Automobile chassis anti-scratching system and control method

Abstract

The automobile chassis anti-scratching system and control method provided by the present disclosure relate to the technical field of automobile chassis protection and comprise a vehicle controller, a first laser sensor arranged in front of the automobile, a second laser sensor arranged on the front side of the automobile, and a third laser sensor arranged in front of the roof of the automobile. The first laser sensor, the second laser sensor, and the third laser sensor respectively collect the road surface information in front and on the side, and transmit the road surface information to the vehicle controller to calculate the height, width, or pit depth and diameter of the front obstacle. The vehicle controller compares the stored chassis data information, the positions of various components, and the distance information between various positions of the chassis and the horizontal ground with the calculation results, controls the working of the automobile steering system, the air suspension system, and the braking system, and controls the speed of the vehicle, so that the vehicle can smoothly and safely pass through.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of automobile chassis protection, in particular to an automobile chassis scratch prevention system and control method. BACKGROUND

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] During driving, the automobile chassis often appears to be scratched when passing through the potholed road due to the lowest ground clearance. For a fuel vehicle, scratching important components such as the engine or transmission may cause power loss and affect driving safety. For a new energy vehicle, the chassis part is used to place the battery module, and damage to the battery module may cause the vehicle to catch fire, which is more serious in terms of safety.

[0004] Currently, the research on the protection of the automobile chassis is still in the passive protection stage, that is, various protection structures are designed on the chassis, and the obstacles first contact the protection structures when scratching or colliding, thereby protecting the important components inside the chassis. Patent application No. 202120925704.5 discloses an anti-scratch unmanned intelligent automobile chassis, which comprises an automobile chassis body and a protection bottom plate: the two sides of the automobile chassis body are fixedly connected with mounting seats, the front side of the mounting seat is provided with a mounting mechanism, the two sides of the protection bottom plate are provided with fixing mechanisms, and the top and bottom of the inner cavity of the mounting mechanism are provided with buffer mechanisms. Patent application No. 202211555874.4 discloses an automobile chassis with impact protection function, a power battery is arranged on the chassis, and the power battery is connected with a control mechanism, an automobile steering mechanism is installed on the chassis, a bumper plate mechanism is installed below the chassis, the power battery is located in the bumper box, and the power battery is connected with the inner wall of the bumper box through a plurality of groups of buffer struts, and air-cooled heat sinks are installed on both sides of the power battery, and the air-cooled heat sinks are connected with the inner side of the bumper side plate in the bumper box through the bumper buffer mechanism. However, the above-mentioned solutions are all passive protection structure solutions, and there is currently no active protection solution for the chassis, which cannot early perceive and warn the collision danger of the chassis. SUMMARY

[0005] In order to solve the above problems, the present disclosure provides an automobile chassis scratch prevention system and control method, which acquires road information in front of the vehicle in real time based on a laser sensor, and calculates and analyzes through a controller to control the steering system and the automobile suspension system to work, so as to realize active avoidance and make the vehicle pass safely.

[0006] According to some embodiments, the present disclosure adopts the following technical solutions:

[0007] The application discloses a car chassis anti-scratching system, which comprises a whole vehicle controller, a first laser sensor arranged at the front of the car, a second laser sensor arranged at the front side of the car and a third laser sensor arranged at the front of the car roof.

[0008] The first laser sensor, the second laser sensor and the third laser sensor respectively collect the road surface information in front and on the side, and transmit the road surface information to the whole vehicle controller to calculate the height, width or pit depth and diameter of the front obstacle; the whole vehicle controller compares the stored chassis data information, the position of each component and the distance information of each position of the chassis from the horizontal ground with the calculation result, controls the working of the car steering system, the air suspension system and the braking system, and controls the speed of the vehicle, so that the vehicle can smoothly and safely pass through.

[0009] According to some embodiments, the application adopts the technical scheme as follows:

[0010] A control method of a car chassis anti-scratching system comprises the following steps:

[0011] The first laser sensor, the second laser sensor and the third laser sensor respectively collect the road surface information in front and on the side, and transmit the road surface information to the whole vehicle controller.

[0012] The whole vehicle controller calculates the height, width or pit depth and diameter of the front obstacle, compares the stored chassis data information, the position of each component and the distance information of each position of the chassis from the horizontal ground with the calculation result, and controls the working of the car steering system, the air suspension system and the braking system.

[0013] Further, when the vehicle passes through the undulating road surface, the whole vehicle controller receives the road surface information fed back by the first laser sensor and the third laser sensor, calculates the height difference of the front road surface, combines the current vehicle driving speed, calculates the swing of the whole vehicle passing through the front road surface under the current speed and current motion track, and calculates whether the vehicle chassis will be scratched with the ground in the swinging process; if not, the current speed is kept to pass through; if the vehicle chassis will be scratched, the whole vehicle controller calculates whether the vehicle can safely pass through by reducing the vehicle speed and reducing the swing of the vehicle; if so, the vehicle speed is reduced to pass through.

[0014] If the vehicle cannot smoothly pass through under the original driving track, the whole vehicle controller obtains the signal of the second laser sensor, calculates the lateral displacement amount of the two sides that can be offset when passing through the potholed road surface, combines the road surface height difference information obtained by the first laser sensor and the third laser sensor within the allowable range of the offset amount, calculates the minimum offset angle and the vehicle speed that the vehicle can smoothly pass through, and controls the working of the steering system and the braking system according to the calculation result to safely pass through the undulating road surface with the smallest turning radius.

[0015] Further, when the vehicle passes through the pothole road, the first laser sensor and the third laser sensor acquire the depth and width of the pothole in front and the length in the driving direction, when the width of the pothole is less than the wheel track, it is judged whether the current driving track passes through the pothole, if not, it is determined that it can pass normally, if the wheel passes through the pothole, the vehicle control unit judges whether the wheel will fall into the pit according to the shape of the pothole, if not, it is determined that it can pass normally, if the single wheel will fall into the pit, the distance of the obstacles on the left and right sides is calculated by the second laser sensor to judge the allowable offset, within the allowable offset, the steering system is controlled to turn to make the wheel avoid the pothole, if the vehicle cannot be offset to the two sides, the inclination of the vehicle when the single wheel enters the pothole is calculated, and whether the chassis will scratch the road surface when it is inclined, to judge whether the vehicle can pass.

[0016] Compared with the prior art, the beneficial effects of the present disclosure are:

[0017] The automobile chassis anti-scratching system and control method of the present disclosure adopts a chassis active protection and early warning mechanism, actively analyzes whether the front road surface condition causes the vehicle chassis to be difficult to pass and causes a collision risk, sets the first laser sensor, the second laser sensor and the third laser sensor to collect road surface information, the vehicle control unit calculates the road surface information in front, controls the automobile steering system and the air suspension system according to the road surface information, and the brake system works to ensure the safe passing of the vehicle and avoid the problem of scratching the chassis; the present disclosure can actively predict whether the front road surface causes a scratching threat to the vehicle chassis, the vehicle control unit compares the height of the chassis after obtaining the front road surface condition, then controls the automobile steering system and the air suspension system to work, and controls the speed of the vehicle, so that the vehicle can smoothly pass the front road.

[0018] The automobile chassis anti-scratching system and control method of the present disclosure respectively analyzes the vehicle avoidance scheme under the conditions that the front road condition is undulating road, pothole road, convex obstacle or concave pit, and single obstacle or continuous obstacle, so that the vehicle can safely and smoothly pass. BRIEF DESCRIPTION OF DRAWINGS

[0019] The drawings accompanying the specification of the present disclosure serve to provide a further understanding of the present disclosure, the illustrative embodiments of the present disclosure and the description thereof serve to explain the present disclosure, and do not constitute an improper limitation on the present disclosure.

[0020] Figure 1 is a side view of the vehicle arrangement of the embodiment of the present disclosure;

[0021] Figure 2 is a top view of the vehicle arrangement of the embodiment of the present disclosure;

[0022] Figure 3System block diagram of an embodiment of the present disclosure;

[0023] Figure 4 Method logic determination flowchart of an embodiment of the present disclosure. DETAILED DESCRIPTION

[0024] The present disclosure is further described below with reference to the accompanying drawings and examples.

[0025] It should be noted that the following detailed description is exemplary in nature and is intended to provide further description of the present disclosure. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this present disclosure belongs.

[0026] It is to be understood that the singular forms “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise. It should be noted that the terms “comprises,” “comprising,” “includes,” “including,” and the like can be used herein. Similarly, the terms “comprises”, “comprising”, “includes”, “including” and the like can be used herein. Unless otherwise stated, the use herein of the terms “comprises”, “comprising”, “includes”, “including” and the like, means “including but not limited to”.

[0027] Example 1

[0028] In an embodiment of the present disclosure, a car chassis scratch prevention system is provided, comprising a vehicle controller, a first laser sensor arranged in front of the car, a second laser sensor arranged on the front side of the car, and a third laser sensor arranged in front of the car roof;

[0029] The first laser sensor, the second laser sensor and the third laser sensor respectively collect the road surface information in front and on the side, and transmit the road surface information to the vehicle controller to calculate the height, width or pit depth and diameter of the front obstacle. The vehicle controller compares the stored chassis data information, the position of each component and the distance information of each position of the chassis from the horizontal ground with the calculation results, controls the steering system, air suspension system and braking system of the car to work, and controls the speed of the vehicle to make the vehicle pass smoothly and safely.

[0030] As an embodiment, the first laser sensor is arranged in front of the automobile, the second laser sensor is arranged on the front side of the automobile for measuring the obstacles on both sides, and the third laser sensor is arranged in front of the roof of the automobile. The vehicle controller receives the road surface signals collected by the first laser sensor, the second laser sensor and the third laser sensor and calculates the height and width of the front obstacle or the depth and diameter of the pit. According to the results of the calculation and analysis, the steering system, the air suspension system and the brake system of the automobile are controlled to work to ensure the safe passing of the vehicle and avoid the problem of scratching the chassis. Among them, the first laser sensor and the second laser sensor are horizontally arranged, and the third laser sensor is obliquely arranged to facilitate the measurement of the depth of the pit.

[0031] The vehicle controller stores the chassis data information, which can clearly show the positions of various components and the distances between various positions of the chassis and the horizontal ground.

[0032] After the vehicle controller obtains the front road surface condition, it compares it with the height of the chassis, then controls the steering system and the air suspension system of the automobile to work, and controls the speed of the vehicle, so that the vehicle can smoothly pass through the front road and avoid the damage of the chassis caused by scratching.

[0033] As an embodiment, when the vehicle drives forward at a certain speed, the first laser sensor, the second laser sensor and the third laser sensor obtain the information of the front road surface in real time. When the road surface is uneven, the vehicle controller first judges whether it is a convex obstacle or a pit, and whether it is a single obstacle or a continuous obstacle.

[0034] 1) When it is determined as a single convex obstacle, the width of the obstacle is obtained by the first sensor, and the vertical distance between the obstacle and the chassis when the vehicle passes is calculated by the vehicle controller according to the driving track of the current vehicle, to determine whether the scratch occurs, if the scratch does not occur, it is determined that the vehicle can pass smoothly, if the calculation result occurs, the vehicle controller receives the signal of the second laser sensor, to determine whether there are barriers on both sides of the convex obstacle and the distance between the convex obstacle and the barriers on both sides, so as to calculate the distance that the vehicle can be translated left and right, and then calculate the maximum distance between the chassis and the convex obstacle on the passing path, if the maximum distance is greater than zero, the vehicle controller controls the vehicle to turn, and determines whether to collide with the barriers on both sides after turning, so that the chassis passes the convex obstacle at the maximum gap, and safely passes the convex obstacle at the minimum turning angle, to ensure the safety of driving. If all positions of the chassis passing through the convex obstacle will cause scratch, it is considered whether the left wheel or the right wheel can pass through the convex obstacle, the vehicle controller is used to calculate the inclination angle of the vehicle with the single wheel on the convex obstacle, to prevent the vehicle from tilting sideways, and the scheme that does not cause side is preferred; at the same time, combined with the distance between the vehicle body and the barriers on both sides, the side that can safely pass through with offset distance is selected, after the analysis is completed, the vehicle controller controls the vehicle to turn, so that the vehicle safely passes through. If the single wheel on the convex obstacle will cause side, the turning angle is considered to be increased to bypass the convex obstacle, if the above cannot pass through the convex obstacle, the vehicle controller controls the brake system to work to stop.

[0035] As an embodiment, the air suspension system is intervened, the air suspension system is lifted by the vehicle controller to lift the chassis, so as to safely pass through the convex obstacle.

[0036] 2) When the vehicle passes through the undulating road surface, the vehicle controller receives the road surface information fed back by the first laser sensor and the third laser sensor, and calculates the height difference of the front road surface, and then combines the current vehicle speed to calculate the swing of the vehicle passing through the front road surface at the current speed and the current motion track, and whether the vehicle chassis will be scratched with the ground in the swing process, if not, the current speed is maintained to pass through, if the chassis will be scratched, the vehicle controller calculates whether it can pass safely by reducing the vehicle speed to reduce the swing of the vehicle, if it can, the vehicle speed is reduced to pass through.

[0037] If the vehicle cannot pass through the original driving track smoothly, the whole vehicle controller obtains the signal of the second laser sensor, calculates the lateral displacement of the two sides when passing through the uneven road surface, and obtains the minimum offset angle and the vehicle speed that the vehicle can pass through smoothly within the allowable range of the offset amount in combination with the road height difference information obtained by the first laser sensor and the third laser sensor. The whole vehicle controller controls the steering system and the braking system to work according to the calculation result, so as to safely pass through the uneven road surface with the minimum turning radius.

[0038] In addition, during the above calculation, the adjustment amount of the air suspension is taken into account, and the amplitude of the swing and the minimum ground clearance of the chassis are adjusted by adjusting the height of the air suspensions on the left and right sides.

[0039] 3) When the vehicle passes through the uneven road surface, the first laser sensor and the third laser sensor obtain the depth, width and length in the driving direction of the pit ahead. When the width of the pit is less than the wheel track, it is judged whether the wheels pass through the pit in the current driving track. If not, it is determined that it can pass through normally. If the wheels pass through the pit, the whole vehicle controller judges whether the wheels will fall into the pit according to the shape of the pit. If not, it is determined that it can pass through normally. If the wheels on one side will fall into the pit, the distance between the obstacles on the left and right sides is calculated by the second laser sensor to judge the allowable offset amount. Within the allowable offset amount, the steering system is controlled to steer to avoid the wheels from the pit. If the vehicle cannot be offset to the two sides, the inclination of the vehicle when the wheels on one side enter the pit is calculated, and whether the chassis will scratch the road surface when it is inclined is calculated to determine whether the vehicle can pass through. At the same time, according to the speed of the vehicle, the diving force when the wheels enter and the stretching amount of the suspension when it is stressed are calculated to obtain the instantaneous sinking amount of the vehicle at the current speed and whether it will knock the chassis when it sinks. If not, it is determined that it can pass through safely. If so, the allowable passing speed is obtained by calculation, and then the braking system is controlled to work to limit the speed to pass through the pit. If none of the above solutions can pass through, the braking system is controlled to stop.

[0040] When the width of the pit is greater than the wheel track and the length is greater than the wheel diameter, the slope of the pit is calculated according to the depth information obtained by the first laser sensor and the third laser sensor, and whether the sinking amount of the vehicle under the action of the diving force when the vehicle enters the pit will scratch the chassis is calculated in combination with the vehicle speed. If not, it is determined that it can pass through safely. If so, the maximum safe passing speed is calculated, and then the braking system is controlled to work to enter the pit at the set speed to ensure the safe passing of the vehicle.

[0041] If the slope of the pit is greater than the maximum allowable passing slope, the distance between the obstacles on the two sides is obtained by the second laser sensor to judge whether it can bypass. If so, the steering system is controlled to steer to bypass the pit road. If not, the braking system is controlled to work to stop to prevent the wheels from sinking into the pit road.

[0042] Embodiment 2

[0043] In an embodiment of the present disclosure, a control method of an automobile chassis scratch prevention system is provided, comprising:

[0044] After the vehicle controller obtains the road conditions in front, the height of the chassis is compared, and then the steering system and the air suspension system of the automobile are controlled to work, and the speed of the vehicle is controlled to make the vehicle pass through the road in front smoothly, avoiding the chassis from being scratched and damaged.

[0045] When the vehicle drives forward at a certain speed, the first, second and third laser sensors obtain the information of the road in front in real time, and when the road is uneven, the vehicle controller first judges whether it is a convex obstacle or a pit, and whether it is a single obstacle or a continuous obstacle.

[0046] When it is determined to be a single convex obstacle, the width of the obstacle is obtained through the first sensor, and the vertical distance between the obstacle and the chassis when the vehicle passes through is calculated by the vehicle controller according to the current driving track of the vehicle, to judge whether scratching occurs. If no scratching occurs, it is determined that the vehicle can pass through smoothly; if scratching occurs, the vehicle controller receives the signal of the second laser sensor to judge whether there are obstacles on both sides of the convex obstacle and the distance between the convex obstacle and the obstacles on both sides, so as to calculate the distance that the vehicle can move left and right; then the maximum distance between the chassis and the convex obstacle on the passing path is calculated, and if the maximum distance is greater than zero, the vehicle controller controls the automobile to turn, and judges whether it collides with the obstacles on both sides after turning, so that the chassis passes through the convex obstacle at the maximum gap and safely passes through the convex obstacle at the smallest turning angle, to ensure the safety of driving. If it is calculated that the chassis will be scratched when passing through the convex obstacle at all positions, it is considered whether it is feasible for the left or right wheel to ride on the convex obstacle to pass through. First, the vehicle controller calculates the inclination angle of the vehicle when the single wheel rides on the convex obstacle to prevent the vehicle from tilting sideways, and preferentially selects the scheme that will not cause tilting. At the same time, combined with the distance of the vehicle body from the obstacles on both sides, one side that can safely pass through is selected by offsetting the distance, and after the analysis is completed, the vehicle controller controls the vehicle to turn, so that the vehicle safely passes through. If the single wheel riding on the convex obstacle will cause tilting, the turning angle is considered to be increased to bypass the convex obstacle; if none of the above can pass through the convex obstacle, the vehicle controller controls the brake system to work to stop.

[0047] In addition, in the above solution strategy, the air suspension system can also be intervened to be lifted by the vehicle controller to raise the chassis, so as to safely pass through the convex obstacle.

[0048] When the vehicle passes through the undulating road, the vehicle controller receives the road information fed back by the first laser sensor and the third laser sensor, calculates the height difference of the front road, and then combines the current vehicle speed to calculate the swing of the vehicle passing through the front road at the current speed and the current motion trajectory, and whether the vehicle chassis will be scratched with the ground during the swing. If not, keep the current speed to pass through; if the chassis will be scratched, the vehicle controller first calculates whether it can pass safely by reducing the vehicle speed to reduce the swing of the vehicle, and if so, reduce the speed to pass through.

[0049] If the vehicle cannot pass smoothly under the original driving trajectory, the vehicle controller obtains the signal of the second laser sensor, calculates the lateral displacement amount that can be offset on both sides when passing through the pothole road, and within the allowable range of the offset amount, combines the road height difference information obtained by the first laser sensor and the third laser sensor to calculate the minimum offset angle and vehicle speed that the vehicle can pass smoothly. The vehicle controller controls the steering system and brake system to work according to the calculation result, so as to safely pass through the undulating road with the smallest turning radius.

[0050] In addition, during the above calculation, the adjustment amount of the air suspension can be taken into account, and the swing amplitude and the minimum ground clearance of the chassis can be adjusted by adjusting the height of the air suspension on the left and right sides.

[0051] When the vehicle passes through the pothole road, the first laser sensor and the third laser sensor obtain the depth, width and length in the driving direction of the front pothole. When the width of the pothole is less than the wheel track, it is judged whether the wheels pass through the pothole under the current driving trajectory. If not, it is determined that it can pass normally; if the wheels pass through the pothole, the vehicle controller judges whether the wheels will fall into the pit according to the shape of the pothole. If not, it is determined that it can pass normally; if the single-sided wheels will sink into the pit, the distance between the left and right obstacles is calculated by the second laser sensor to judge the allowable offset amount. Within the allowable offset amount, the steering system is controlled to turn to make the wheels avoid the pothole; if the vehicle cannot be offset to both sides, the inclination of the vehicle when the single-sided wheels enter the pothole is calculated, and whether the chassis will be scratched when it is inclined. To determine whether the vehicle can pass; at the same time, according to the speed of the vehicle, the diving force when the wheels enter, the stretching amount when the suspension is stressed, the instantaneous sinking amount of the vehicle at the current speed, and whether it will knock to the chassis when it sinks, if not, it is determined to pass safely; if so, the allowable passing speed is obtained by calculation, and then the brake system is controlled to work to limit the speed to pass through the pothole; if the above schemes cannot pass, the brake system is controlled to stop.

[0052] When the width of the pit is greater than the wheel track and the length is greater than the wheel diameter, the slope of the pit is calculated according to the depth information obtained by the first laser sensor and the third laser sensor, and the sinking amount of the vehicle under the action of the diving force when the vehicle enters the pit is calculated in combination with the vehicle speed, whether the vehicle will scratch the chassis, if not, it is determined that it can be safely passed; if so, the maximum safe passing speed is calculated, and then the brake system is controlled to work to enter the pit at a set speed to ensure the safe passing of the vehicle.

[0053] If the slope of the pit is greater than the maximum allowable passing slope, the distance of the obstacles on both sides is obtained by the second laser sensor to determine whether it can be bypassed, if so, the steering system is controlled to steer to bypass the pit road, if not, the brake system is controlled to work to stop to prevent the wheels from sinking into the pit road.

[0054] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks Figure 1 The functions specified in one or more flows and / or blocks

[0055] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable data processing apparatus to produce a computer-implemented process, so that the instructions executed by the computer or other programmable data processing apparatus provide a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks Figure 1 The functions specified in one or more flows and / or blocks

[0056] Although the specific embodiments of the present disclosure are described above with reference to the accompanying drawings, the present disclosure is not limited to the scope of the embodiments. Those skilled in the art should understand that various modifications or changes made to the technical solutions of the present disclosure without creative labor are still within the protection scope of the present disclosure.

Claims

1. An automotive underbody scratch prevention system, characterized by, The vehicle controller, the first laser sensor arranged in front of the vehicle, the second laser sensor arranged on the side of the vehicle, and the third laser sensor arranged in front of the roof of the vehicle are included. The first laser sensor, the second laser sensor, and the third laser sensor respectively collect the road surface information in front and on the side, and transmit the road surface information to the vehicle controller to calculate the height, width, or pit depth and diameter of the front obstacle, and the vehicle controller compares the stored chassis data information, the position of each component, and the distance information of each position of the chassis with the horizontal ground with the calculation result, controls the steering system, the air suspension system, and the braking system to work, and controls the speed of the vehicle to make the vehicle pass smoothly and safely. When the vehicle drives forward at a certain speed, the first laser sensor, the second laser sensor, and the third laser sensor acquire the information of the road in front in real time and transmit the information to the vehicle controller, and when the road is uneven, the vehicle controller determines whether it is a convex obstacle or a pit, and whether it is a single obstacle or a continuous obstacle. When it is determined to be a single convex obstacle, the width of the obstacle is acquired by the first laser sensor, and the vertical distance between the vehicle and the obstacle when the vehicle passes is calculated by the vehicle controller according to the driving track of the current vehicle, whether scratching occurs is determined, if the scratching does not occur, it is determined that the vehicle can pass; if the calculation result scratching occurs, the signal of the second laser sensor is received by the vehicle controller to determine whether there are blocking objects on both sides of the convex obstacle and the distance between the convex obstacle and the blocking objects on both sides, and the distance that the vehicle can translate left and right is calculated; the maximum distance between the chassis and the convex obstacle on the passing path is calculated, and if the maximum distance is greater than zero, the vehicle controller controls the vehicle to turn, and determines whether the vehicle collides with the blocking objects on both sides after turning to make the chassis pass the convex obstacle at the maximum gap and safely pass the convex obstacle at the minimum turning angle.

2. A system for preventing scratching of an automobile body as set forth in claim 1, wherein The first laser sensor and the second laser sensor are arranged horizontally, and the third laser sensor is arranged obliquely.

3. A system for preventing scratching of an automobile chassis as set forth in claim 1, wherein If it is calculated that all positions of the chassis will scratch when passing the convex obstacle, whether the left wheel or the right wheel can pass the convex obstacle is considered, the inclination angle of the vehicle when the single wheel passes the convex obstacle is calculated by the vehicle controller, and the scheme that does not cause side scratching is preferentially selected to pass; combined with the distance of the vehicle body from the blocking objects on both sides, one side that can safely pass with a certain offset distance is selected, and the vehicle controller controls the vehicle to turn, if the single wheel passing the convex obstacle will cause side scratching, the turning angle is increased to bypass the convex obstacle; if the above cannot pass the convex obstacle, the vehicle controller controls the braking system to work to stop.

4. A system for preventing scratching of an automobile body as set forth in claim 1, wherein When the vehicle passes through the undulating road, the vehicle controller receives the road information fed back by the first laser sensor and the third laser sensor, and calculates the height difference of the front road, combines the current vehicle speed, calculates the swing of the vehicle passing through the front road at the current speed and the current motion trajectory, and whether the vehicle chassis will be scratched with the ground in the swinging process, if not, the current vehicle speed is kept through; if the chassis is scratched, the vehicle controller calculates whether it can pass safely by reducing the vehicle speed and reducing the swing of the vehicle, if it can, the vehicle speed is reduced to pass.

5. A system for protecting a vehicle underbody from damage as defined in claim 4, wherein If the vehicle cannot pass smoothly under the original driving trajectory, the vehicle controller obtains the signal of the second laser sensor, calculates the lateral displacement amount that can be offset on both sides when passing through the pothole road, and within the allowable range of the offset amount, combines the road height difference information obtained by the first laser sensor and the third laser sensor to calculate the minimum offset angle and vehicle speed that the vehicle can pass smoothly, and the vehicle controller controls the steering system and brake system to work according to the calculation result, so as to safely pass through the undulating road with the smallest turning radius.

6. A control method for a scratch prevention system for a vehicle underbody according to any one of claims 1 to 5, characterized in that, It includes: The first laser sensor, the second laser sensor and the third laser sensor respectively collect the road information in front and side, and transmit the road information to the vehicle controller; The vehicle controller calculates the height, width or pit depth and diameter of the front obstacle, compares the stored chassis data information, the position of each component and the distance information of each position of the chassis with the horizontal ground with the calculation result, and controls the steering system, air suspension system and brake system of the vehicle to work.

7. The control method of an automobile underbody scratch prevention system according to claim 6, characterized by, It includes: When the vehicle passes through the undulating road, the vehicle controller receives the road information fed back by the first laser sensor and the third laser sensor, and calculates the height difference of the front road, combines the current vehicle speed, calculates the swing of the vehicle passing through the front road at the current speed and the current motion trajectory, and whether the vehicle chassis will be scratched with the ground in the swinging process, if not, the current vehicle speed is kept through; if the chassis is scratched, the vehicle controller calculates whether it can pass safely by reducing the vehicle speed and reducing the swing of the vehicle, if it can, the vehicle speed is reduced to pass; If the vehicle cannot pass smoothly under the original driving trajectory, the vehicle controller obtains the signal of the second laser sensor, calculates the lateral displacement amount that can be offset on both sides when passing through the pothole road, and within the allowable range of the offset amount, combines the road height difference information obtained by the first laser sensor and the third laser sensor to calculate the minimum offset angle and vehicle speed that the vehicle can pass smoothly, and the vehicle controller controls the steering system and brake system to work according to the calculation result, so as to safely pass through the undulating road with the smallest turning radius.

8. The control method of an automobile chassis scratch prevention system according to claim 6, characterized by, It includes: When the vehicle passes the pothole road, the first and third laser sensors acquire the depth and width of the pothole in front and the length in the driving direction, when the width of the pothole is less than the wheel track, it is judged whether the current driving track passes the pothole, if not, it is determined that it can pass normally; if the wheel passes the pothole, the vehicle controller judges whether the wheel will fall into the pit according to the shape of the pothole, if not, it is determined that it can pass normally; if the single wheel will sink into the pit, the distance of the obstacles on the left and right sides is calculated by the second laser sensor to judge the allowable offset, within the allowable offset range, the steering system is controlled to steer to make the wheel avoid the pothole; if the vehicle cannot be offset to both sides, the inclination of the vehicle when the single wheel enters the pothole is calculated, and whether the chassis will scratch the road surface when it is inclined, to judge whether the vehicle can pass.

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