Vehicle rollover risk avoiding method, device and equipment

Abstract

The embodiment of the invention relates to the technical field of vehicle control, and discloses a vehicle rollover risk avoiding method, device and equipment, and the method comprises the steps: obtaining the current driving information of a target vehicle after determining the target vehicle except the driving vehicle in the driving road section of the driving vehicle, the driving information comprises an inclination angle of the target vehicle relative to the ground; if it is determined that the target vehicle has the rollover risk according to the inclination angle, a rollover area during rollover of the target vehicle is displayed through a central control screen; and controlling the running vehicle to run away from the rollover area in response to a control operation for the central control screen display information. By applying the technical scheme of the invention, the tilting pressure or collision risk caused by rollover of surrounding vehicles in the driving process of the driving vehicle can be effectively solved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle control technology, and specifically to a vehicle rollover avoidance method, device and equipment. Background Art

[0002] Vehicle rollover is a serious traffic accident, usually caused by sharp turns, slippery roads, obstacles encountered during high-speed driving, etc. Especially for heavy vehicles, rollover will not only cause great damage to the vehicle itself, but also bring fatal consequences to other vehicles around and the people inside the vehicle.

[0003] In the related technology, the vehicle mainly uses sensors such as acceleration sensors to measure lateral acceleration or tilt sensors to measure the vehicle's tilt angle to detect whether the vehicle is at risk of rollover and issue an early warning to the driver, thereby reducing the risk of rollover. However, this cannot solve the problem of the risk of surrounding vehicles being crushed and collided with the rollover vehicle when the vehicle actually rolls over.

[0004] Therefore, it is urgent to propose an early warning solution that can realize the roll risk of surrounding vehicles to improve vehicle driving safety. Summary of the invention

[0005] In view of the above problems, the embodiments of the present application provide a vehicle rollover avoidance method, device and equipment for solving the problems of the risk of surrounding vehicles being crushed and collided with a rollover vehicle in the prior art.

[0006] According to one aspect of an embodiment of the present application, a vehicle rollover avoidance method is provided, the method comprising: after determining a target vehicle other than the traveling vehicle in a driving section of the traveling vehicle, obtaining current driving information of the target vehicle, the driving information including an inclination angle of the target vehicle relative to the ground; if it is determined according to the inclination angle that the target vehicle has a rollover risk, displaying a rollover area when the target vehicle rolls over through a central control screen; and in response to a control operation on the information displayed on the central control screen, controlling the traveling vehicle to leave the rollover area.

[0007] According to another aspect of an embodiment of the present application, a vehicle rollover avoidance device is provided, the device comprising: a communication module, configured to obtain current driving information of the target vehicle after determining a target vehicle other than the traveling vehicle in a driving section of the traveling vehicle, the driving information comprising an inclination angle of the target vehicle relative to the ground; a display module, configured to display a rollover area when the target vehicle rolls over through a central control screen when it is determined that the target vehicle has a rollover risk according to the inclination angle; and a control module, configured to control the traveling vehicle to leave the rollover area in response to a control operation on the information displayed on the central control screen.

[0008] According to another aspect of the embodiments of the present application, there is provided an electronic device, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus;

[0009] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the vehicle rollover avoidance method provided in any one of the first aspects above.

[0010] According to another aspect of the embodiment of the present application, a computer-readable storage medium is provided, wherein at least one executable instruction is stored in the storage medium, and when the executable instruction is executed, the operation of the vehicle rollover avoidance method provided in any one of the first aspects above is implemented.

[0011] According to another aspect of the embodiments of the present application, a computer program product is provided, and when the computer program is executed, it is used to implement the operation of the vehicle rollover avoidance method provided in any one of the first aspects above.

[0012] The vehicle rollover avoidance method, device and equipment provided in the embodiment of the present application obtains the current driving information of the target vehicle after determining the target vehicle other than the driving vehicle in the driving section of the driving vehicle, and the driving information includes the tilt angle. When the target vehicle is determined to have a rollover risk according to the tilt angle, the rollover area with the rollover risk is displayed on the central control screen, and in response to the control operation for the information displayed on the central control screen, the driving vehicle is controlled to leave the rollover area. In this process, by obtaining the current driving information of the target vehicle in the driving section, and when it is determined to have a rollover risk according to the driving information, the warning information of the rollover area of ​​the target vehicle is displayed on the central control screen, and the driver can control the departure based on the information displayed on the central control screen, so that the driving vehicle can avoid the risk in advance, which can effectively solve the risk of tilting or collision caused by the rollover of surrounding vehicles during the driving process of the driving vehicle.

[0013] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0015] Figure 1 A possible scenario schematic diagram provided by an embodiment of the present application is shown;

[0016] Figure 2 An example diagram of a vehicle screen display interface in an embodiment of the present application is shown;

[0017] Figure 3 One of the flow charts of a vehicle rollover avoidance method provided in an embodiment of the present application is shown;

[0018] Figure 4 A second flow chart of a vehicle rollover avoidance method provided in an embodiment of the present application is shown;

[0019] Figure 5a One of the position relationship diagrams between the traveling vehicle and the target vehicle in the embodiment of the present application is shown;

[0020] Figure 5b An example diagram of the roll angle of the target vehicle in an embodiment of the present application is shown;

[0021] Figure 5c One of the display interface diagrams of the control screen in the embodiment of the present application is shown;

[0022] Figure 5d The second display interface diagram of the control screen in the embodiment of the present application is shown;

[0023] Figure 6 A schematic diagram showing a flow chart of another vehicle rollover avoidance method in an embodiment of the present application is shown;

[0024] Figure 7a The second diagram of the position relationship between the traveling vehicle and the target vehicle in the embodiment of the present application is shown;

[0025] Figure 7b An example diagram of a target vehicle with respect to a driving angle in an embodiment of the present application is shown;

[0026] Figure 8 An example diagram of a rollover area in an embodiment of the present application is shown;

[0027] Fig. 9 A schematic flow chart of a vehicle rollover avoidance method provided by an exemplary embodiment of the present application is shown;

[0028] Fig.10 A schematic structural diagram of a vehicle rollover avoidance device provided in an embodiment of the present application is shown;

[0029] Fig.11 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0030] To facilitate understanding of the embodiments of the present application, the embodiments of the present application are first explained in combination with possible application scenarios:

[0031] The vehicle rollover avoidance method provided in the embodiment of the present application can be applied to the application scenario of intelligent driving, more specifically, it can be applied to the application scenario of autonomous driving based on vehicle cloud computing. For example, the execution subject of the method provided in the embodiment of the present application can be a vehicle, more specifically, it can be a new energy vehicle. The embodiment of the present application does not specifically limit the execution subject of the technical solution. The following is an example of the execution subject being a vehicle.

[0032] Figure 1 A possible application scenario diagram is shown, such as Figure 1 As shown, the application scenario takes the curve merging (such as curve merging) scenario as an example, and the scenario includes: car 110, truck 120 and roadside unit (RSU) 130. The roadside unit RSU130 can be installed at a fixed position beside the road, such as a guardrail, a traffic signal pole, a street light pole or a special communication tower. It obtains vehicle information on the curve, such as the vehicle's body length, height and other information, and broadcasts it to the vehicles traveling on the main road. Optionally, after receiving the broadcast information of the roadside unit RSU130, the car 110 can identify the truck 120 on the curve as a large vehicle based on the body length and height information. When it has a rollover risk, it may affect the driving safety of the car 110. Next, the car 110 can communicate with the truck 120 through the vehicle-to-everything (V2X) network to obtain the current driving information of the truck 120, such as the roll angle, and determine whether the truck 120 has a rollover risk through the roll angle of the truck 120. When it is determined that the truck 120 has a rollover risk, the central control screen of the truck 120 displays the warning information corresponding to the rollover area with rollover risk, so as to prompt the car 110 to take emergency avoidance. The driving user or the automatic driving system issues a control operation according to the display information of the central control screen, such as controlling the car 110 to accelerate, decelerate or turn, so that the car 110 can leave or avoid the truck 120 in advance, so as to minimize the possibility of being crushed by the truck 120, thereby improving the driving safety of the vehicle.

[0033] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0034] First of all, it should be noted that the user-related data involved in this application (for example, the user's vehicle driving information) are all obtained after obtaining the user's permission or consent; that is, when this application is applied to specific products or technologies, it is necessary to obtain user permission to obtain and process relevant data, and the processing of relevant data needs to comply with relevant laws, regulations and regulatory standards.

[0035] For example, when the current driving information (such as the roll angle) of a vehicle (corresponding to the driving vehicle in the following text) needs to be obtained, a driving information acquisition prompt can be displayed in the vehicle terminal of the vehicle. After receiving the user's confirmation operation for the driving information acquisition prompt, other vehicles can obtain the current driving information of the vehicle, wherein the vehicle screen display interface can be as follows: Figure 2 shown.

[0036] Figure 3 The flowchart of the vehicle rollover avoidance method provided in the embodiment of the present application is shown. The method can be executed by the vehicle side (such as the moving vehicle mentioned later. In some embodiments, it can also be executed by the cloud side. The method provided in the present application does not specifically limit its execution subject). Figure 1 As shown, the method includes the following steps S301-S303:

[0037] Step S301: after determining a target vehicle other than the traveling vehicle in a driving section of the traveling vehicle, obtain current driving information of the target vehicle, wherein the driving information includes an inclination angle of the target vehicle relative to the ground.

[0038] For example, when the execution subject is a moving vehicle, the above process is to identify the target vehicle around the vehicle, and other vehicle information on the driving section can be obtained through vehicle sensors (such as radar, camera, etc.) or the Internet of Vehicles system, so as to identify the target vehicle. Among them, taking the Internet of Vehicles system as an example, the target vehicle information can be obtained through the broadcast information of the roadside unit RSU.

[0039] After determining the target vehicle, the driving vehicle can establish vehicle-to-vehicle communication with the target vehicle through V2X, and obtain the current driving information of the target vehicle based on the vehicle-to-vehicle communication, wherein the driving information includes but is not limited to the speed, position, direction and tilt angle of the target vehicle, etc. The tilt angle can be measured in real time by the tilt sensor on the target vehicle.

[0040] The target vehicle determination process may be performed on the vehicle side, or may be determined by other devices or servers and published to the vehicle side (for example, the target vehicle may be identified on the RSU and directly published to the vehicle side in the form of broadcast). Next, the process of determining the target vehicle on the vehicle side is further introduced. Specifically, determining the target vehicle other than the traveling vehicle in the driving section of the traveling vehicle in the above steps may include the following steps:

[0041] receiving broadcast information from a roadside unit, the broadcast information carrying vehicle merging information from a curve into the driving section, the vehicle merging information including body geometry information of the merging vehicle;

[0042] According to the vehicle merging information, a vehicle whose body geometry information reaches a corresponding threshold condition among the merging vehicles is determined as a target vehicle in the driving section of the traveling vehicle.

[0043] The roadside unit RSU is one of the key components in the Intelligent Transportation System (ITS), and is mainly used to support V2X communication in the Internet of Vehicles. RSU can communicate with vehicles, other RSUs, and traffic management centers by being installed on both sides of the road, traffic lights, road signs, or other infrastructure. Since heavy vehicles are more likely to roll over in curve merging scenarios, this embodiment uses the roadside unit to identify curve merging information to obtain the body geometry information of the merging vehicle. In this embodiment, the body geometry information is used to describe the physical characteristics of the vehicle, and may include information such as the length, height, and width of the vehicle.

[0044] Exemplarily, a set of threshold conditions may be pre-set for the moving vehicle, and these conditions are used to determine which vehicles need special attention. The threshold conditions may include upper and lower limits of parameters such as body length, width, and height. By comparing the received body geometry information of the merging vehicle with the preset threshold conditions, if the body geometry information of the merging vehicle reaches or exceeds the preset threshold conditions (for example, the length reaches a, the height reaches b, and the width reaches c), the merging vehicle is determined as a target vehicle in the driving section of the moving vehicle, such as a heavy vehicle, a truck, etc. This means that if the vehicle rolls over, it is more likely to affect the driving safety of the moving vehicle and needs special attention.

[0045] It should be noted that in some embodiments, the target vehicle can be not only a vehicle merging into the main road at a curve, but also a vehicle on an adjacent lane of the driving section, and so on. In addition, the roadside unit RSU can also obtain the information of the traveling vehicle, and determine whether there is a heavy vehicle (i.e., the target vehicle) merging into the main road at a curve based on the road condition information. If so, it broadcasts to the vehicles traveling on the main road, that is, by carrying the indication information of whether there is a heavy vehicle merging into the main road in the broadcast information, when the traveling vehicle receives the broadcast information, it can quickly locate the corresponding vehicle based on the indication information, but this will also have a certain impact on the computing power of the RSU, which will affect the overall performance and reliability of the intelligent transportation system. By identifying the target vehicle on the vehicle side, it is possible to focus on the needs of the vehicle itself, while not affecting the computing power of the RSU and reducing the data transmission delay.

[0046] It should be noted that the vehicle merging in this embodiment refers to the driving behavior of a target vehicle on a curve that is a certain distance away from the driving section (technical personnel in this field can determine the distance based on actual applications, such as 300m), while the vehicle entering in the following text refers to the driving behavior of the target vehicle entering the driving section.

[0047] Through the above technical solution, the vehicle side can accurately identify target vehicles with greater rollover risks on the driving section.

[0048] Optionally, the current driving information of the target vehicle in the above step S301 can be obtained in the following manner: determine whether the driving section and the curve are compatible; when the driving section and the curve are compatible, obtain the current driving information of the target vehicle based on the driving state of the target vehicle from the curve into the driving section.

[0049] In this embodiment, the compatibility judgment may include checking factors such as the curvature of the curve, the width of the driving section, the surface condition of the road, traffic signs and signals, etc. For example, taking the indication of the traffic light as an example, in a lane shared by a driving section (such as a straight section) and a curve, if the target vehicle needs to go straight, if the straight light is green, the target vehicle can enter and execute the curve when the green light is on, that is, the driving section and the curve are compatible.

[0050] In this way, the current driving information of the target vehicle can be effectively obtained, so as to facilitate the subsequent prediction of the rollover risk of the target vehicle, and avoid the wrong warning and decision made when the target vehicle does not actually enter the driving section. Step S302: If the target vehicle is determined to have a rollover risk according to the tilt angle, the rollover area of ​​the target vehicle when it rolls over is displayed on the central control screen.

[0051] Roll angle refers to the degree of inclination of the vehicle relative to the ground, usually the angle between the lateral axis of the vehicle and the horizontal plane. This angle can be measured in real time by the vehicle's sensors (such as accelerometers, gyroscopes, etc.). When the vehicle is driving, especially when turning, changing lanes or encountering uneven roads, lateral forces will be generated, which will cause the vehicle to roll. The larger the roll angle, the more the center of gravity of the vehicle deviates from its support surface, and the worse the stability.

[0052] Vehicle rollover usually occurs in the following situations: Sharp turns: When a vehicle makes a sharp turn at high speed, the lateral centrifugal force will cause the vehicle to have a large roll angle; Obstacle avoidance operation: Emergency obstacle avoidance operation (such as sudden lane change) will cause the vehicle to have a violent lateral acceleration, increasing the roll angle; Uneven road surface: When driving on uneven roads or encountering obstacles, one side of the vehicle's tires may leave the ground, causing the roll angle to increase. When the roll angle reaches a certain threshold (such as the angle setting threshold mentioned later), the center of gravity of the vehicle may exceed its support surface (i.e., the area between the contact points of the tires and the ground), causing the vehicle to lose balance and roll over.

[0053] Step S303: In response to the control operation on the information displayed on the central control screen, control the moving vehicle to leave the rollover area.

[0054] Based on the rollover area when the target vehicle rolls over displayed on the central control screen in the above step S302, the driver or the automatic driving system can make corresponding control operations according to the displayed information, such as acceleration, deceleration or steering, etc. The moving vehicle responds to the control operation and controls the moving vehicle to leave the rollover area.

[0055] It can be understood that in response to the conditions or states on which the executed operations depend, when the dependent conditions or states are met, one or more operations executed can be in real time or have a set delay; unless otherwise specified, there is no restriction on the order of execution of the multiple operations executed.

[0056] Based on the above method, the vehicle end of this embodiment can display corresponding rollover warning information for surrounding vehicles with rollover risks in the driving section, so that the vehicle can avoid the target vehicle in advance by making decisions such as acceleration, deceleration or steering. In addition, the driving vehicle can also synchronize the rollover warning information to other non-target vehicles (such as the front vehicle, the rear vehicle, etc.) around it through vehicle-to-vehicle communication, so that other non-target vehicles can also make quick decisions and avoid the target vehicle.

[0057] In some embodiments, the vehicle can also conduct vehicle-to-vehicle communication with other vehicles on the driving section, and synchronize the corresponding rollover warning information to other vehicles, so that other vehicles on the driving section can avoid the target vehicle in advance. The relevant principles will not be repeated one by one.

[0058] Optionally, the process of determining whether the target vehicle has a rollover risk based on the tilt angle can be performed on the vehicle side, or can be performed on other devices and obtained from other devices. This embodiment is described by taking the vehicle side identifying whether the target vehicle has a rollover risk as an example. Specifically, Figure 4 As shown, the method provided in this embodiment may also include the following steps:

[0059] Step S401: determine whether the tilt angle reaches a set angle threshold.

[0060] For example, the current tilt angle of the target vehicle is compared with the angle setting threshold. Those skilled in the art can adaptively set the angle setting threshold in combination with actual applications. For example, it can be determined based on factors such as vehicle type, center of gravity height, wheelbase, etc.

[0061] Step S402: When the tilt angle reaches a set angle threshold, it is determined that the target vehicle has a rollover risk.

[0062] It can be understood that the tilt angle reaches the angle setting threshold, that is, the tilt angle is greater than or equal to the angle setting threshold. Correspondingly, when the tilt angle is less than the angle setting threshold, it is considered that the target vehicle is safe without rollover risk, and the driving vehicle can pass normally.

[0063] In order to further improve the accuracy of vehicle rollover prediction, this embodiment combines the tilt angle change rate determination method. Specifically, after the above step S401 determines whether the tilt angle is greater than the preset threshold, and before the above step S402 determines that the target vehicle has a rollover risk, the following steps may also be included:

[0064] When the tilt angle reaches a set angle threshold, obtaining a tilt angle change rate of the target vehicle;

[0065] The above step S402 determines that the target vehicle has a rollover risk, specifically: when the rate of change of the tilt angle is greater than a rate setting threshold, it is determined that the target vehicle has a rollover risk.

[0066] Exemplarily, when the vehicle's tilt angle reaches a set angle threshold, the tilt angle change rate can be calculated through real-time communication with the target vehicle. The tilt angle change rate refers to the amount of change in the tilt angle per unit time, usually in degrees per second (° / s).

[0067] By setting a rate setting threshold (which can be adaptively determined by those skilled in the art in combination with actual applications), it is used to determine whether the rate of change of the tilt angle is too fast. If the rate of change of the tilt angle is greater than the set threshold, it means that the tilt angle of the vehicle is not only large, but also changes very quickly, indicating that the vehicle may be losing stability quickly and may roll over.

[0068] For example, Figure 5a and Figure 5b As shown, Figure 5a and Figure 5b In the process, vehicle A is moving at a normal speed of V A Driving on a straight road, heavy vehicle B enters a curve at a speed V B When merging into the straight lane, vehicle B tilts due to excessive speed when exiting the curve, and the tilt angle is б. Vehicle A obtains information through V2X technology that a heavy vehicle is merging in from the right rear and the tilt angle is б. When б exceeds the set threshold б0, vehicle A starts to monitor and calculate the tilt angle change rate ω in real time. When the monitored change rate is greater than the set threshold ω0, it means that the body tilt angle is still increasing. At this time, it is determined that vehicle B is at risk of rollover, and the rollover area of ​​vehicle B is estimated. The corresponding rollover warning information is displayed on the central control screen, and the rollover warning information can be sent to the intelligent driving control unit.

[0069] In this embodiment, in some embodiments, in order to improve the rollover risk identification accuracy of the target vehicle, other dynamic parameters (such as acceleration, etc.) can also be combined to jointly determine whether the target vehicle has a rollover risk.

[0070] Through the above technical scheme, the target vehicle in the driving section of the moving vehicle is determined, and the current driving information such as the inclination angle of the target vehicle is obtained to predict whether the target vehicle has the risk of rollover. When the target vehicle has the risk of rollover, the rollover area for emergency avoidance of the moving vehicle is displayed, so that the moving vehicle can avoid the risk in advance. This can effectively solve the risk of rollover or collision caused by the rollover of the relevant vehicle during driving.

[0071] In some embodiments, the vehicle, the rollover area, and the corresponding avoidance speed and path can also be displayed on the central control screen, thereby further improving the vehicle's avoidance efficiency. Specifically, the method provided in this embodiment can also include the following steps:

[0072] An avoidance speed of the moving vehicle is determined according to the rollover area and the current speed of the moving vehicle.

[0073] For example, an avoidance speed model can be established, which takes into account the current vehicle speed, the position of the rollover area (and may also include factors such as rollover time and road conditions) to calculate the optimal avoidance speed of the moving vehicle. When there is a need to calculate the avoidance speed (i.e., when a target vehicle is identified as having a rollover risk), the real-time data input model can be used to efficiently calculate the avoidance speed of the moving vehicle under the current situation. The avoidance speed model can use the following formula:

[0074] V_avoid=V_current-a_decel*t

[0075] Wherein, V_avoid is the avoidance speed of the moving vehicle, V_current is the current speed of the moving vehicle, t is the rollover time of the target vehicle, i.e., the avoidance time of the moving vehicle, a_decel is the deceleration of the moving vehicle, i.e., the reduction in the speed of the vehicle per second during braking. The magnitude of the deceleration may depend on factors such as the braking performance of the vehicle, the road conditions, and the driver's reaction time. Those skilled in the art may determine and adjust the deceleration adaptively in combination with actual applications. In some examples, the avoidance speed may also be accelerated departure, i.e., accelerated departure from the rollover area before the vehicle rolls over.

[0076] Next, the step of displaying the rollover area of ​​the target vehicle when it rolls over through the central control screen is further introduced: the moving vehicle is displayed through the central control screen, and the rollover area of ​​the target vehicle when it rolls over is displayed on the road section in front of the moving vehicle, as well as the avoidance speed and / or avoidance path of the moving vehicle.

[0077] Specifically, by rendering the moving vehicle (ie, the vehicle itself), the rollover area of ​​the target vehicle, the avoidance speed and other information in the central control screen, the information is converted into graphic elements and displayed on the central control screen. For example, Figure 5c As shown, an avoidance speed prompt can be displayed in front of the rollover area, such as "Please slow down to 50km / h". Figure 5c In the example, the current position of the target vehicle is also displayed to facilitate the driver to observe and make corresponding decisions. Optionally, in addition to providing the driver with information such as avoidance speed through graphics and text prompts on the central control screen, it can also be combined with sound prompts to remind the driver to pay attention to the rollover area ahead and take avoidance measures. After receiving the driver's feedback (such as through the touch screen or voice command), it is transmitted to the intelligent driving system to control the vehicle to leave the rollover area.

[0078] In other embodiments, the avoidance path of the moving vehicle may also be determined based on the rollover area and the current position of the moving vehicle.

[0079] In this embodiment, if the rollover area occupies the lane corresponding to the current position of the moving vehicle, an avoidance path can be planned for the moving vehicle so that the moving vehicle can leave the rollover area. The avoidance path may include a lane change path, a detour path, and an emergency stop, etc.

[0080] Next, the step of displaying the rollover area when the target vehicle rolls over through the central control screen is further introduced: the moving vehicle is displayed through the central control screen, and the rollover area when the target vehicle rolls over is displayed on the road section in front of the moving vehicle, as well as the avoidance path of the moving vehicle.

[0081] Similarly, this embodiment can display the avoidance path. The avoidance path is taken as an example. Figure 5d As shown, the avoidance path is displayed on the central control screen, and an arrow can be used to indicate the lane change route, and a text prompt "Please complete the lane change before time t" can be given. For related instructions, please refer to the avoidance speed, which will not be repeated here.

[0082] In some other embodiments, the avoidance speed and avoidance path of the moving vehicle may be determined simultaneously and displayed on the central control screen to avoid safety issues caused by the rollover of the target vehicle.

[0083] Among them, the central control screen prompt may include displaying text, icons or animations on the vehicle's central control screen to alert the driver to potential dangers or abnormal situations. The prompt may enhance the warning effect through visual effects such as flashing, color changes or pop-up windows.

[0084] In addition to the display on the central control screen, rollover warning prompts can also be provided by flashing turn signals and instrument panel warning lights, allowing the driver to perceive the rollover risk of other vehicles on the road from multiple channels.

[0085] As an example, the flashing of the turn signal lamp can be controlled by controlling the turn signal lamp of the vehicle to flash at a specific frequency to attract the driver's attention. This prompting method can provide an obvious warning signal when the driver is not focusing on the central control screen or instrument panel.

[0086] As another example, the flashing of the dashboard warning light can be on the dashboard of the vehicle, by controlling the warning lights (such as the engine fault light, the brake warning light, etc.) to flash to alert the driver. This method takes advantage of the driver's high sensitivity to the dashboard warning light, which can quickly attract the driver's attention and prompt him to take corresponding measures.

[0087] Through one or more of the above-mentioned prompting methods (in some embodiments, other prompting methods may also be used, such as navigation system prompts, etc.), warning information can be effectively conveyed to the driver to improve driving safety.

[0088] Figure 6 It is a flow chart of another vehicle rollover avoidance method provided in an embodiment of the present application. On the basis of the above embodiment, considering that a target vehicle is detected around a moving vehicle and there is a rollover risk, but due to the lack of predicted rollover time, area and other information of the target vehicle, in order to improve the prediction accuracy of the rollover area and thereby reduce the safety impact brought by the target vehicle, this embodiment may also include S601 and step S602 before the rollover warning information is displayed in the above step S302, and step S302 may be further divided into step S3021.

[0089] Step S601: If it is determined that the target vehicle has a rollover risk based on the tilt angle, determine the rollover position of the target vehicle based on the rollover time of the target vehicle; wherein the rollover time is calculated based on the tilt angle of the target vehicle.

[0090] For example, after the intelligent driving control unit of the vehicle side (driving vehicle) determines the target vehicle (such as receiving the rear vehicle information broadcast by the RSU in the curve merging scene to determine the target vehicle), it starts to receive relevant information of the target vehicle (i.e., current driving information), including position information, movement direction, movement speed, roll angle, and roll angle change rate, etc. The rollover time t of the vehicle rolling over is estimated by the roll angle. Specifically, the rollover time t can be determined based on the vehicle's tilt angle, tilt angle change rate, and tilt angle change acceleration.

[0091] The rollover time t can be calculated using the following formula:

[0092]

[0093] The above formula is derived from the following formula:

[0094]

[0095] In the formula, is the initial roll angle (can be 0), the current tilt angle The derivative is ω, which is the roll angle change rate calculated by the intelligent driving system based on the real-time status. By taking the derivative of the roll angle change rate, α is the roll angle change acceleration.

[0096] Based on the above kinematic formula, the rollover time can be estimated by the current inclination angle and the rate of change of the inclination angle.

[0097] Next, the process of determining the rollover position is further described. In this embodiment, the current driving information obtained from the target vehicle may also include information such as the speed, acceleration, wheel steering angle, and angle between the vehicle body direction and the straight direction of the target vehicle. The above step S601 determines the rollover position of the target vehicle according to the rollover time of the target vehicle, which may include the following steps:

[0098] Calculate the horizontal driving distance and the straight driving distance of the target vehicle according to the rollover time of the target vehicle, the vehicle speed, the acceleration and the driving angle through a kinematic displacement time algorithm;

[0099] determining the rollover position according to the horizontal driving distance and the straight driving distance;

[0100] The driving angle is calculated based on the wheel steering angle and the angle between the vehicle body direction and the straight-ahead direction.

[0101] like Figure 7a and Figure 7b As shown, Indicates the angle between the vehicle body direction and the straight direction, τ indicates the wheel steering angle, and the angle is calculated by the difference between the current vehicle body angle and the wheel steering angle to obtain the target vehicle's driving angle By using the kinematic displacement time algorithm and the target vehicle's driving angle, vehicle speed, acceleration and other information, the horizontal driving distance and straight driving distance of the target vehicle can be calculated, thereby determining the rollover position of the target vehicle. The calculation formula can be as follows:

[0102]

[0103] Where l1 is the straight driving distance, that is, the estimated rollover position distance in the straight direction; h1 is the horizontal driving distance, that is, the estimated rollover position distance in the horizontal direction; V0 is the current driving speed of the target vehicle; a is the acceleration of the current target vehicle, which can be obtained by differentiating the speed; θ represents the driving angle, that is, the angle between the speed direction and the straight road. is the angle between the vehicle body direction and the straight direction, and τ is the wheel steering angle.

[0104] Step S602: Determine the rollover area of ​​the target vehicle according to the rollover position and the body geometry information of the target vehicle.

[0105] The body geometry information includes body length and body height. After the rollover position is determined, the rectangular area formed by the body height and body height of the target vehicle in the rollover position is the rollover area of ​​the target vehicle. It can be understood that after the target vehicle rolls over, the body height is the width of the rollover area (i.e., the area width), and the body length is the length of the rollover area (i.e., the area length).

[0106] Exemplarily, the above step S602 determines the rollover area of ​​the target vehicle according to the rollover position and the body geometry information of the target vehicle in the following manner:

[0107] Determine the rollover position as a reference point;

[0108] Based on the reference point, extending in the horizontal direction to a first position corresponding to the vehicle body height to determine the area width, and extending in the vertical direction to a second position corresponding to the vehicle body length to determine the area length;

[0109] The rollover area of ​​the target vehicle is obtained according to the area width and the area length.

[0110] Specifically, when the moving vehicle is on the left side of the target vehicle, the area width is determined by extending horizontally to the left side from the reference point to the height of the vehicle body (when the moving vehicle is on the right side of the target vehicle, the area width is determined by extending horizontally to the right side from the reference point to the height of the vehicle body). Accordingly, when the vehicle is at risk of rollover, the target vehicle, which is usually a rollover, drives in front of the moving vehicle and may affect the moving vehicle. The area width is determined by extending vertically downward from the reference point to the second position corresponding to the length of the vehicle body.

[0111] The rectangular area formed by the width and length of the area is the rollover area of ​​the target vehicle, such as Figure 8 This embodiment estimates the area where the vehicle may roll over based on the current position information of the rear vehicle, as well as the longitudinal and lateral vehicle speeds and steering angles, by calculating the horizontal driving distance and the vertical driving distance, combined with the vehicle body length and height, and marks the area as a high-risk area to facilitate the vehicle to leave the corresponding high-risk area.

[0112] In some embodiments, rollover warning information may also be generated according to the rollover time and the rollover area.

[0113] Specifically, the rollover time and rollover area can be carried in the rollover warning information. The vehicle intelligent driving system of the moving vehicle can judge its own position after time t based on the current vehicle speed, and judge whether there is an overlapping area with the rollover area. It can also control the vehicle to accelerate, decelerate or turn according to the road condition information of the front, rear and left lanes of the vehicle identified by the radar, so that the vehicle avoids the area within time t, thereby minimizing the possibility of being overturned by the target vehicle behind. If the moving vehicle has not completely moved away from the target vehicle (for example, the distance between vehicles is greater than the set distance value), the above rollover area calculation can be performed every time t1 to update the rollover area.

[0114] To facilitate the understanding of the embodiments of the present application, the present application is further introduced in conjunction with an exemplary embodiment (taking a curve merging scenario and taking the driving vehicle as the execution subject as an example):

[0115] In the context of the rapid development of smart cars, intelligent driving systems are becoming more and more mature and can cope with various dangerous scenarios. The advancement of vehicle networking technology has also rapidly promoted the development of V2X technology. V2X is a key technology for future intelligent transportation systems. It enables vehicles to communicate quickly with each other and vehicles to communicate with roadside units (RSUs) to achieve information interaction, thereby obtaining real-time traffic information such as road conditions, road information, and pedestrian information, thereby improving driving safety, reducing congestion, improving traffic efficiency, and providing in-vehicle entertainment information. In this context, the embodiment of the present application utilizes a combination of V2X technology and intelligent driving technology. When the roadside unit RSU detects that a heavy vehicle is merging into the surrounding curves, it broadcasts. The vehicle intelligent driving system calculates and determines whether the heavy vehicle has a rollover risk. When the judgment is established, a rollover warning message is issued and the rollover area is estimated. The vehicle is controlled to leave the area to avoid or reduce the damage caused by the overturning of the heavy vehicle. Combined with Fig. 9 As shown, the following process may be included:

[0116] S1. The roadside unit RSU obtains the surrounding vehicle information of the driving vehicle, including vehicle length, height and other information, and determines whether there is a heavy vehicle turning into the main road (i.e., driving section) based on the road condition information. If so, it broadcasts to the driving vehicles on the main road;

[0117] S2: The remote system of the moving vehicle receives the broadcast information from the roadside unit and forwards the relevant information to the intelligent driving control system to identify the heavy vehicles in the surrounding area as target vehicles;

[0118] S3, the target vehicle detects the current vehicle speed, steering angle, horizontal roll angle and other information in real time, as well as basic vehicle information, including vehicle length, height and other information, and broadcasts them to the outside world;

[0119] S4. The moving vehicle and the target vehicle communicate with each other through V2X technology to obtain the current driving information of the target vehicle, including vehicle speed, steering angle, (horizontal) roll angle, etc., as well as basic information such as vehicle length and height.

[0120] S5. The intelligent driving system of the moving vehicle monitors the current tilt angle of the target vehicle in real time. When the tilt angle exceeds the set angle value, it starts to calculate the tilt angle change rate in real time, and judges whether the target vehicle has a rollover risk through the tilt angle change rate. If there is a risk, it will give an early warning to the driver, which may include the rear vehicle prompt on the central control screen and the flashing turn signal light method;

[0121] S6. The intelligent driving system calculates the possible area covered by the target vehicle after rolling over (i.e., the rollover area) through the target vehicle's driving direction, steering angle, body length, height, etc. The intelligent driving system identifies the road conditions in front, behind, and beside the driving vehicle (combined with the current speed of the driving vehicle) and controls the driving vehicle to accelerate, decelerate, and turn to avoid the rollover area and drive away from areas that may cause fatal consequences, thereby minimizing the damage caused by rollover pressure.

[0122] Optionally, when the intelligent driving system controls the driving vehicle to accelerate, decelerate, turn, and other operations to avoid the rollover area, it further determines whether the driving vehicle is far away from the target vehicle (for example, whether it is more than 200m away). If it is not far away, it estimates the rollover position of the vehicle after time t in real time based on the current vehicle speed and vehicle direction, and determines the rollover area. In addition, it can also monitor whether the target vehicle has merged into the main road to further determine whether the target vehicle has a rollover risk again, thereby further improving the driving safety of the moving vehicle.

[0123] Through the above technical solution, it is possible to issue early warnings for scenarios where heavy vehicles may roll over when merging into a curve. By applying V2X technology, the vehicle combines with the roadside unit to obtain the target vehicle's driving information and basic information, road condition information, etc. The vehicle's intelligent driving system calculates and estimates the rollover area, and can control the intelligent driving vehicle to avoid the area before the target vehicle rolls over, thereby reducing the risk of overturning of heavy vehicles and improving the driving safety of the vehicle.

[0124] Fig.10 A schematic diagram of the structure of a vehicle rollover avoidance device provided in an embodiment of the present application is shown in FIG. Fig.10 As shown, the device 100 includes a communication module 101, a display module 102 and a control module 103, wherein:

[0125] The communication module 101 is configured to obtain current driving information of the target vehicle after determining a target vehicle other than the driving vehicle in a driving section of the driving vehicle, wherein the driving information includes an inclination angle of the target vehicle relative to the ground;

[0126] A display module 102, which is configured to display a rollover area of ​​the target vehicle when the target vehicle rolls over through a central control screen when the target vehicle is determined to have a rollover risk according to the tilt angle;

[0127] The control module 103 is configured to control the moving vehicle to leave the rollover area in response to a control operation on the information displayed on the central control screen.

[0128] In one embodiment, the device further comprises:

[0129] A position determination module, which is configured to determine the rollover position of the target vehicle according to the rollover time of the target vehicle before the warning module generates the rollover warning information; wherein the rollover time is calculated according to the tilt angle of the target vehicle;

[0130] an area determination module, configured to determine a rollover area of ​​the target vehicle according to the rollover position and body geometry information of the target vehicle;

[0131] In one embodiment, the current driving information further includes the speed, acceleration, wheel steering angle, and angle between the vehicle body direction and the straight direction of the target vehicle;

[0132] The position determination module comprises:

[0133] a distance calculation unit configured to calculate a horizontal driving distance and a straight driving distance of the target vehicle according to the rollover time of the target vehicle, the vehicle speed, the acceleration and the driving angle through a kinematic displacement time algorithm;

[0134] a first determining unit configured to determine the rollover position according to the horizontal driving distance and the straight driving distance;

[0135] The driving angle is calculated based on the wheel steering angle and the angle between the vehicle body direction and the straight-ahead direction.

[0136] In one embodiment, the vehicle body geometry information includes vehicle body length and vehicle body height;

[0137] The area determination module comprises:

[0138] a second determining unit, configured to determine the rollover position as a reference point;

[0139] The third determination unit is configured to extend horizontally to a first position corresponding to the vehicle body height based on the reference point to determine the area width, and to extend vertically to a second position corresponding to the vehicle body length to determine the area length, and obtain the rollover area of ​​the target vehicle based on the area width and the area length.

[0140] In one embodiment, the device further comprises:

[0141] A judging module, configured to judge whether the tilt angle reaches a set angle threshold;

[0142] The risk determination module is configured to determine that the target vehicle has a rollover risk when the tilt angle reaches a set angle threshold.

[0143] In one embodiment, the device further comprises:

[0144] An inclination angle change rate acquisition module, configured to acquire the inclination angle change rate of the target vehicle when the inclination angle reaches a set angle threshold;

[0145] The risk determination module is specifically configured to determine that the target vehicle has a rollover risk when the rate of change of the tilt angle is greater than a rate setting threshold.

[0146] In one embodiment, it further includes:

[0147] A vehicle identification module is configured to receive broadcast information from a roadside unit, wherein the broadcast information carries vehicle merging information from a curve into the driving section, wherein the vehicle merging information includes body geometry information of the merging vehicle; based on the vehicle merging information, a vehicle whose body geometry information among the merging vehicles reaches a corresponding threshold condition is identified as a target vehicle in the driving section of the traveling vehicle.

[0148] In one embodiment, the communication module 101 is specifically configured to determine whether the driving section and the curve are compatible. When the driving section and the curve are compatible, the current driving information of the target vehicle is obtained according to the driving state of the target vehicle from the curve into the driving section.

[0149] In one embodiment, the device further comprises:

[0150] an avoidance mode determination module, which is configured to determine an avoidance speed of the traveling vehicle according to the rollover area and the current speed of the traveling vehicle; and / or, determine an avoidance path of the traveling vehicle according to the rollover area and the current position of the traveling vehicle;

[0151] The display module 102 is specifically configured to display the moving vehicle through a central control screen, and to display a rollover area when the target vehicle rolls over on a road section in front of the moving vehicle, as well as an avoidance speed and / or avoidance path of the moving vehicle.

[0152] In one embodiment, the display module is further configured to display rollover warning information including the rollover area through a preset prompt method; wherein the preset prompt method includes flashing turn signals and flashing instrument panel warning lights.

[0153] It should be noted that the above-mentioned device provided in this embodiment corresponds to the content of the above-mentioned vehicle rollover avoidance method embodiment, and its implementation principle and technical effect are similar. For the technical details not disclosed in the embodiments of this application, please refer to the description of the method embodiment of the above-mentioned cockpit domain controller end for understanding, and they will not be repeated here one by one.

[0154] Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Fig.11 As shown, the electronic device may include: a processor (processor) 402 , a communication interface (Communications Interface) 404 , a memory (memory) 406 , and a communication bus 408 .

[0155] The processor 402, the communication interface 404, and the memory 406 communicate with each other via the communication bus 408. The communication interface 404 is used to communicate with other devices such as a client or other server network elements. The processor 402 is used to execute the program 410, which can specifically execute the relevant steps in the above-mentioned vehicle rollover avoidance method embodiment.

[0156] Specifically, the program 410 may include program code including computer executable instructions.

[0157] Processor 402 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the cloud server may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0158] The memory 406 is used to store the program 410. The memory 406 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0159] It should be noted that the electronic device provided in this embodiment corresponds to the content of the above-mentioned vehicle rollover avoidance method embodiment, and its implementation principles and technical effects are similar. For technical details not disclosed in the embodiments of this application, please refer to the description of the method embodiment on the above-mentioned cloud server side for understanding, and they will not be repeated here one by one.

[0160] The embodiment of the present application also provides a computer-readable storage medium, in which at least one executable instruction is stored. When the executable instruction is executed, it is used to implement the operation of the above-mentioned vehicle rollover avoidance method embodiment.

[0161] It should be noted that the above-mentioned medium provided in this embodiment corresponds to the content of the above-mentioned method embodiment, and its implementation principle and technical effect are similar. For the technical details not disclosed in the embodiments of this application, please refer to the description of the above-mentioned method embodiment for understanding, and no further details will be given here.

[0162] The embodiments of the present application also provide a computer program product, wherein the computer program, when executed, is used to implement the operations of the above-mentioned vehicle rollover avoidance method embodiment.

[0163] It should be noted that the program product provided in this embodiment corresponds to the content of the method embodiment, and its implementation principles and technical effects are similar. For technical details not disclosed in the embodiments of this application, please refer to the description of the method embodiment above for understanding, and no further details will be given here.

[0164] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present application are not directed to any particular programming language.

[0165] In the specification provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. Similarly, in order to simplify the application and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, the various features of the embodiments of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. Wherein, the claims that follow the specific embodiment are thus clearly incorporated into the specific embodiment, wherein each claim itself is used as a separate embodiment of the application.

[0166] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and further may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0167] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be constructed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

Claims

1. A method for avoiding vehicle rollover, It is characterized in that The method comprises: After determining a target vehicle other than the traveling vehicle in a driving section of the traveling vehicle, obtaining current driving information of the target vehicle, the driving information including an inclination angle of the target vehicle relative to the ground; If it is determined according to the tilt angle that the target vehicle has a rollover risk, the rollover area of ​​the target vehicle when it rolls over is displayed on the central control screen; In response to the control operation on the information displayed on the central control screen, the moving vehicle is controlled to leave the rollover area.

2. The method according to claim 1, It is characterized in that Also includes: Determining the rollover position of the target vehicle according to the rollover time of the target vehicle; wherein the rollover time is calculated according to the tilt angle of the target vehicle; The rollover area of ​​the target vehicle is determined according to the rollover position and body geometry information of the target vehicle.

3. The method according to claim 2, It is characterized in that The current driving information also includes the speed, acceleration, wheel steering angle, and angle between the vehicle body direction and the straight direction of the target vehicle; Determining the rollover position of the target vehicle according to the rollover time of the target vehicle includes: Calculate the horizontal driving distance and the straight driving distance of the target vehicle according to the rollover time of the target vehicle, the vehicle speed, the acceleration and the driving angle through a kinematic displacement time algorithm; determining the rollover position according to the horizontal driving distance and the straight driving distance; The driving angle is calculated based on the wheel steering angle and the angle between the vehicle body direction and the straight-ahead direction.

4. The method according to claim 2 or 3, It is characterized in that The body geometry information includes body length and body height; The step of determining the rollover area of ​​the target vehicle according to the rollover position and the body geometry information of the target vehicle comprises: Determine the rollover position as a reference point; Based on the reference point, extending in the horizontal direction to a first position corresponding to the vehicle body height to determine the area width, and extending in the vertical direction to a second position corresponding to the vehicle body length to determine the area length; The rollover area of ​​the target vehicle is obtained according to the area width and the area length.

5. The method according to any one of claims 1 to 4, It is characterized in that Also includes: Determining whether the tilt angle reaches a set angle threshold; When the tilt angle reaches a set angle threshold, it is determined that the target vehicle has a rollover risk.

6. The method according to claim 5, It is characterized in that After determining whether the tilt angle is greater than a preset threshold and before determining that the target vehicle has a rollover risk, the method further includes: When the tilt angle reaches a set angle threshold, obtaining a tilt angle change rate of the target vehicle; The determining that the target vehicle has a rollover risk includes: When the rate of change of the tilt angle is greater than a rate setting threshold, it is determined that the target vehicle has a rollover risk.

7. The method according to any one of claims 1 to 4, It is characterized in that The determining of target vehicles other than the traveling vehicle in the driving section of the traveling vehicle comprises: receiving broadcast information from a roadside unit, the broadcast information carrying vehicle merging information from a curve into the driving section, the vehicle merging information including body geometry information of the merging vehicle; According to the vehicle inbound information, a vehicle whose body geometry information reaches a corresponding threshold condition among the inbound vehicles is determined as a target vehicle in the driving section of the traveling vehicle; and / or, The obtaining of the current driving information of the target vehicle includes: Determining whether the driving road section and the curve are compatible; When the driving section and the curve are compatible, the current driving information of the target vehicle is acquired according to the driving state of the target vehicle when the target vehicle enters the driving section from the curve.

8. The method according to any one of claims 1 to 4, It is characterized in that Also includes: determining an avoidance speed of the moving vehicle according to the rollover area and the current speed of the moving vehicle; and / or, determining an avoidance path for the moving vehicle according to the rollover area and the current position of the moving vehicle; The displaying of the rollover area of ​​the target vehicle when it rolls over by the central control screen includes: The moving vehicle is displayed on a central control screen, and the rollover area of ​​the target vehicle when it rolls over is displayed on a road section in front of the moving vehicle, as well as the avoidance speed and / or avoidance path of the moving vehicle.

9. A vehicle rollover avoidance device, It is characterized in that The device comprises: a communication module, configured to obtain current driving information of a target vehicle other than the driving vehicle in a driving section of the driving vehicle, wherein the driving information includes an inclination angle of the target vehicle relative to the ground; A display module, configured to display a rollover area of ​​the target vehicle when the target vehicle rolls over through a central control screen when the target vehicle is determined to have a rollover risk according to the tilt angle; A control module is configured to control the moving vehicle to leave the rollover area in response to a control operation on the information displayed on the central control screen.

10. An electronic device, It is characterized in that include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the vehicle rollover avoidance method as described in any one of claims 1-8.

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