Vehicle body roll control method, device, equipment and storage medium

Abstract

The present invention discloses a vehicle body roll control method, device, equipment and storage medium, belonging to the field of vehicle control technology. The present invention obtains the current speed of the vehicle when the vehicle is in a preset road condition; determines whether the vehicle meets the bumpy road control condition according to the current speed; obtains the vehicle body acceleration in all directions and the vehicle body angle in all directions when the vehicle does not meet the bumpy road control condition; identifies whether the vehicle is in a preset driving condition based on the vehicle body acceleration in all directions and the vehicle body angle in all directions; and performs vehicle body roll control on the vehicle when the vehicle is in the preset driving condition, thereby improving the vehicle body roll control effect and ensuring the vehicle driving controllability, stability and comfort.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle body roll control method, device, equipment and storage medium. Background Art

[0002] When the vehicle is on a bumpy road, the required current for driving is relatively high, but due to the unavoidable delay in the wheel acceleration sensor signal processing, there is a risk of abnormal noise if the current jumps too large or too fast. In order to reduce the probability of such abnormal noise, the current common measures are to adjust the control strategy, such as setting the bumpy road control intervention speed threshold, delaying the continuous damping adjustable shock absorber control intervention timing, which will make the vehicle execute a fixed current when the control speed threshold is not met, thereby avoiding various abnormal noise problems caused by excessive or too fast current jumps, but it will affect the driving control ability outside the speed threshold range.

[0003] When a vehicle encounters certain road conditions such as large-amplitude twisted roads, the vehicle generally travels at a very low speed. However, under this driving condition, the body rolls greatly and the vehicle needs a larger damping force to suppress the relative movement of the body to stabilize the body and ensure driving stability and safety. However, under this condition, the vehicle speed may not reach the controlled speed threshold, resulting in the vehicle's actual response damping force value under this condition being too small, insufficient control of the body movement, and potential safety hazards. Summary of the invention

[0004] The main purpose of the present invention is to provide a vehicle body roll control method, device, equipment and storage medium, aiming to solve the technical problem that the vehicle body roll control effect is poor in the prior art.

[0005] To achieve the above object, the present invention provides a vehicle body roll control method, the method comprising the following steps:

[0006] When the vehicle is in a preset road condition, obtaining the current speed of the vehicle;

[0007] determining whether the vehicle meets a bumpy road control condition according to the current vehicle speed;

[0008] When the vehicle does not meet the bumpy road control condition, obtaining the acceleration and angle of the vehicle body in all directions;

[0009] Identifying whether the vehicle is in a preset driving condition based on the vehicle body acceleration in all directions and the vehicle body angle in all directions;

[0010] When the vehicle is in a preset driving condition, the vehicle body roll control is performed on the vehicle.

[0011] Optionally, when the vehicle does not meet the bumpy road control condition, obtaining the vehicle body acceleration in all directions and the vehicle body angle in all directions includes:

[0012] When the vehicle does not meet the bumpy road control condition, collecting the acceleration of the vehicle body in the X-axis direction, the Y-axis direction and the Z-axis direction;

[0013] Obtaining the acceleration of the vehicle body in each direction through the acceleration in the X-axis direction, the acceleration in the Y-axis direction, and the acceleration in the Z-axis direction;

[0014] Calculating the roll angle of the vehicle body in different directions and the pitch angle of the vehicle body in different directions through the acceleration in the X-axis direction, the acceleration in the Y-axis direction and the acceleration in the Z-axis direction;

[0015] The various directional angles of the vehicle body are obtained through the roll angle of the vehicle body in different directions and the pitch angle of the vehicle body in different directions.

[0016] Optionally, the identifying whether the vehicle is in a preset driving condition based on the vehicle body acceleration in all directions and the vehicle body angle in all directions includes:

[0017] Calculating the acceleration difference between the left and right vehicle bodies according to the acceleration of the vehicle body in all directions;

[0018] Obtaining left and right body roll angles according to the body angles in each direction;

[0019] Comparing the acceleration difference with a preset acceleration threshold, and comparing the left and right vehicle body roll angles with a preset roll angle threshold;

[0020] When the acceleration difference is greater than the preset acceleration threshold and the left and right vehicle body roll angles are greater than the preset roll angle thresholds, it is recognized that the vehicle is in a preset driving condition.

[0021] Optionally, when the vehicle is in a preset driving condition, controlling the vehicle body roll includes:

[0022] When the vehicle is in a preset driving condition, obtaining a current driving current of the vehicle;

[0023] Identify whether the current running current needs to limit the current jump slope;

[0024] When the current running current needs to limit the current jump slope, the current running current is controlled to output the current at the current jump slope, so that the vehicle can safely pass the preset running condition.

[0025] Optionally, after identifying whether the current running current needs to limit the current jump slope, the method further includes:

[0026] When the current running current does not need to limit the current jump slope, controlling the current running current to jump to the target current;

[0027] The vehicle is controlled to output at the target current so that the vehicle safely passes through the preset driving condition.

[0028] Optionally, determining whether the vehicle meets the bumpy road control condition according to the current vehicle speed includes:

[0029] comparing the current vehicle speed with a preset vehicle speed threshold;

[0030] When the current vehicle speed is greater than the preset vehicle speed threshold, determining that the vehicle meets the bumpy road control condition;

[0031] When the current vehicle speed is less than or equal to the preset vehicle speed threshold, it is determined that the vehicle does not meet the bumpy road control condition.

[0032] Optionally, after determining whether the vehicle meets the bumpy road control condition according to the current vehicle speed, the method further includes:

[0033] When the current vehicle speed meets the bumpy road control condition, the vehicle acceleration data is obtained;

[0034] Calculating a demand current according to the vehicle acceleration data;

[0035] The vehicle is controlled to output the required current so that the vehicle can safely pass through the bumpy road surface.

[0036] In addition, to achieve the above-mentioned purpose, the present invention further provides a vehicle body roll control device, the vehicle body roll control device comprising:

[0037] An acquisition module, used for acquiring the current speed of the vehicle when the vehicle is in a preset road condition;

[0038] A determination module, used to determine whether the vehicle meets the bumpy road control condition according to the current vehicle speed;

[0039] The acquisition module is further used to acquire the acceleration and angle of the vehicle body in all directions when the vehicle does not meet the bumpy road control condition;

[0040] an identification module, used for identifying whether the vehicle is in a preset driving condition based on the vehicle body acceleration in all directions and the vehicle body angle in all directions;

[0041] The control module is used to control the body roll of the vehicle when the vehicle is in a preset driving condition.

[0042] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle body roll control device, which includes: a memory, a processor, and a vehicle body roll control program stored in the memory and executable on the processor, and the vehicle body roll control program is configured to implement the steps of the vehicle body roll control method described above.

[0043] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a vehicle body roll control program is stored, and when the vehicle body roll control program is executed by a processor, the steps of the vehicle body roll control method described above are implemented.

[0044] The present invention obtains the current speed of the vehicle when the vehicle is in a preset road condition; determines whether the vehicle meets the bumpy road control condition based on the current speed; obtains the body acceleration and the body angle in each direction when the vehicle does not meet the bumpy road control condition; identifies whether the vehicle is in a preset driving condition based on the body acceleration and the body angle in each direction; and performs body roll control on the vehicle when the vehicle is in the preset driving condition to improve the vehicle body roll control effect and ensure the vehicle's driving maneuverability, stability and comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a structural schematic diagram of a vehicle body roll control device in a hardware operating environment involved in an embodiment of the present invention;

[0046] Figure 2 It is a flow chart of a first embodiment of a vehicle body roll control method of the present invention;

[0047] Figure 3 It is a schematic diagram of the overall process of vehicle body roll control in one embodiment of a vehicle body roll control method of the present invention;

[0048] Figure 4 It is a flow chart of a second embodiment of a vehicle body roll control method of the present invention;

[0049] Figure 5 A schematic diagram of the pitch angle and roll angle of a vehicle body in an embodiment of a vehicle body roll control method of the present invention;

[0050] Figure 6 A schematic flow chart of a third embodiment of a vehicle body roll control method according to the present invention;

[0051] Figure 7 A schematic flow chart of a fourth embodiment of a vehicle body roll control method according to the present invention;

[0052] Figure 8 It is a structural block diagram of the first embodiment of the vehicle body roll control device of the present invention.

[0053] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0055] Reference Figure 1 , Figure 1 The figure is a schematic diagram of the structure of a vehicle body roll control device in the hardware operating environment involved in the embodiment of the present invention.

[0056] like Figure 1 As shown, the vehicle body roll control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0057] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the vehicle body roll control device, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently.

[0058] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a vehicle body roll control program.

[0059] exist Figure 1In the vehicle body roll control device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the vehicle body roll control device of the present invention can be set in the vehicle body roll control device, and the vehicle body roll control device calls the vehicle body roll control program stored in the memory 1005 through the processor 1001, and executes the vehicle body roll control method provided by the embodiment of the present invention.

[0060] The embodiment of the present invention provides a vehicle body roll control method, referring to Figure 2 , Figure 2 It is a flow chart of the first embodiment of the vehicle body roll control method of the present invention.

[0061] In this embodiment, the vehicle body roll control method includes the following steps:

[0062] Step S10: When the vehicle is in a preset road condition, the current speed of the vehicle is obtained.

[0063] It should be noted that the executor of this embodiment may be a vehicle body roll controller, or other devices or controllers that can achieve the same or similar functions. This embodiment does not limit this. This embodiment is described using a vehicle body roll controller as an example.

[0064] In a specific implementation, the preset road condition is an extreme road condition, such as a large twisted road, an ice-covered road, a muddy road, etc.

[0065] When the vehicle is in extreme road conditions, it is necessary to determine whether the vehicle meets the conditions for intervention of the continuously damping adjustable shock absorber control. Therefore, the current speed of the vehicle can be obtained, and the current speed of the vehicle can be obtained through a speed sensor installed on the vehicle.

[0066] In specific implementation, when the vehicle is traveling on a highly twisted road, it is also necessary to determine whether the vehicle's adjustable damping shock absorber and sensor report an error to prevent inaccurate measurements. If the vehicle's adjustable damping shock absorber and sensor and other devices do not report an error, the vehicle's current speed is obtained.

[0067] Step S20: Determine whether the vehicle meets the bumpy road control condition according to the current vehicle speed.

[0068] In a specific implementation, whether the vehicle meets the bumpy road control condition can be determined based on the current vehicle speed. For example, a vehicle speed threshold can be set and the current vehicle speed is compared with the vehicle speed threshold to determine whether the vehicle meets the bumpy road control condition.

[0069] The bumpy road control condition is an activation threshold of the bumpy road control module. If the vehicle meets the bumpy road control condition, the vehicle reaches the activation threshold of the bumpy road control module. If the vehicle does not meet the bumpy road control condition, the vehicle does not reach the activation threshold of the bumpy road control module.

[0070] Optionally, the step of determining whether the vehicle meets the bumpy road control condition based on the current vehicle speed includes: comparing the current vehicle speed with a preset vehicle speed threshold; when the current vehicle speed is greater than the preset vehicle speed threshold, determining that the vehicle meets the bumpy road control condition; when the current vehicle speed is less than or equal to the preset vehicle speed threshold, determining that the vehicle does not meet the bumpy road control condition.

[0071] It should be noted that the preset speed threshold can be set according to demand, such as 20km / h, 25km / h, etc., and this embodiment does not limit this. By comparing the current vehicle speed with the preset speed threshold, it is determined whether the current vehicle speed is greater than the preset speed threshold. If the current vehicle speed is greater than the preset speed threshold, it is determined that the vehicle meets the bumpy road control condition. If the current vehicle speed is less than or equal to the preset speed threshold, it is determined that the vehicle does not meet the bumpy road control condition.

[0072] As an example, after step S20, it also includes: when the current vehicle speed meets the bumpy road control condition, obtaining vehicle acceleration data; calculating the required current based on the vehicle acceleration data; and controlling the vehicle to output the required current so that the vehicle can safely pass through the bumpy road.

[0073] It should be understood that if the current vehicle speed meets the bumpy road control conditions, the vehicle meets the continuously damped adjustable shock absorber control intervention conditions and can perform conventional control strategies, specifically obtaining vehicle acceleration data. The vehicle acceleration data can be collected in real time through an acceleration sensor installed on the vehicle.

[0074] After obtaining the vehicle acceleration data, the vehicle's demand current can be calculated through the acceleration data. The demand current is the current required by the vehicle when it is running. The vehicle's current demand is directly affected by the requirements of the vehicle's power system (such as an electric motor or drive battery) and the driver's operation of the vehicle. When the driver requires the vehicle to accelerate, the electric vehicle's motor usually needs to provide more current to provide the required power. Therefore, the demand current can be calculated through the vehicle's acceleration data, and the vehicle's continuously damping adjustable shock absorber can be controlled to execute and output this demand current, thereby ensuring the vehicle's safe driving.

[0075] Step S30: When the vehicle does not meet the bumpy road control condition, the acceleration and angle of the vehicle body in all directions are obtained.

[0076] It should be understood that when the vehicle does not comply with the bumpy road control regulation, it means that the current vehicle speed has not reached the activation threshold of the bumpy road control module, and the vehicle's body acceleration and body angle in all directions can be obtained.

[0077] In a specific implementation, the acceleration of the vehicle body in all directions can be acquired in real time by the vehicle body acceleration sensor, and the acceleration of the vehicle body in all directions may include the acceleration of the vehicle body in the X-axis direction, the Y-axis direction and the Z-axis direction. The angles of the vehicle body in all directions include the roll angle and the pitch angle of the vehicle body.

[0078] Step S40: Identify whether the vehicle is in a preset driving condition based on the vehicle body acceleration in all directions and the vehicle body angle in all directions.

[0079] In a specific implementation, the acceleration in all directions of the vehicle body and the angle in all directions of the vehicle body can be used to determine whether the vehicle is in a preset driving condition.

[0080] The preset driving condition is the condition where the vehicle is on a special twisted road surface. Under this driving condition, the vehicle body is prone to roll during driving. Therefore, it is possible to accurately identify whether the vehicle is in the preset driving condition based on the body acceleration and body angle in all directions.

[0081] Step S50: When the vehicle is in a preset driving condition, the vehicle body roll control is performed on the vehicle.

[0082] In a specific implementation, if the vehicle is in a preset driving condition, it means that the vehicle is prone to body roll during current driving, and therefore the vehicle needs to be subject to body roll control.

[0083] If the vehicle is not in the preset driving condition, the vehicle can be controlled to enter the ceiling control. The acceleration data of the vehicle road condition is collected in real time through the acceleration sensor, and the required current is calculated in real time based on the acceleration data. The required current is output through the continuously damping adjustable shock absorber, thereby ensuring the safe driving of the vehicle.

[0084] like Figure 3 As shown, Figure 3This is a schematic diagram of the overall process of body roll control. When the vehicle is traveling at a low speed on a twisted road, the continuously damped adjustable shock absorber, sensor, etc. do not report an error, and determine whether the current vehicle speed reaches the activation threshold of the bumpy road control module. If so, the vehicle ECU (Electronic Control Unit) determines to use the bumpy road control module, the acceleration sensor collects road acceleration data in real time, the ECU calculates and outputs the required current in real time based on the acceleration data, the continuously damped adjustable shock absorber executes the output current, and the vehicle passes safely. If not, the body acceleration sensor collects data in real time to obtain the acceleration and angle of the body in all directions, so as to calculate the roll acceleration value, roll angle, pitch angle, etc. of the body in all directions, and determine whether the roll angle of the left and right bodies reaches the set threshold and whether the Y-direction difference of the left and right bodies reaches the set threshold. If both are reached, the ECU determines to enter the special twisted road control module, and the ECU identifies whether the current current needs to limit the current jump slope. If so, the current jump is executed by limiting the current jump slope. If not, the ECU outputs according to the set fixed current, so that the continuous damping adjustable shock absorber outputs current to ensure the safe driving of the vehicle. If the roll angle of the left and right bodies does not reach the set threshold and the Y-direction difference of the left and right bodies does not reach the set threshold, the ECU determines to enter the ceiling control module, the acceleration sensor collects the acceleration data of the road condition in real time, the ECU calculates and outputs the required current in real time, the continuous damping adjustable shock absorber executes the output current, and the vehicle drives through safely. Refine the classification of bumps, add control modules for special bumpy road conditions, supplement and improve the identification and control of some special extreme roads by the control strategy of the continuously damped adjustable shock absorber, and avoid the possibility of danger caused by the vehicle body being out of effective control due to the special road driving conditions not reaching the control strategy intervention threshold due to the limitation of the current control strategy on special extreme roads. Under the premise of ensuring stable control of the vehicle body, identify the jump amount, control the current jump slope through the algorithm, reduce the risk of abnormal noise caused by excessive or too fast current jump, and improve the reliability of shock absorber use. Ensure vehicle driving controllability, stability and comfort.

[0085] In this embodiment, when the vehicle is in a preset road condition, the current speed of the vehicle is obtained; whether the vehicle meets the bumpy road control condition is determined based on the current speed; when the vehicle does not meet the bumpy road control condition, the body acceleration in all directions and the body angle in all directions are obtained; based on the body acceleration in all directions and the body angle in all directions, it is identified whether the vehicle is in a preset driving condition; when the vehicle is in the preset driving condition, the vehicle body roll control is performed to improve the vehicle body roll control effect and ensure the vehicle's driving maneuverability, stability and comfort.

[0086] refer to Figure 4 , Figure 4It is a flow chart of the second embodiment of the vehicle body roll control method of the present invention.

[0087] Based on the first embodiment, step S30 of the vehicle body roll control method of this embodiment specifically includes:

[0088] Step S301: When the vehicle does not meet the bumpy road control condition, the acceleration of the vehicle body in the X-axis direction, the Y-axis direction and the Z-axis direction are collected.

[0089] It should be noted that when the vehicle does not meet the bumpy road control conditions, the acceleration of the vehicle body in the X-axis direction, the acceleration in the Y-axis direction and the acceleration in the Z-axis direction can be collected, which can be collected respectively by the vehicle body acceleration sensor.

[0090] Step S302: Obtaining the acceleration of the vehicle body in all directions through the acceleration in the X-axis direction, the acceleration in the Y-axis direction, and the acceleration in the Z-axis direction.

[0091] It should be noted that the vehicle body acceleration in all directions includes acceleration in the X-axis direction, acceleration in the Y-axis direction, and acceleration in the Z-axis direction.

[0092] Step S303: Calculate the roll angle of the vehicle body in different directions and the pitch angle of the vehicle body in different directions according to the acceleration in the X-axis direction, the acceleration in the Y-axis direction and the acceleration in the Z-axis direction.

[0093] It should be understood that the roll angle of the vehicle body in different directions and the pitch angle of the vehicle body in different directions can be calculated by the acceleration values ​​of the vehicle body in all directions and by setting the algorithm of the ECU. The process of calculating the roll angle of the vehicle body in different directions is as follows:

[0094]

[0095] In formula 1, α is the roll angle of the vehicle body in different directions, a x is the acceleration in the X-axis direction, a y is the acceleration in the Y-axis direction, a z is the acceleration in the Z-axis direction.

[0096] The process of calculating the pitch angle of the vehicle body in different directions is as follows:

[0097]

[0098] In formula 2, β is the pitch angle of the vehicle body in different directions, a x is the acceleration in the X-axis direction, a y is the acceleration in the Y-axis direction, a z is the acceleration in the Z-axis direction.

[0099] like Figure 5 As shown, Figure 5 It is a schematic diagram of the pitch angle and roll angle of the vehicle body, α is the roll angle of the vehicle body in different directions, and β is the pitch angle of the vehicle body in different directions.

[0100] Step S304: Obtaining the angles of the vehicle body in various directions through the roll angles of the vehicle body in different directions and the pitch angles of the vehicle body in different directions.

[0101] It should be noted that the roll angle of the vehicle body in different directions and the pitch angle of the vehicle body in different directions may be taken as the vehicle body angles in various directions.

[0102] In this embodiment, when the vehicle does not meet the bumpy road control condition, the acceleration of the vehicle body in the X-axis direction, the acceleration of the Y-axis direction and the acceleration of the Z-axis direction are collected; the acceleration of the vehicle body in all directions is obtained through the acceleration in the X-axis direction, the acceleration in the Y-axis direction and the acceleration in the Z-axis direction; the roll angle of the vehicle body in different directions and the pitch angle of the vehicle body in different directions are calculated through the acceleration in the X-axis direction, the acceleration in the Y-axis direction and the acceleration in the Z-axis direction; the angles of the vehicle body in all directions are obtained through the roll angle of the vehicle body in different directions and the pitch angle of the vehicle body in different directions, so that the angles of the vehicle body in all directions can be quickly calculated, which is convenient for the subsequent recognition of the preset driving conditions of the vehicle.

[0103] refer to Figure 6 , Figure 6 It is a flow chart of the third embodiment of the vehicle body roll control method of the present invention.

[0104] Based on the first embodiment, step S40 of the vehicle body roll control method of this embodiment specifically includes:

[0105] Step S401: Calculating the acceleration difference between the left and right vehicle bodies according to the acceleration of the vehicle body in all directions.

[0106] It is understandable that the acceleration difference between the left and right bodies can be calculated by the acceleration of the body in all directions, for example, the acceleration of the body in the X-axis direction, the acceleration of the Y-axis direction and the acceleration of the Z-axis direction in the acceleration of the body in all directions is used to calculate the acceleration difference between the left and right bodies. The acceleration difference is the Y-direction difference between the left and right bodies.

[0107] Step S402: Obtain the left and right vehicle body roll angles according to the vehicle body angles in each direction.

[0108] In a specific implementation, the left and right body roll angles can be obtained according to the various directional angles of the body.

[0109] Step S403: comparing the acceleration difference with a preset acceleration threshold, and comparing the left and right vehicle body roll angles with a preset roll angle threshold.

[0110] In a specific implementation, the acceleration difference can be compared with a preset acceleration threshold, and the left and right vehicle body roll angles can be compared with a preset roll angle threshold. The preset acceleration threshold can be 0.4g, and the preset roll angle threshold can be 3deg, or other values, which are not limited in this embodiment.

[0111] Step S404: When the acceleration difference is greater than the preset acceleration threshold and the left and right vehicle body roll angles are greater than the preset roll angle thresholds, it is recognized that the vehicle is in a preset driving condition.

[0112] It should be noted that if the acceleration difference is greater than the preset acceleration threshold and the left and right vehicle body roll angles are greater than the preset roll angle thresholds, it is confirmed that the vehicle is in a preset driving condition, that is, the vehicle enters the special twisted road control stage.

[0113] This embodiment calculates the acceleration difference between the left and right bodies according to the various accelerations of the body; obtains the left and right body roll angles according to the various angles of the body; compares the acceleration difference with a preset acceleration threshold, and compares the left and right body roll angles with a preset roll angle threshold; when the acceleration difference is greater than the preset acceleration threshold and the left and right body roll angles are greater than the preset roll angle threshold, it is recognized that the vehicle is in a preset driving condition, and whether the vehicle is in the preset driving condition can be quickly identified based on the acceleration difference between the left and right bodies and the left and right body roll angles, thereby eliminating the possibility of the vehicle body being ineffectively controlled and causing danger.

[0114] refer to Figure 7 , Figure 7 FIG. 4 is a flow chart of a fourth embodiment of a vehicle body roll control method according to the present invention.

[0115] Based on the first embodiment, the step S50 of the vehicle body roll control method of this embodiment specifically includes:

[0116] Step S501: when the vehicle is in a preset driving condition, obtaining the current driving current of the vehicle.

[0117] It should be noted that if the vehicle is in a preset driving condition, the current driving current of the vehicle can be obtained. The current driving current of the vehicle can be measured by a current sensor. For example, the current driving current is 100A, 120A, etc., which is not limited in this embodiment.

[0118] Step S502: Identify whether the current running current needs to limit the current rising slope.

[0119] In the specific implementation, it can be identified whether the current driving current needs to limit the current jump slope. The current jump slope can be calculated based on the current driving current and the target current. If the current jump slope is high, it is necessary to limit the current jump slope to avoid excessive current jump and the risk of abnormal noise.

[0120] Step S503: When the current running current needs to limit the current jump slope, the current running current is controlled to output the current at the current jump slope, so that the vehicle can safely pass the preset driving condition.

[0121] It should be noted that when the current running current needs to limit the current jump slope, it is necessary to control the current running current to output the current at the current jump slope, so as to gradually increase to the target current, so that the vehicle can safely pass the preset driving condition.

[0122] Optionally, if the current driving current does not need to limit the current jump slope, the current driving current can be directly controlled to be output according to the required current. After step S502, it also includes: when the current driving current does not need to limit the current jump slope, controlling the current driving current to jump to the target current; controlling the vehicle to output at the target current so that the vehicle can safely pass the preset driving condition.

[0123] It is understandable that when the current driving current does not need to limit the current jump slope, the current current is controlled to jump to the target current, thereby controlling the vehicle's driving current to be output at the target current so that the vehicle safely passes the preset driving condition.

[0124] The current driving current does not need to limit the current jump slope, which means that the vehicle current jump is relatively small. In this case, the vehicle jumps directly from the current current to the target current. The actual vehicle determines the specific jump amount and the jump slope adjustment according to the performance of each road condition, to ensure that under extreme driving conditions, the output current and response damping force are not too small to cause safety hazards, and to avoid the risk of abnormal noise in the shock absorber caused by excessive or too fast current steps.

[0125] In this embodiment, when the vehicle is in a preset driving condition, the current driving current of the vehicle is obtained; whether the current driving current needs to limit the current jump slope is identified; when the current driving current needs to limit the current jump slope, the current driving current is controlled to output the current at the current jump slope, so that the vehicle can safely pass through the preset driving condition, ensure that under extreme driving conditions, the output current and the response damping force are not too small to cause safety hazards, and avoid the risk of abnormal noise of the shock absorber caused by excessive or too fast current steps.

[0126] Reference Figure 8 , Figure 8It is a structural block diagram of the first embodiment of the vehicle body roll control device of the present invention.

[0127] like Figure 8 As shown, the vehicle body roll control device provided in the embodiment of the present invention includes:

[0128] The acquisition module 10 is used to acquire the current speed of the vehicle when the vehicle is in a preset road condition.

[0129] The determination module 20 is used to determine whether the vehicle meets the bumpy road control condition according to the current vehicle speed.

[0130] The acquisition module 10 is further used to acquire the acceleration and angle of the vehicle body in all directions when the vehicle does not meet the bumpy road control condition.

[0131] The identification module 30 is used to identify whether the vehicle is in a preset driving condition based on the vehicle body acceleration in all directions and the vehicle body angle in all directions.

[0132] The control module 40 is used to control the body roll of the vehicle when the vehicle is in a preset driving condition.

[0133] In this embodiment, when the vehicle is in a preset road condition, the current speed of the vehicle is obtained; whether the vehicle meets the bumpy road control condition is determined based on the current speed; when the vehicle does not meet the bumpy road control condition, the body acceleration in all directions and the body angle in all directions are obtained; based on the body acceleration in all directions and the body angle in all directions, it is identified whether the vehicle is in a preset driving condition; when the vehicle is in the preset driving condition, the vehicle body roll control is performed to improve the vehicle body roll control effect and ensure the vehicle's driving maneuverability, stability and comfort.

[0134] In one embodiment, the acquisition module 10 is further used to collect the acceleration of the vehicle body in the X-axis direction, the Y-axis direction and the Z-axis direction when the vehicle does not meet the bumpy road control conditions; obtain the acceleration of the vehicle body in all directions through the acceleration in the X-axis direction, the Y-axis direction and the Z-axis direction; calculate the roll angle of the vehicle body in different directions and the pitch angle of the vehicle body in different directions through the acceleration in the X-axis direction, the Y-axis direction and the Z-axis direction; obtain the angles of the vehicle body in all directions through the roll angle of the vehicle body in different directions and the pitch angle of the vehicle body in different directions.

[0135] In one embodiment, the identification module 30 is further used to calculate the acceleration difference between the left and right bodies according to the various directional accelerations of the body; obtain the left and right body roll angles according to the various directional angles of the body; compare the acceleration difference with a preset acceleration threshold, and compare the left and right body roll angles with a preset roll angle threshold; when the acceleration difference is greater than the preset acceleration threshold and the left and right body roll angles are greater than the preset roll angle threshold, identify that the vehicle is in a preset driving condition.

[0136] In one embodiment, the control module 40 is also used to obtain the current driving current of the vehicle when the vehicle is in a preset driving condition; identify whether the current driving current needs to limit the current jump slope; and when the current driving current needs to limit the current jump slope, control the current driving current to output the current at the current jump slope so that the vehicle can safely pass the preset driving condition.

[0137] In one embodiment, the control module 40 is further used to control the current driving current to jump to the target current when the current driving current does not need to limit the current jump slope; control the vehicle to output with the target current so that the vehicle safely passes the preset driving condition.

[0138] In one embodiment, the determination module 20 is also used to compare the current vehicle speed with a preset vehicle speed threshold; when the current vehicle speed is greater than the preset vehicle speed threshold, it is determined that the vehicle meets the bumpy road control condition; when the current vehicle speed is less than or equal to the preset vehicle speed threshold, it is determined that the vehicle does not meet the bumpy road control condition.

[0139] In one embodiment, the determination module 20 is further used to obtain vehicle acceleration data when the current vehicle speed meets the bumpy road control conditions; calculate the required current based on the vehicle acceleration data; and control the vehicle to output the required current so that the vehicle can safely pass through the bumpy road.

[0140] In addition, an embodiment of the present invention further proposes a storage medium, on which a vehicle body roll control program is stored. When the vehicle body roll control program is executed by a processor, the steps of the vehicle body roll control method described above are implemented.

[0141] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0142] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0143] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0144] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the vehicle body roll control method provided in any embodiment of the present invention, and will not be repeated here.

[0145] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system 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 system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0146] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0147] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0148] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle body roll control method, characterized in that: The vehicle body roll control method comprises: When the vehicle is in a preset road condition, obtaining the current speed of the vehicle, wherein the preset road condition is an extreme road condition; determining whether the vehicle meets a bumpy road control condition according to the current vehicle speed; When the vehicle does not meet the bumpy road control condition, obtaining the acceleration and angle of the vehicle body in all directions; identifying whether the vehicle is in a preset driving condition based on the vehicle body acceleration in all directions and the vehicle body angle in all directions, wherein the preset driving condition is a condition where the vehicle is on a special twisted road surface; When the vehicle is in a preset driving condition, controlling the body roll of the vehicle; The determining, according to the current vehicle speed, whether the vehicle meets the bumpy road control condition comprises: comparing the current vehicle speed with a preset vehicle speed threshold; When the current vehicle speed is greater than the preset vehicle speed threshold, determining that the vehicle meets the bumpy road control condition; When the current vehicle speed is less than or equal to the preset vehicle speed threshold, determining that the vehicle does not meet the bumpy road control condition; When the current vehicle speed meets the bumpy road control condition, the vehicle acceleration data is obtained; Calculating a demand current according to the vehicle acceleration data; Controlling the continuously damping adjustable shock absorber to execute and output the required current so that the vehicle can safely pass through the bumpy road surface; When the vehicle is in a preset driving condition, controlling the vehicle body roll includes: When the vehicle is in a preset driving condition, obtaining a current driving current of the vehicle; Identify whether the current running current needs to limit the current jump slope; When the current running current needs to limit the current jump slope, controlling the current running current to output the current at the current jump slope, so that the vehicle safely passes the preset running condition; When the current running current does not need to limit the current jump slope, controlling the current running current to jump to the target current; Controlling the vehicle to output the target current so that the vehicle safely passes through the preset driving condition; When the vehicle is not in the preset driving condition, the vehicle is controlled to enter the skylight control, the vehicle acceleration data is obtained, and the required current is calculated in real time according to the acceleration data, and the required current is output through the continuously damping adjustable shock absorber to enable the vehicle to pass safely.

2. The vehicle body roll control method according to claim 1, characterized in that: When the vehicle does not meet the bumpy road control condition, obtaining the vehicle body acceleration in all directions and the vehicle body angle in all directions includes: When the vehicle does not meet the bumpy road control condition, collecting the acceleration of the vehicle body in the X-axis direction, the Y-axis direction and the Z-axis direction; Obtaining the acceleration of the vehicle body in each direction through the acceleration in the X-axis direction, the acceleration in the Y-axis direction, and the acceleration in the Z-axis direction; Calculating the roll angle of the vehicle body in different directions and the pitch angle of the vehicle body in different directions through the acceleration in the X-axis direction, the acceleration in the Y-axis direction and the acceleration in the Z-axis direction; The various directional angles of the vehicle body are obtained through the roll angle of the vehicle body in different directions and the pitch angle of the vehicle body in different directions.

3. The vehicle body roll control method according to claim 1, characterized in that: The identifying whether the vehicle is in a preset driving condition based on the vehicle body acceleration in all directions and the vehicle body angle in all directions includes: Calculating the acceleration difference between the left and right vehicle bodies according to the acceleration of the vehicle body in all directions; Obtaining left and right body roll angles according to the body angles in each direction; Comparing the acceleration difference with a preset acceleration threshold, and comparing the left and right vehicle body roll angles with a preset roll angle threshold; When the acceleration difference is greater than the preset acceleration threshold and the left and right vehicle body roll angles are greater than the preset roll angle thresholds, it is recognized that the vehicle is in a preset driving condition.

4. A vehicle body roll control device for implementing the vehicle body roll control method according to any one of claims 1 to 3, characterized in that: The vehicle body roll control device comprises: An acquisition module, used for acquiring the current speed of the vehicle when the vehicle is in a preset road condition; A determination module, used to determine whether the vehicle meets the bumpy road control condition according to the current vehicle speed; The acquisition module is further used to acquire the acceleration and angle of the vehicle body in all directions when the vehicle does not meet the bumpy road control condition; an identification module, used for identifying whether the vehicle is in a preset driving condition based on the vehicle body acceleration in all directions and the vehicle body angle in all directions; The control module is used to control the body roll of the vehicle when the vehicle is in a preset driving condition.

5. A vehicle body roll control device, characterized in that: The vehicle body roll control device comprises: a memory, a processor and a vehicle body roll control program stored in the memory and executable on the processor, wherein the vehicle body roll control program is configured to implement the vehicle body roll control method according to any one of claims 1 to 3.

6. A storage medium, characterized in that: The storage medium stores a vehicle body roll control program, and when the vehicle body roll control program is executed by the processor, the vehicle body roll control method according to any one of claims 1 to 3 is implemented.

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