0015] determining a second moment for suppressing vehicle body roll;

[0016] Determining a third moment based on the first moment and the second moment;

[0017] According to the third moment, the anti-roll bar is controlled.

[0018] Optionally, determining a second moment for suppressing the vehicle body roll includes:

[0019] Get the steering wheel angle, current roll angle, and lateral acceleration;

[0020] A second moment for suppressing the roll of the vehicle body is determined based on the steering wheel angle, the current roll angle, and the lateral acceleration.

[0021] A control device for a lateral stabilizer bar, the device comprising:

[0022] A first torque determination module, configured to determine a first torque for controlling the target driving wheel to contact the ground when detecting that the target driving wheel of the vehicle is in a suspended state;

[0023] The lateral stabilizer bar control module is configured to control the lateral stabilizer bar according to the first moment.

[0024] Optionally, it also includes:

[0025] A speed acquisition module, used for acquiring the vehicle speed and the wheel speed of the target driving wheel;

[0026] The first suspended state determination module is used to determine that the target driving wheel is in the suspended state when the vehicle speed is less than or equal to the first speed threshold and the wheel speed is greater than the second speed threshold.

[0027] Optionally, it also includes:

[0028] A human-computer interaction instruction acquisition module, used to acquire human-computer interaction instructions;

[0029] The second suspended state determination module is used to determine that the target driving wheel is in the suspended state when the human-computer interaction instruction includes information indicating that the target driving wheel is suspended.

[0030] Optionally, the lateral stabilizer bar control module is performed according to the first moment, including:

[0031] A second moment determination submodule, used to determine a second moment for suppressing the roll of the vehicle body;

[0032] A third torque determination submodule, used to determine a third torque according to the first torque and the second torque;

[0033] The submodule for controlling the lateral stabilizer bar according to the third moment is used for controlling the lateral stabilizer bar according to the third moment.

[0034] Optionally, the second torque determination submodule includes:

[0035] A parameter acquisition unit, used to acquire the steering wheel angle, the current roll angle, and the lateral acceleration;

[0036] The parameter determines a second torque unit for determining a second torque for suppressing the roll of the vehicle body according to a steering wheel angle, a current roll angle, and a lateral acceleration.

[0037] An electronic device comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, the control method of a lateral stabilizer bar as described above is implemented.

[0038] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of a lateral stabilizer bar as described above is implemented.

[0039] A vehicle comprises the electronic device as described above.

[0040] The embodiments of the present invention have the following advantages:

[0041] In an embodiment of the present invention, when it is detected that the target driving wheel of the vehicle is in a suspended state, a first torque for controlling the target driving wheel to contact the ground is determined, and then the lateral stabilizer bar is controlled according to the first torque, so that the suspended driving wheel is brought into contact with the ground by controlling the lateral stabilizer bar, thereby getting the vehicle out of trouble and improving the vehicle's ability to cope with bumpy roads. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0043] Figure 1 is a flowchart of a method for controlling a lateral stabilizer bar provided by an embodiment of the present invention;

[0044] Figure 2a is a structural schematic diagram of an active stabilizer bar system provided by one embodiment of the present invention;

[0045] Figure 2b is a schematic structural diagram of another active stabilizer bar system provided by an embodiment of the present invention;

[0046] Figure 2c is a schematic diagram of a wheel state provided by an embodiment of the present invention;

[0047] Figure 2d is a schematic diagram of another wheel state provided by an embodiment of the present invention;

[0048] Figure 3 is a flowchart of another method for controlling a lateral stabilizer bar provided by an embodiment of the present invention;

[0049] Figure 4 is a flowchart of another method for controlling a lateral stabilizer bar provided by an embodiment of the present invention;

[0050] Figure 5 is a flowchart of another method for controlling a lateral stabilizer bar provided by an embodiment of the present invention;

[0051] Figure 6 The present invention is a structural block diagram of a control device for a lateral stabilizer bar provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] Reference Figure 1 , showing a step flow chart of a control method for a lateral stabilizer bar provided by an embodiment of the present invention. The method can be applied to an active stabilizer bar system, which can actively control the lateral stabilizer bar. During the active control of the lateral stabilizer bar, the anti-roll force of the lateral stabilizer bar can be adjusted according to different working conditions, thereby enabling the vehicle to achieve better handling stability and smoothness.

[0054] The active stabilizer bar system may be a motor-type active stabilizer bar, such as Figure 2a , which may include a controller 201 , a sensor 202 connected to the controller 201 , a motor 203 , a reducer 204 , and a left lateral stabilizer bar 205 and a right lateral stabilizer bar 206 connected to the motor 203 and the reducer 204 .

[0055] like Figure 2b In the active stabilizer bar system, the controller 201 can be connected to the motor 203 via the current driver 207. The controller 201 sends a current instruction to the current driver 207, so that the current driver 207 applies current to the motor 203, thereby controlling the lateral stabilizer bar.

[0056] The active stabilizer bar system may further include an on-board display device 208 connected to the controller 201 . The on-board display device 208 may be used to provide a human-computer interaction interface and may transmit human-computer interaction instructions to the controller 201 according to user operations on the human-computer interaction interface.

[0057] The active stabilizer bar system may include a first sensor group 2021 and a second sensor group 2022. The first sensor group 2021 and the second sensor group 2022 may be connected to the controller 201 via a CAN bus. The first sensor group 2021 may include a steering wheel angle sensor for collecting a steering wheel angle, a vehicle body roll angle sensor for collecting a current roll angle, and a lateral acceleration sensor for collecting a lateral acceleration. The second sensor group 2022 may include a vehicle speed sensor for collecting a vehicle speed, and a wheel speed sensor for collecting a wheel speed.

[0058] Specifically, the following steps may be included:

[0059] Step 101 : when it is detected that a target driving wheel of a vehicle is in a suspended state, determining a first torque for controlling the target driving wheel to contact with the ground.

[0060] In actual applications, a two-wheel drive vehicle has two driving wheels and two driven wheels, which can be two front wheels as driving wheels and two rear wheels as driven wheels, or two rear wheels as driving wheels and two front wheels as driven wheels. On bumpy roads, the vehicle's driving wheels may be suspended, that is, the tires are not in contact with the ground. When a driving wheel is suspended, it has no driving force relative to the ground. If the vehicle is not equipped with a differential lock, under the principle of equal torque transmission, the driving force of the other driving wheel relative to the ground will also not exist, resulting in a vehicle without driving force, which will put the vehicle in trouble.

[0061] Based on this, it is possible to determine whether any drive wheels are in a suspended state through the parameters collected by the on-board sensors. When it is detected that all drive wheels are not in a suspended state, no subsequent processing is required, and the torque used to suppress the roll of the vehicle body can be determined based on the steering wheel angle, the current roll angle, and the lateral acceleration to actively control the anti-roll bar.

[0062] When the target driving wheel of the vehicle is detected to be in the suspended state, Figure 2c The right front driving wheel of the vehicle is in a suspended state. Of course, the left front driving wheel of the vehicle can also be in a suspended state. In order to avoid the situation where the vehicle has no driving force, the first torque can be determined, and the anti-roll bar can be controlled by the first torque, so that the target driving wheel can contact with the ground and leave the suspended state.

[0063] In one example, the initial magnitude of the first torque may be a preset torque magnitude. After each time the anti-roll bar is controlled by the first torque, it may be determined again whether the target drive wheel is in a suspended state. If the target drive wheel is still in a suspended state, the first torque may be increased incrementally with a preset step size based on the preset torque magnitude until it is detected that the target drive wheel is in contact with the ground, or the magnitude of the first torque is increased to the maximum torque that the anti-roll bar can provide.

[0064] In an embodiment of the present invention, before step 101, the following steps may also be included:

[0065] The vehicle speed and the wheel speed of the target driving wheel are obtained; when the vehicle speed is less than or equal to a first speed threshold and the wheel speed is greater than a second speed threshold, it is determined that the target driving wheel is detected to be in a suspended state.

[0066] The first speed threshold may be 0.0001 km / h. In a preferred example, the first speed threshold may be 0, that is, the vehicle speed is equal to 0, and the second speed threshold may be 1 km / h.

[0067] Since the driving wheel will idle when it is in a suspended state, that is, the wheel is rotating but the vehicle speed does not increase, the vehicle speed collected by the vehicle speed sensor can be obtained, and the wheel speed collected by the wheel speed sensor can be obtained. When the vehicle speed is less than or equal to the first speed threshold, and the wheel speed is greater than the second speed threshold, it can be determined that the target driving wheel is detected to be in a suspended state.

[0068] In an embodiment of the present invention, before step 101, the following steps may also be included:

[0069] Obtaining a human-computer interaction instruction; and determining that the target drive wheel is detected to be in a suspended state when the human-computer interaction instruction includes information indicating that the target drive wheel is suspended.

[0070] In practical applications, a human-computer interaction interface can be provided through an on-board display device, and the user can indicate the suspended target driving wheel by operating in the human-computer interaction interface. For example, a virtual vehicle model is displayed in the human-computer interaction interface, and the position of the suspended target driving wheel can be determined by selecting the target driving wheel in the virtual vehicle model, and then a human-computer interaction instruction can be generated. Through the human-computer interaction instruction, it can be known that the target driving wheel is in a suspended state.

[0071] Step 102: Control the lateral stabilizer bar according to the first torque.

[0072] After determining the first torque, the first torque can be transmitted to the motor, and then the anti-roll bar can be controlled by the motor, so that the target driving wheel in the suspended state contacts the ground, and the vehicle has driving force under the action of the driving wheel, thereby getting out of trouble.

[0073] Before the lateral stabilizer bar is controlled, Figure 2c , the right front driving wheel is in a suspended state. After controlling the lateral stabilizer bar, Figure 2d , the right front driving wheel contacts the ground, and the left rear driven wheel located diagonally opposite it enters a suspended state.

[0074] In one embodiment of the present invention, step 102 may include:

[0075] Sub-step 11, determining a second moment for suppressing the roll of the vehicle body.

[0076] In a specific implementation, in the case of vehicle body roll, a second moment may be determined, and the second moment may be used to suppress the vehicle body roll and maintain the vehicle body roll angle within a reasonable range.

[0077] In one embodiment of the present invention, sub-step 11 may include:

[0078] A steering wheel angle, a current roll angle, and a lateral acceleration are obtained; and a second torque for suppressing the roll of the vehicle body is determined according to the steering wheel angle, the current roll angle, and the lateral acceleration.

[0079] In a specific implementation, the steering wheel angle collected by the steering wheel angle sensor can be obtained, and the current roll angle collected by the vehicle body roll angle sensor and the lateral acceleration collected by the lateral acceleration sensor can be obtained. Then, the second torque can be determined based on the steering wheel angle, the current roll angle, and the lateral acceleration. The second torque can be used to suppress the roll of the vehicle body.

[0080] Sub-step 12, determining a third torque according to the first torque and the second torque.

[0081] After obtaining the first moment and the second moment, the first moment and the second moment may be fused, such as by performing vector addition on the two, to obtain a third moment.

[0082] Sub-step 13, controlling the lateral stabilizer bar according to the third moment.

[0083] After the third torque is obtained, the third torque can be transmitted to the motor, and then the anti-roll bar can be controlled by the motor, so that the target driving wheel in the suspended state contacts the ground and the roll angle of the vehicle body can be maintained within a reasonable range.

[0084] In an embodiment of the present invention, when it is detected that the target driving wheel of the vehicle is in a suspended state, a first torque for controlling the target driving wheel to contact the ground is determined, and then the lateral stabilizer bar is controlled according to the first torque, so that the suspended driving wheel is brought into contact with the ground by controlling the lateral stabilizer bar, thereby getting the vehicle out of trouble and improving the vehicle's ability to cope with bumpy roads.

[0085] Reference Figure 3 , shows a flowchart of another method for controlling a lateral stabilizer bar provided by an embodiment of the present invention, which may specifically include the following steps:

[0086] Step 301: when it is detected that a target driving wheel of the vehicle is in a suspended state, determine a first torque for controlling the target driving wheel to contact with the ground.

[0087] Step 302: determine a second moment for suppressing the roll of the vehicle body.

[0088] In one embodiment of the present invention, step 302 may include:

[0089] A steering wheel angle, a current roll angle, and a lateral acceleration are obtained; and a second torque for suppressing the roll of the vehicle body is determined according to the steering wheel angle, the current roll angle, and the lateral acceleration.

[0090] Step 303: Determine a third torque according to the first torque and the second torque.

[0091] Step 304: Control the lateral stabilizer bar according to the third moment.

[0092] Reference Figure 4 , shows a flowchart of another method for controlling a lateral stabilizer bar provided by an embodiment of the present invention, which may specifically include the following steps:

[0093] Step 401, obtaining the vehicle speed and the wheel speed of the target driving wheel.

[0094] Step 402: When the vehicle speed is less than or equal to the first speed threshold and the wheel speed is greater than the second speed threshold, it is determined that the target drive wheel is in a suspended state.

[0095] Step 403: when it is detected that the target driving wheel of the vehicle is in a suspended state, determine a first torque for controlling the target driving wheel to contact the ground.

[0096] Step 404: Control the lateral stabilizer bar according to the first torque.

[0097] Reference Figure 5 , shows a flowchart of another method for controlling a lateral stabilizer bar provided by an embodiment of the present invention, which may specifically include the following steps:

[0098] Step 501, obtaining a human-computer interaction instruction.

[0099] Step 502: when the human-computer interaction instruction includes information indicating that the target driving wheel is suspended, it is determined that the target driving wheel is detected to be in a suspended state.

[0100] Step 503: when it is detected that the target driving wheel of the vehicle is in a suspended state, determine a first torque for controlling the target driving wheel to contact the ground.

[0101] Step 504: Control the lateral stabilizer bar according to the first torque.

[0102] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0103] Reference Figure 6 , shows a schematic structural diagram of a control device for a lateral stabilizer bar provided by an embodiment of the present invention, which may specifically include the following modules:

[0104] The first torque determination module 601 may be used to determine a first torque for controlling the target driving wheel to contact the ground when it is detected that the target driving wheel of the vehicle is in a suspended state.

[0105] The first moment-based stabilizer bar control module 602 may be configured to control the stabilizer bar according to the first moment.

[0106] In one embodiment of the present invention, the method may further include:

[0107] The speed acquisition module can be used to obtain the vehicle speed and the wheel speed of the target driving wheel.

[0108] The first suspended state determination module can be used to determine that the target driving wheel is in the suspended state when the vehicle speed is less than or equal to the first speed threshold and the wheel speed is greater than the second speed threshold.

[0109] In one embodiment of the present invention, the method may further include:

[0110] The human-computer interaction instruction acquisition module can be used to obtain human-computer interaction instructions.

[0111] The second suspended state determination module may be used to determine that the target driving wheel is in the suspended state when the human-computer interaction instruction includes information indicating that the target driving wheel is suspended.

[0112] In one embodiment of the present invention, the lateral stabilizer bar control module 602 according to the first moment may include:

[0113] The second torque determination submodule may be used to determine a second torque for suppressing the vehicle body roll.

[0114] The third torque determination submodule may be configured to determine a third torque according to the first torque and the second torque.

[0115] The submodule for controlling the lateral stabilizer bar according to the third moment can be used to control the lateral stabilizer bar according to the third moment.

[0116] In one embodiment of the present invention, the second torque determination submodule may include:

[0117] The parameter acquisition unit can be used to obtain the steering wheel angle, the current roll angle, and the lateral acceleration.

[0118] The parameter determines the second torque unit, which can be used to determine the second torque for suppressing the roll of the vehicle body according to the steering wheel angle, the current roll angle, and the lateral acceleration.

[0119] In an embodiment of the present invention, when it is detected that the target driving wheel of the vehicle is in a suspended state, a first torque for controlling the target driving wheel to contact the ground is determined, and then the lateral stabilizer bar is controlled according to the first torque, so that the suspended driving wheel is brought into contact with the ground by controlling the lateral stabilizer bar, thereby getting the vehicle out of trouble and improving the vehicle's ability to cope with bumpy roads.

[0120] An embodiment of the present invention further provides an electronic device, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the control method of the lateral stabilizer bar as described above is implemented.

[0121] 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 a processor, the control method of the lateral stabilizer bar as described above is implemented.

[0122] An embodiment of the present invention further provides a vehicle, the vehicle comprising the electronic device as described above.

[0123] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0124] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0125] Those skilled in the art will appreciate that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0126] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes 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 a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0127] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0128] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable terminal device. Figure 1A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0129] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0130] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the above elements.

[0131] The control method and related device of a lateral stabilizer bar provided above are introduced in detail. Specific examples are used in this article to illustrate the principle and implementation mode 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 skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for controlling a lateral stabilizer bar, characterized in that: The method comprises: In a case where it is detected that the target driving wheel of the vehicle is in a suspended state, determining a first torque for controlling the target driving wheel to contact the ground; controlling the lateral stabilizer bar according to the first moment; The controlling the lateral stabilizer bar according to the first moment includes: determining a second moment for suppressing vehicle body roll; Determining a third moment according to the first moment and the second moment; The stabilizer bar is controlled according to the third moment.

2. The method according to claim 1, characterized in that Before determining the first torque for controlling the target driving wheel to contact the ground when it is detected that the target driving wheel of the vehicle is in a suspended state, the method further includes: Acquiring the vehicle speed and the wheel speed of the target driving wheel; When the vehicle speed is less than or equal to a first speed threshold and the wheel speed is greater than a second speed threshold, it is determined that the target drive wheel is detected to be in a suspended state.

3. The method according to claim 1, characterized in that Before determining the first torque for controlling the target driving wheel to contact the ground when it is detected that the target driving wheel of the vehicle is in a suspended state, the method further includes: Get human-computer interaction instructions; When the human-computer interaction instruction includes information indicating that the target driving wheel is suspended, it is determined that the target driving wheel is detected to be in a suspended state.

4. The method according to claim 1, characterized in that: The determining of the second moment for suppressing the vehicle body roll includes: Get the steering wheel angle, current roll angle, and lateral acceleration; A second moment for suppressing the roll of the vehicle body is determined according to the steering wheel angle, the current roll angle, and the lateral acceleration.

5. A control device for a lateral stabilizer bar, characterized in that: The device comprises: A first torque determination module, configured to determine a first torque for controlling the target driving wheel to contact the ground when detecting that the target driving wheel of the vehicle is in a suspended state; A lateral stabilizer bar control module according to a first moment, configured to control the lateral stabilizer bar according to the first moment; The lateral stabilizer bar control module according to the first moment includes: A second moment determination submodule, used to determine a second moment for suppressing the roll of the vehicle body; A third torque determination submodule, configured to determine a third torque according to the first torque and the second torque; The submodule for controlling the lateral stabilizer bar according to the third moment is used for controlling the lateral stabilizer bar according to the third moment.

6. The device according to claim 5, characterized in that Also includes: A speed acquisition module, used to acquire the vehicle speed and the wheel speed of the target driving wheel; The first suspension state determination module is used to determine that the target driving wheel is in the suspension state when the vehicle speed is less than or equal to the first speed threshold and the wheel speed is greater than the second speed threshold.

7. The device according to claim 5, characterized in that Also includes: A human-computer interaction instruction acquisition module, used to acquire human-computer interaction instructions; The second suspended state determination module is configured to determine that the target driving wheel is in a suspended state when the human-computer interaction instruction includes information indicating that the target driving wheel is suspended.

8. The device according to claim 5, characterized in that The second torque determination submodule includes: A parameter acquisition unit, used to acquire the steering wheel angle, the current roll angle, and the lateral acceleration; The parameter determines a second torque unit, which is used to determine a second torque for suppressing the roll of the vehicle body according to the steering wheel angle, the current roll angle, and the lateral acceleration.

9. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the control method of the stabilizer bar according to any one of claims 1 to 4 when executed by the processor.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the stabilizer bar according to any one of claims 1 to 4 is implemented.

11. A vehicle, characterized in that: The vehicle comprises the electronic device as claimed in claim 9.

Images