Vehicle operation control method and device, storage medium and electronic equipment

Abstract

The embodiment of the invention provides a vehicle operation control method and device, a storage medium and electronic equipment. The method comprises the following steps: acquiring operation parameters of each sensing object in a group of sensed sensing objects; based on the operation parameters of each sensing object and the predicted driving track of the current vehicle, whether a collision risk exists or not is judged; and under the condition that a collision risk exists between a target sensing object of the group of sensing objects and the current vehicle, the vehicle posture of the current vehicle is adjusted through a vehicle suspension of the current vehicle, so that the vehicle gravity center of the current vehicle sinks before the predicted collision time of the target sensing object. By means of the method and device, the problem that in the related technology, the vehicle is prone to rollover when faced with inevitable lateral collision can be solved, by changing the driving posture of the vehicle during collision, higher stability is provided at the moment of collision, and the possibility of rollover is reduced.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle technology, and in particular, to a vehicle operation control method, device, storage medium and electronic device. Background Art

[0002] With the continuous advancement of intelligent driving technology, the vehicle's perception ability, human-machine interaction and control strategy execution capabilities have been significantly enhanced, providing strong support for driving safety. However, the application of intelligent network technology in the field of vehicle collision safety is still limited, especially in the prevention of rollover risks for vehicles with high center of gravity. Vehicles with high center of gravity, such as SUVs, MPVs, ambulances, box trucks, etc., are prone to rollover or rollover when they are hit from the side due to their body design characteristics, posing a major threat to the occupants.

[0003] In related technologies, when the intelligent driving system senses a collision threat, it often takes measures such as emergency braking and steering avoidance.

[0004] However, the rollover risk prevention effect of vehicles with a high center of gravity is limited. For example, although pre-tightening the seat belt and adjusting the seat posture can reduce the damage caused by direct collision, they cannot change the physical state of the vehicle and the possibility of rollover during a collision. In addition, the method of adjusting the wheel angle to change the driving trajectory, in some unavoidable collision scenarios, not only cannot effectively avoid collisions, but may also increase the risk of rollover due to the inertia of the vehicle's steering. Summary of the invention

[0005] The embodiments of the present application provide a vehicle operation control method, device, storage medium and electronic device to at least solve the technical problem in the related art that the vehicle is prone to rollover when facing an unavoidable lateral collision.

[0006] According to one aspect of an embodiment of the present application, a vehicle operation control method is provided, including: obtaining operating parameters of each perception object in a group of perception objects perceived by a perception device of a current vehicle; judging whether there is a risk of collision between each perception object and the current vehicle based on the operating parameters of each perception object and a predicted driving trajectory of the current vehicle; when there is a risk of collision between a target perception object of a group of perception objects and the current vehicle, adjusting the vehicle posture of the current vehicle through the vehicle suspension of the current vehicle so as to sink the vehicle center of gravity of the current vehicle before the predicted collision time of the target perception object.

[0007] According to another aspect of an embodiment of the present application, a vehicle operation control device is provided, including: an acquisition module, used to acquire operating parameters of each perception object in a group of perception objects perceived by a perception device of a current vehicle; a judgment module, used to judge whether there is a risk of collision between each perception object and the current vehicle based on the operating parameters of each perception object and the predicted driving trajectory of the current vehicle; an adjustment module, used to adjust the vehicle posture of the current vehicle through the vehicle suspension of the current vehicle when there is a risk of collision between a target perception object of a group of perception objects and the current vehicle, so as to sink the vehicle center of gravity of the current vehicle before the predicted collision time of the target perception object.

[0008] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps in any one of the above method embodiments are implemented.

[0009] According to another aspect of the embodiments of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps in any one of the above method embodiments when executing the computer program.

[0010] According to another aspect of the embodiments of the present application, a computer program product or a computer program is also provided, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in any of the above method embodiments.

[0011] Through the embodiments of the present application, based on the operating parameters of each perception object and the predicted driving trajectory of the current vehicle, when it is determined that there is a risk of collision between the target perception object and the current vehicle, the vehicle posture of the current vehicle is adjusted through the vehicle suspension of the current vehicle to sink the vehicle center of gravity of the current vehicle before the predicted collision time of the target perception object. Since the center of gravity of the vehicle body is sunk before the collision with the perception object, it can provide stronger stability at the moment of collision, which to a certain extent reduces the possibility of rollover of the vehicle (especially high-center-of-gravity vehicles) in the event of a collision, thereby improving the safety of the vehicle during driving and solving the technical problem in the related art that the vehicle is prone to rollover when facing an inevitable lateral collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a hardware structure block diagram of a mobile terminal of an optional vehicle operation control method according to an embodiment of the present application;

[0013] Figure 2 is a flow chart of an optional vehicle operation control method according to an embodiment of the present application;

[0014] Figure 3 is a flow chart of another optional vehicle operation control method according to an embodiment of the present application;

[0015] Figure 4 is a schematic diagram of an optional division of vehicle body areas according to an embodiment of the present application;

[0016] Figure 5 is a schematic diagram of adjusting the posture of a vehicle body when a collision occurs according to an optional embodiment of the present application;

[0017] Figure 6 is a schematic diagram of an optional movable component position according to an embodiment of the present application;

[0018] Figure 7 is a structural block diagram of an optional vehicle operation control system according to an embodiment of the present application;

[0019] Figure 8 is a structural block diagram of an optional vehicle operation control device according to an embodiment of the present application;

[0020] Fig. 9 is a block diagram of a computer system structure of an optional electronic device according to an embodiment of the present application;

[0021] The following are the descriptions of the reference numerals:

[0022] 1. Air suspension; 2. Movable components; 3. Lateral support rod; 4. Air pressure chamber; 5. Pressure injection pipe; 6. Controllable air valve. DETAILED DESCRIPTION

[0023] The embodiments of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0025] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal of an optional vehicle operation control method according to an embodiment of the present application. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0026] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the vehicle operation control method in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0027] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0028] In this embodiment, a vehicle operation control method running on the above mobile terminal is provided. Figure 2 is a flow chart of an optional vehicle operation control method according to an embodiment of the present application, such as Figure 2 As shown, the process includes the following steps:

[0029] Step S202, obtaining the operating parameters of each perception object in a group of perception objects perceived by the perception device of the current vehicle.

[0030] It should be noted that the embodiments of the present application are mainly applied to vehicles with high center of gravity, such as SUVs, MPVs, ambulances, box trucks, etc. The sensing device can be used to sense environmental data around the vehicle. The sensing object can be an object sensed by the sensing device within a certain sensing range.

[0031] In specific practice, when the perception device is a visual sensor (such as a camera), the visual sensor uses image processing technology to identify the perception objects such as pedestrians, other vehicles, obstacles around the vehicle; the visual sensor can estimate the position and direction of the perception object relative to the vehicle through the relative position of the object in the image and the vehicle's forward camera or surround camera; the visual sensor performs deep learning analysis on visual data to predict the behavior pattern of the perception object, such as the movement direction and speed of pedestrians or vehicles. When the perception device is a lidar, the lidar measures the precise distance between the perception object and the vehicle by emitting laser pulses and receiving reflected signals; the relative speed and direction of the perception object can be calculated by analyzing the echo frequency of the laser pulse through the Doppler effect; the acquired point cloud data can be used to construct a 3D model of the perception object and further analyze its shape and motion trajectory. When the perception device is a millimeter wave radar, the millimeter wave radar obtains the distance, speed and angle information of the perception object by sending and receiving high-frequency electromagnetic waves and analyzing the echo signals; and the millimeter wave radar can track multiple perception objects at the same time and provide their dynamic position information.

[0032] Exemplarily, an on-board central computing unit is provided in the vehicle, and the operating parameters of each perception object in a group of perception objects perceived by the perception device are sent to the on-board central computing unit for analysis and processing.

[0033] Step S204: Based on the operating parameters of each perceived object and the predicted driving trajectory of the current vehicle, it is determined whether there is a collision risk between each perceived object and the current vehicle.

[0034] It should be noted that the process of generating the predicted driving trajectory of the current vehicle includes: obtaining the current state parameters of the vehicle, including but not limited to the vehicle speed, steering wheel angle, throttle and brake status, vehicle acceleration, etc.; predicting the future driving path of the vehicle under the current state parameters through the vehicle dynamics model. These vehicle dynamics models take into account the product information of the current vehicle and the physical characteristics of the vehicle, such as the friction between the tire and the ground, the turning radius of the vehicle, the acceleration and deceleration capabilities of the vehicle, etc.

[0035] Specifically, when the vehicle's steering wheel angle is zero, it will travel in a straight line along the current driving direction, and the predicted trajectory is a straight extension of the current position and direction. When the vehicle's steering wheel angle is non-zero, based on the vehicle dynamics model and steering angle, it is predicted that the vehicle will travel at a certain curvature and generate a corresponding curved trajectory. In specific practice, when predicting the driving trajectory, it is also necessary to consider the boundaries of the road, lane lines, the positions of other vehicles and obstacles to ensure that the predicted trajectory is physically feasible. The prediction time window is set to a few seconds to more than ten seconds, depending on the speed of the vehicle and the complexity of the surrounding environment. If the predicted collision time falls within the prediction time window, it is considered that there is a collision risk; if the predicted collision time does not fall within the prediction time window, other measures can be taken to avoid the collision.

[0036] For example, a vehicle may be provided with an onboard central computing unit, which may predict the driving trajectory of each sensing object based on the operating parameters of the sensing object; and compare the predicted driving trajectory of each sensing object with the predicted driving trajectory of the current vehicle to determine whether there is a collision risk between each sensing object and the current vehicle. Specifically, the future driving trajectory of each sensing object may be predicted using a preset dynamic model.

[0037] Step S206, when there is a risk of collision between a target perception object of a group of perception objects and the current vehicle, the vehicle posture of the current vehicle is adjusted through the vehicle suspension of the current vehicle to sink the vehicle center of gravity of the current vehicle before the predicted collision time of the target perception object.

[0038] It should be noted that, in a group of perception objects, there may be one or more target perception objects, and specifically, the perception objects with collision risks in a preset time window are the target perception objects.

[0039] The vehicle may include a vehicle suspension, which may be used to connect the vehicle body and the wheels. Its main function is to absorb road impact and maintain vehicle driving stability and comfort. The vehicle suspension may be an air suspension or an electromagnetic suspension. The vehicle posture of the current vehicle may refer to the position and direction of the vehicle in three-dimensional space. Specifically, it may include the vehicle height and tilt angle of the current vehicle. The vehicle height may be the height of the vehicle relative to the ground; the roll angle may be used to describe the degree of tilt of the vehicle on the left and right sides. The predicted collision time of the target perception object may be the predicted time point when the target perception object collides with the current vehicle. In specific practice, the on-board central computing unit in the vehicle sends a control signal to the vehicle suspension through an on-board communication bus, such as a CAN bus or an on-board Ethernet. The control signal may include a requirement that the vehicle suspension of the current vehicle complete the sinking of the vehicle center of gravity of the current vehicle within a specified time (e.g., 500ms).

[0040] Exemplarily, when it is determined that there is a risk of collision between the target perception object and the current vehicle, the predicted collision time of the target perception object is obtained, and the current vehicle is provided with an on-board central computing unit to control the center of gravity of the current vehicle to sink by adjusting the vehicle posture before the predicted collision time of the target perception object.

[0041] Through the above steps, the operating parameters of each perception object in a group of perception objects perceived by the perception device of the current vehicle are obtained; based on the operating parameters of each perception object and the predicted driving trajectory of the current vehicle, it is determined whether there is a risk of collision between each perception object and the current vehicle; when there is a risk of collision between the target perception object of a group of perception objects and the current vehicle, the vehicle posture of the current vehicle is adjusted through the vehicle suspension of the current vehicle to sink the vehicle center of gravity of the current vehicle before the predicted collision time of the target perception object, thereby solving the technical problem in the related technology that the vehicle is prone to rollover when facing an inevitable lateral collision, thereby improving the safety of vehicle operation.

[0042] In an exemplary embodiment, based on the operating parameters of each perception object and the predicted driving trajectory of the current vehicle, it is determined whether each perception object has a collision risk with the current vehicle, including: when there is a mobile perception object in a group of perception objects, based on the operating parameters of the mobile perception object, determining the predicted driving trajectory of the mobile perception object; determining whether there is an intersection between the predicted driving trajectory of the mobile perception object and the predicted driving trajectory of the current vehicle, and obtaining a first judgment result, wherein, when the first judgment result is that there is an intersection and the time for the current vehicle to reach the intersection is less than or equal to a first time threshold, there is a collision risk between the mobile perception object and the current vehicle; when the first judgment result is that there is no intersection, there is no collision risk between the mobile perception object and the current vehicle; when the first judgment result is that there is no intersection, there is no collision risk between the mobile perception object and the current vehicle; when there is a stationary perception object in a group of perception objects, it is determined whether the stationary perception object is located on the predicted driving trajectory of the current vehicle, and a second judgment result is obtained, wherein, when the second judgment result is that the stationary perception object is located on the predicted driving trajectory of the current vehicle and the time for the current vehicle to reach the object position of the stationary perception object is less than or equal to the second time threshold, there is a collision risk between the stationary perception object and the current vehicle; when the second judgment result is that the stationary perception object is not located on the predicted driving trajectory of the current vehicle, there is no collision risk between the stationary perception object and the current vehicle.

[0043] It should be noted that a group of perception objects may include mobile perception objects or stationary perception objects. A mobile perception object is a perception object that is currently in a movable state. For example, when a vehicle is driving on the road, the mobile perception object may be other vehicles that are driving. A stationary perception object is a perception object that is currently in a stationary state. For example, a vehicle that is stopped, or other fixed obstacles, etc. The collision risk analysis may be performed using a corresponding collision prediction algorithm. In the present application, the risk of collision between the perception object and the current vehicle may be an unavoidable collision risk.

[0044] Exemplarily, according to the state of the perception object, a collision risk analysis is performed between the perception objects in different states in a group of perception objects and the current vehicle. Wherein, in the case where there is a mobile perception object in a group of perception objects, for each mobile perception object that exists, the operating parameters of the mobile perception object are obtained through the perception device, so as to obtain the predicted driving trajectory of the mobile perception object, and determine whether there is an intersection between the predicted driving trajectory of the mobile perception object and the predicted driving trajectory of the current vehicle. If there is an intersection, and the time for the current vehicle to reach the intersection is less than or equal to the first time threshold, it is determined that there is a collision risk between the mobile perception object and the current vehicle; if there is no intersection, there is no collision risk between the mobile perception object and the current vehicle. Wherein, the first time threshold is used to determine the time required for the vehicle to reach the intersection from the current state. The size of the first time threshold can be set based on experiments, and this application does not limit it here.

[0045] The intersection may refer to the point where the predicted driving trajectory of the current vehicle intersects with the predicted driving trajectory of the mobile sensing object in space. The intersection not only includes the intersection of the predicted driving trajectory of the mobile sensing object and the predicted driving trajectory of the current vehicle on the plane, but also takes into account factors such as height and time. Specifically, in three-dimensional space, the intersection means that the corresponding positions of the mobile sensing object and the current vehicle at a specific time point completely overlap or partially overlap in space, so that the mobile sensing object and the current vehicle are in direct contact and collision. In specific practice, the predicted driving trajectory of the mobile sensing object and the predicted driving trajectory of the current vehicle can be in a three-dimensional space, specifically, at a certain moment, it is determined whether the predicted positions of the two objects overlap within the allowable error range. In addition, it is ensured that the judgment of the intersection is performed at the same time point or time window, that is, the two objects are simultaneously located at the predicted intersection position.

[0046] In the case where there is a stationary perception object in a group of perception objects, for each existing stationary perception object, determine whether the stationary perception object is located on the predicted driving trajectory of the current vehicle; when the stationary perception object is located on the predicted driving trajectory of the current vehicle, and the time for the current vehicle to reach the object position of the stationary perception object is less than or equal to the second time threshold, determine that there is a risk of collision between the stationary perception object and the current vehicle; when the second judgment result is that the stationary perception object is not located on the predicted driving trajectory of the current vehicle, there is no risk of collision between the stationary perception object and the current vehicle. Among them, the second time threshold is used to determine whether there is enough time for the vehicle to take obstacle avoidance measures from the current position to the position of the stationary perception object. The size of the second time threshold can be set based on experiments, and this application does not limit it here.

[0047] Through this embodiment, the sensing objects are divided into mobile sensing objects and stationary sensing objects, and the risk assessment of mobile sensing objects and stationary sensing objects is performed respectively, so that the intelligent driving system can fully consider the surrounding environment, not only can it identify and avoid moving obstacles, but also can effectively avoid stationary obstacles, thereby building a safer and more reliable driving environment. In addition, in the case of a collision risk, the vehicle posture of the current vehicle is adjusted through the vehicle suspension of the current vehicle to sink the vehicle center of gravity of the current vehicle before the predicted collision time of the target sensing object, providing stronger stability at the moment of collision, and to a certain extent reducing the possibility of high-center-of-gravity vehicles being prone to rollover when a collision occurs, thereby improving the safety of the vehicle when driving.

[0048] In an exemplary embodiment, reference Figure 3 , Figure 3 is a flow chart of another optional vehicle operation control method according to an embodiment of the present application, such as Figure 3 As shown, the vehicle posture of the current vehicle is adjusted through the vehicle suspension of the current vehicle, including:

[0049] Step S302, when the predicted collision area of ​​the target perception object is located on the side of the current vehicle, the target tilt angle of the body of the current vehicle is determined based on the predicted collision area and the predicted collision angle of the target perception object, wherein the body of the current vehicle is divided into a group of body areas, and the predicted collision area is one of the body areas in the group of body areas.

[0050] Step S304, adjusting the vehicle posture of the current vehicle through the vehicle suspension of the current vehicle according to the target tilt angle, wherein the center of gravity of the current vehicle after adjustment sinks and shifts toward the predicted collision direction of the target perception object.

[0051] It should be noted that the side of the current vehicle may be the left side and the right side of the current vehicle. The left side may refer to the body area on the left side of the vehicle's transverse axis, including the left door, window, etc. The right side may refer to the body area on the right side of the vehicle's transverse axis, including the right door, window, etc. Specifically, for the current vehicle, the body of the current vehicle may be divided into a group of vehicle areas. Figure 4 , Figure 4 It is a schematic diagram of an optional division of vehicle body areas according to an embodiment of the present application. The method of dividing the vehicle body areas is: dividing the vehicle body into 4 areas, including area A, area B, area L and area R, which respectively represent the front, back, left and right areas of the vehicle.

[0052] The predicted collision area may be an area where the target perception object is predicted to collide with the current vehicle. The predicted collision area may be one of a set of vehicle body areas. Specifically, the predicted trajectory of the target perception object is compared with the driving trajectory of the current vehicle to identify a potential collision point. If the two trajectories intersect at a certain point in the future, and the intersection is located in the area of ​​the vehicle body, it is the predicted collision area.

[0053] In a group of perception objects, there may be one or more target perception objects, specifically, the perception objects that have a collision risk in a preset time window are the target perception objects. The target tilt angle may be the collision incident angle of the target perception object relative to the longitudinal axis of the current vehicle. If the driving direction of the current vehicle is regarded as 0 degrees, then the angle between the moving direction of the target perception object and the longitudinal axis of the current vehicle is the predicted collision angle. In specific practice, a coordinate system can be defined based on the vehicle's forward direction, with the longitudinal axis of the vehicle as the X-axis of the coordinate system and the transverse axis as the Y-axis; first determine the vector from the center of the current vehicle to the expected collision point, calculate the moving direction vector of the target perception object relative to the current vehicle, and calculate the angle between the two vectors, that is, the angle difference between the running direction of the target perception object and the longitudinal axis of the current vehicle, which is the predicted collision angle.

[0054] The vehicle suspension may be an electromagnetic suspension or an air suspension. The predicted collision direction may be a predicted direction in which the current vehicle collides with the target perception object.

[0055] Exemplarily, in the case of a collision analysis between a perception object and the current vehicle, a predicted collision area when a collision is predicted between the target perception object and the current vehicle and a predicted collision angle of the target perception object are obtained, thereby determining a target tilt angle of the body of the current vehicle based on the predicted collision area and the predicted collision angle of the target perception object, and adjusting the body height of the left and right sides of the current vehicle through the vehicle suspension of the current vehicle based on the target tilt angle, thereby achieving adjustment of the vehicle posture of the current vehicle.

[0056] Specifically, refer to Figure 5 , Figure 5 is a schematic diagram of adjusting the vehicle body posture when a collision occurs according to an optional embodiment of the present application, such as Figure 5 As shown, when the predicted collision area is zone L, the center of gravity of the vehicle after adjustment of the current vehicle can be shifted toward the predicted collision direction of the target perception object while sinking. Among them, the height of the suspension of the current vehicle can be adjusted so that the center of gravity of the vehicle is sinking, and while the center of gravity of the vehicle is sinking, it is shifted toward the predicted collision direction of the target perception object by a certain angle α; the vehicle body of the current vehicle is tilted in the opposite direction, so that the center of gravity of the vehicle body is adjusted and shifted, and at the same time, the rise of the suspension on the other side makes the vehicle body form a triangular moment fulcrum, which provides a reverse support force at the moment of collision, which is conducive to meeting the impending collision and further reducing the possibility of vehicle rollover.

[0057] Through this embodiment, when the predicted collision area of ​​the target perception object is located on the side of the current vehicle, the target tilt angle is determined based on the predicted collision area and the predicted collision angle of the target perception object, so that the vehicle posture of the current vehicle is adjusted through the vehicle suspension of the current vehicle according to the target tilt angle, so that the center of gravity of the vehicle is shifted toward the predicted collision direction of the target perception object, thereby providing a reverse supporting force at the moment of collision, which is conducive to preparing for the impending collision and reducing the possibility of vehicle rollover.

[0058] In an exemplary embodiment, a target tilt angle of a vehicle body of a current vehicle is determined based on a predicted collision area and a predicted collision angle of a target perception object, including: searching a target relationship table corresponding to the predicted collision area using a combination of a speed of the target perception object and an absolute value of the predicted collision angle, wherein the target relationship table is used to record, when the area to be collided is the predicted collision area, a correspondence between the tilt angle of the vehicle body of the current vehicle and a combination of a speed of the perception object and an absolute value of the collision angle of the perception object, the absolute value of the predicted collision angle being less than or equal to 90 degrees; and determining the tilt angle that matches the combination of the speed of the target perception object and the predicted collision angle as the target tilt angle.

[0059] It should be noted that there is a corresponding relationship table for each vehicle body area. According to the predicted collision area, the relationship table corresponding to the predicted collision area is determined as the target relationship table. The target relationship table can be used to record the corresponding relationship between the inclination angle of the vehicle body of the current vehicle and the combination of the speed of the perceived object and the absolute value of the collision angle of the perceived object when the predicted vehicle body area is the predicted collision area.

[0060] In specific practice, the relationship table can be configured in the vehicle when the vehicle leaves the factory. Specifically, the generation process of the relationship table can be: for each batch of vehicles leaving the factory, according to the product information of the vehicle, a corresponding vehicle model is created, and the body of the vehicle model is divided to obtain multiple body areas; for each body, multiple preset collision scenarios are set, including preset speeds and preset collision angles of preset perception objects; for each preset collision scenario, the rollover risk of the vehicle model using different preset tilt angles in the preset collision scenario is obtained, and the relationship between the vehicle rollover risk and the body posture adjustment (tilt angle) is analyzed, so as to establish a relationship table for the body area. Each relationship table corresponds to a body area (such as A, B, L, R), and records the optimal body tilt angle that the vehicle should be adjusted to under a specific collision angle (absolute value less than or equal to 90 degrees) and perception object speed combination.

[0061] In the actual driving environment, the on-board central computing unit of the current vehicle monitors and predicts the collision risk in real time. Once the target perception object with the collision risk with the current vehicle is detected, the target relationship table corresponding to the current predicted collision area is queried through the speed and predicted collision angle of the target perception object to find the best body tilt angle. Due to the limited amount of data in the target relationship table, if the tilt angle that matches the combination of the speed and predicted collision angle of the target perception object cannot be found in the target relationship table, the linear interpolation method can be used to obtain it. Specifically, by finding the two data points closest to the query combination in the target relationship table; for example, the speed of the target perception object is V (between V1 and V2), and the absolute value of the collision angle is θ (between θ1 and θ2), the weight between the two closest data points is calculated, such as the speed dimension and the collision angle dimension; then linear difference is performed in each dimension to obtain a one-dimensional linear difference to estimate the body tilt angle at the query point. According to the result of the one-dimensional linear difference, a two-dimensional difference calculation is performed to obtain a two-dimensional linear difference, thereby obtaining the target tilt angle.

[0062] Through this embodiment, by using the combination of the speed of the target perception object and the absolute value of the predicted collision angle, the target relationship table is searched and the target tilt angle is determined. The data in the target relationship table is based on experiments and tests. The target tilt angle determined by the target relationship table can shift the center of gravity of the vehicle in the expected direction of the collision before the collision occurs, forming a more stable support structure, reducing the probability of vehicle rollover, and protecting people in the vehicle from injury.

[0063] In an exemplary embodiment, based on the predicted collision area and the predicted collision angle of the target perception object, the target tilt angle of the body of the current vehicle is determined, including: using a set of weighting coefficients corresponding to the predicted collision area to weighted sum the speed of the target perception object and the absolute value of the predicted collision angle to obtain the target tilt angle, wherein the absolute value of the predicted collision angle is less than or equal to 90 degrees.

[0064] It should be noted that a set of weighting coefficients corresponding to the predicted collision area may also be pre-stored in the on-board central computing unit of the vehicle. For each body area, there is a corresponding set of weighting coefficients. Specifically, the generation process of a set of weighting coefficients for each body area can be: for the same batch of generated vehicles, a series of test data related to the perceived object speed, the absolute value of the predicted collision angle, and the vehicle rollover risk are obtained. These data may include the rollover probability of the vehicle at different speeds and different collision angles, the severity of the rollover, the effect of the change in the vehicle posture, etc. For the above-mentioned acquired data, the influence of the perceived object speed and the absolute value of the predicted collision angle on the vehicle rollover risk is analyzed, so as to establish a data model to obtain the corresponding weighting coefficient. In specific practice, the relevant optimization algorithm will also be used to adjust the weighting coefficient so that the obtained weighting coefficient is closest to the weighting coefficient of the actual rollover risk.

[0065] To better understand the weighting coefficient, an example is used to illustrate that the predicted collision area is L. Set the speed of the target perception object to V, and the predicted collision angle to |θ| (the absolute value should be less than or equal to 90°), then the calculation relationship of the target tilt angle α needs to be adjusted as follows:

[0066] α=ρ1*V+ρ2*|θ|;

[0067] Among them, ρ1 and ρ2 are weighting coefficients.

[0068] Specifically, when a collision occurs in other vehicle areas, the process of determining a corresponding set of weighted coefficients can refer to the above process, and this application will not elaborate on it here.

[0069] Exemplarily, when it is determined that the predicted collision area of ​​the target perception object is located on the side of the current vehicle, a set of weighting coefficients corresponding to the predicted collision area are used to perform weighted summation on the speed of the target perception object and the absolute value of the predicted collision angle, so as to calculate the target tilt angle, and adjust the body height of the left and right sides of the current vehicle through the vehicle suspension of the current vehicle according to the target tilt angle, thereby achieving adjustment of the vehicle posture of the current vehicle.

[0070] Through this embodiment, a set of weighting coefficients corresponding to the predicted collision area are used to perform weighted summation on the speed of the target perception object and the absolute value of the predicted collision angle, and the numerical value of the target tilt angle obtained is more accurate. Therefore, according to the target tilt angle, the vehicle suspension of the current vehicle is controlled to adjust the vehicle posture of the current vehicle, so as to sink the vehicle center of gravity of the current vehicle before the predicted collision time of the target perception object, provide stronger stability at the moment of collision, and reduce to a certain extent the possibility of rollover of high-center-of-gravity vehicles in the event of a collision, thereby improving the safety of occupants when the vehicle is driving.

[0071] In an exemplary embodiment, the vehicle suspension of the current vehicle includes an air suspension, and a movable component is arranged on the lateral support rod within the chassis frame of the current vehicle, and retractable air pressure chambers are respectively connected to both ends of the movable component. The air pressure chambers at both ends of the movable component adjust the pressure by injecting air through the air suspension of the current vehicle, and the pressure is adjusted by controllable air valves arranged on both sides of the movable component.

[0072] Correspondingly, the vehicle posture of the current vehicle is adjusted through the vehicle suspension of the current vehicle, including: when the predicted collision area of ​​the target perception object is located on the side of the current vehicle, the body height of the left and right sides of the current vehicle is adjusted through the air suspension of the current vehicle, and the controllable air valve on the side of the predicted collision direction of the movable component is opened to utilize the pressure difference to drive the movable component to move toward the predicted collision direction side of the target perception object, thereby adjusting the vehicle posture of the current vehicle, wherein the body of the current vehicle is divided into a group of body areas, and the predicted collision area is one body area in the group of body areas.

[0073] It should be noted that the vehicle suspension of the current vehicle may include an air suspension. A movable component is provided on the transverse support rod in the chassis frame of the vehicle. The movable component may be a movable high-quality component, which may be implemented by a battery pack or other heavy objects. Specifically, refer to Figure 6 , Figure 6 is a schematic diagram of an optional movable component position according to an embodiment of the present application, such as Figure 6 As shown, the vehicle may include: an air suspension 1, a movable component 2, a lateral support rod 3, an air pressure chamber 4, a pressure injection pipeline 5 and a controllable air valve 6. The two ends of the movable component 2 are respectively connected with a retractable air pressure chamber 4, and the air pressure chambers 4 at both ends of the movable component 1 can adjust the pressure by injecting air into the pressure injection pipeline 5 through the air suspension 1 of the current vehicle, and the pressure is adjusted by the controllable air valves 6 arranged on both sides of the movable component 2.

[0074] Specifically, by opening or closing the controllable air valve, the left and right pressure differences are used to drive the movable components to move to the left or right, thereby changing the center of gravity of the vehicle. In specific practice, the valve of the left air pressure chamber is opened. Since the pressure of the right cabin is greater than that of the left cabin, the pressure difference is used to drive the movable components (such as the battery pack, etc.) to move to the left, so that the center of gravity of the entire vehicle moves to the left. Similarly, when the center of gravity of the entire vehicle needs to move to the right, the valve of the right air pressure chamber is opened. Since the pressure of the left cabin is greater than that of the right cabin, the pressure difference is used to drive the movable components to move to the right.

[0075] Exemplarily, when the vehicle suspension of the current vehicle includes an air suspension and the predicted collision area of ​​the target perception object is located on the side of the current vehicle, the body height on the left and right sides of the current vehicle can be adjusted by the air suspension in the current vehicle, while opening the controllable air valve on the predicted collision direction side of the movable component. The pressure difference between the air pressure chambers on both sides of the movable component is utilized to drive the movable component to move toward the predicted collision direction side of the target perception object, thereby adjusting the center of gravity of the current vehicle.

[0076] In actual practice, the vehicle is prone to rollover when making turns at high speed. Therefore, it is possible to consider adjusting the vehicle's posture based on the perception calculation coordination between the on-board central computing unit and the electronically controlled suspension system to reduce rollover.

[0077] Through this embodiment, the vehicle suspension of the current vehicle includes an air suspension. A movable component is arranged on the transverse support rod in the chassis frame of the vehicle, so that when the predicted collision area of ​​the target perception object is located on the side of the current vehicle, the movable component is driven to move to the predicted collision direction of the target perception object by the controllable air valve by using the pressure difference, so as to adjust the vehicle posture of the current vehicle, so as to sink the vehicle center of gravity of the current vehicle before the predicted collision time of the target perception object, provide stronger stability at the moment of collision, and reduce the possibility of high-center-of-gravity vehicles easily rolling over when collision occurs to a certain extent, thereby improving the safety of passengers when the vehicle is driving.

[0078] In an exemplary embodiment, there are multiple sensing devices. Before obtaining the operating parameters of each sensing object in a group of sensing objects sensed by the sensing device of the current vehicle, the method further includes: continuously obtaining the sensing data obtained by each sensing device sensing the environment in which the current vehicle is located, and performing time synchronization on the sensing data of each sensing device to obtain a data stream with clock synchronization; transmitting the data stream with clock synchronization to a designated processing component, wherein the operating parameters of each sensing object are obtained by parsing the received data stream by the designated processing component.

[0079] It should be noted that the vehicle is equipped with a variety of sensing devices, including but not limited to visual sensors (such as cameras), laser radars, and millimeter-wave radars, which together constitute the vehicle's environmental perception system. The sensing devices can be used to continuously scan the vehicle's surroundings and obtain real-time sensing data.

[0080] Exemplarily, the designated processing component may be an on-board central computing unit in the vehicle. In specific practice, the perception device in the vehicle may perceive the state information of the vehicle's surrounding environment, and through a preset data preprocessing module, perform time synchronization processing on the perception data obtained by perceiving the current environment of the vehicle to obtain a data stream with clock synchronization; the data stream with clock synchronization is transmitted to the on-board central computing unit for perception fusion processing to obtain the operating parameters of each perception object. Specifically, the built-in timestamp mechanism and distributed clock synchronization technology, such as the Precision Time Protocol (PTP) or the Network Time Protocol (NTP), can be used to ensure that the data of all perception devices are recorded under the same time reference, eliminating data delays or sequence errors caused by clock differences between devices.

[0081] In practice, the perception data is transmitted to the on-board central computing unit through a high-speed network bus (such as Ethernet, CAN bus). The data preprocessing module encodes this data to form a data stream containing information such as timestamp, device identification, and perception data for subsequent processing and fusion. After receiving the data stream, the on-board central computing unit uses a special parsing algorithm to extract the position, speed, acceleration, direction and other operating parameters of each perception object from the stream.

[0082] In order to better understand the data interaction between the vehicle central computing unit and the vehicle suspension controller, an example is given below. Figure 7 , Figure 7 A structural block diagram of an optional vehicle operation control system according to an embodiment of the present application. Figure 7 As shown, the vehicle operation control system includes:

[0083] A group of perception devices 702 may include at least a laser radar 7022, a plurality of visual sensors 7024, and a millimeter wave radar 7026. The perception device may be used to perceive environmental data around the vehicle.

[0084] The data preprocessing module 704 is used to continuously obtain the perception data obtained by each perception device from perceiving the environment in which the current vehicle is located, and to perform time synchronization on the perception data of each perception device to obtain a data code stream with clock synchronization; and transmit the data code stream with clock synchronization to the on-board central computing unit.

[0085] The vehicle-mounted central computing unit 706 generally includes a centralized SoC (including functions such as smart cockpit and smart driving). This type of SoC generally includes computing units such as CPU, GPU, and NPU. The vehicle-mounted central computing unit can be used to receive a data stream with clock synchronization and perform perception fusion computing to determine whether the current vehicle has a collision risk. If there is a collision risk, the target tilt angle is determined to generate a control signal based on the target tilt angle. The control signal can be used to determine the vehicle suspension of the current vehicle to adjust the vehicle height on the left and right sides of the current vehicle, thereby adjusting the vehicle posture of the current vehicle.

[0086] The functional safety microcontroller 708 is used to receive the control signal sent by the on-board central computing unit 706 and transmit the control signal to the vehicle suspension controller 710.

[0087] The vehicle suspension system 710 may include a suspension controller 7102, a suspension module 7104, and a screw motor 7106. The suspension controller 7102 is used to receive a control signal, and the suspension controller 7102 controls the screw motor 7102 and the suspension module 7104 through the control signal to adjust the vehicle height on the left and right sides of the current vehicle, thereby adjusting the vehicle posture of the current vehicle.

[0088] The communication module 712 is used to establish communication between the vehicle and the cloud 714. The communication module 712 may include 5G, WIFI, BT and other modules.

[0089] The cloud 714 is used to exchange data with the vehicle, warn of collision risks and information about collisions that have already occurred, and is used for cloud backend rescue and post-collision data analysis, so as to iteratively process the target relationship table or weighted coefficients to better adjust the vehicle's posture.

[0090] It should be noted that the data transmission bus used for transmission between the above-mentioned functional modules may include common vehicle-mounted buses such as Ethernet and CAN.

[0091] Through this embodiment, the perception data obtained by each perception device on the current vehicle environment is continuously obtained, and the perception data of each perception device is time synchronized, which can ensure that all sensor data are at the same time coordinate, enhance the correlation and consistency of the data, and thus improve the accuracy and reliability of environmental perception.

[0092] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0093] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0094] According to another aspect of the embodiment of the present application, a vehicle operation control device is also provided, which is used to implement the vehicle operation control method provided in the above-mentioned embodiment, and the description thereof has been made no further. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0095] Figure 8 is a structural block diagram of an optional vehicle operation control device according to an embodiment of the present application, such as Figure 8 As shown, the device may include:

[0096] An acquisition module 802 is used to acquire an operating parameter of each perception object in a group of perception objects perceived by a perception device of the current vehicle;

[0097] A judgment module 804 is used to judge whether there is a collision risk between each perception object and the current vehicle based on the operating parameters of each perception object and the predicted driving trajectory of the current vehicle;

[0098] The adjustment module 806 is used to adjust the vehicle posture of the current vehicle through the vehicle suspension of the current vehicle when there is a risk of collision between the target perception object of a group of perception objects and the current vehicle, so as to sink the vehicle center of gravity of the current vehicle before the predicted collision time of the target perception object.

[0099] In an exemplary embodiment, the judgment module 804 includes: a first judgment unit, which is used to determine the predicted driving trajectory of the mobile perception object based on the operating parameters of the mobile perception object when there is a mobile perception object in a group of perception objects; judge whether there is an intersection between the predicted driving trajectory of the mobile perception object and the predicted driving trajectory of the current vehicle, and obtain a first judgment result, wherein, when the first judgment result is that there is an intersection and the time for the current vehicle to reach the intersection is less than or equal to the first time threshold, there is a collision risk between the mobile perception object and the current vehicle; when the first judgment result is that there is no intersection, there is no collision risk between the mobile perception object and the current vehicle; a second judgment unit, which is used to judge whether the stationary perception object is located on the predicted driving trajectory of the current vehicle when there is a stationary perception object in a group of perception objects, and obtain a second judgment result, wherein, when the second judgment result is that the stationary perception object is located on the predicted driving trajectory of the current vehicle and the time for the current vehicle to reach the object position of the stationary perception object is less than or equal to the second time threshold, there is a collision risk between the stationary perception object and the current vehicle; when the second judgment result is that the stationary perception object is not located on the predicted driving trajectory of the current vehicle, there is no collision risk between the stationary perception object and the current vehicle.

[0100] In an exemplary embodiment, the adjustment module 806 includes: an angle determination unit, which is used to determine the target tilt angle of the body of the current vehicle based on the predicted collision area and the predicted collision angle of the target perception object when the predicted collision area of ​​the target perception object is located on the side of the current vehicle, wherein the body of the current vehicle is divided into a group of body areas, and the predicted collision area is one of the body areas in the group of body areas; a first adjustment unit, which is used to adjust the vehicle posture of the current vehicle through the vehicle suspension of the current vehicle according to the target tilt angle, wherein the adjusted vehicle center of gravity of the current vehicle shifts toward the predicted collision direction of the target perception object while sinking.

[0101] In an exemplary embodiment, the angle determination unit is further used to use a combination of the speed of the target perception object and the absolute value of the predicted collision angle to search a target relationship table corresponding to the predicted collision area, wherein the target relationship table is used to record, when the area to be collided is the predicted collision area, the correspondence between the inclination angle of the current vehicle body and the combination of the speed of the perception object and the absolute value of the collision angle of the perception object, and the absolute value of the predicted collision angle is less than or equal to 90 degrees; the inclination angle that matches the combination of the speed of the target perception object and the predicted collision angle is determined as the target inclination angle.

[0102] In an exemplary embodiment, the angle determination unit is further used to perform a weighted summation of the speed of the target perception object and the absolute value of the predicted collision angle using a set of weighting coefficients corresponding to the predicted collision area to obtain a target tilt angle, wherein the absolute value of the predicted collision angle is less than or equal to 90 degrees.

[0103] In an exemplary embodiment, the vehicle suspension of the current vehicle includes an air suspension, and a movable component is arranged on the transverse support rod in the chassis frame of the current vehicle, and the two ends of the movable component are respectively connected with a retractable air pressure chamber, and the air pressure chambers at both ends of the movable component are adjusted by injecting air through the air suspension of the current vehicle to adjust the pressure, and the pressure is adjusted by the controllable air valves arranged on both sides of the movable component. Optionally, the adjustment module 806 includes: a second adjustment unit, which is used to adjust the vehicle height of the left and right sides of the current vehicle through the air suspension of the current vehicle when the predicted collision area of ​​the target perception object is located on the side of the current vehicle, and open the controllable air valve on the side of the predicted collision direction of the movable component to drive the movable component to move toward the predicted collision direction side of the target perception object by using the pressure difference, thereby adjusting the vehicle posture of the current vehicle, wherein the body of the current vehicle is divided into a group of body areas, and the predicted collision area is one of the body areas in the group of body areas.

[0104] In an exemplary embodiment, the number of sensing devices is multiple. The vehicle operation control device also includes: a data code stream acquisition module, which is used to continuously acquire the perception data obtained by each sensing device sensing the environment of the current vehicle before acquiring the operating parameters of each sensing object in a group of sensing objects sensed by the sensing device of the current vehicle, and perform time synchronization on the perception data of each sensing device to obtain a data code stream with clock synchronization; a transmission module, which is used to transmit the data code stream with clock synchronization to a designated processing component, wherein the operating parameters of each sensing object are obtained by parsing the received data code stream by the designated processing component.

[0105] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0106] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored program, wherein the program executes the steps of any of the above method embodiments when it is run.

[0107] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0108] According to another aspect of the embodiments of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to execute the steps in any of the above method embodiments through the computer program. In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0109] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0110] According to another aspect of the embodiment of the present application, a computer program product is also provided, which includes a computer program / instruction, and the computer program / instruction contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 909, and / or installed from the removable medium 911. When the computer program is executed by the central processing unit 901, various functions provided by the embodiment of the present application are executed. The above-mentioned serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0111] Fig. 9 The computer system structure block diagram of the electronic device used to implement the embodiment of the present application is schematically shown. Fig. 9 As shown, the computer system 900 includes a CPU (Central Processing Unit) 901, which can perform various appropriate actions and processes according to the program stored in the ROM 902 or the program loaded from the storage part 908 into the RAM 903. Various programs and data required for system operation are also stored in the random access memory 903. The central processing unit 901, the read-only memory 902 and the random access memory 903 are connected to each other through a bus 904. An I / O (Input / Output) interface 905 is also connected to the bus 904.

[0112] The following components are connected to the I / O interface 905: an input section 906 including a keyboard, a mouse, etc.; an output section 907 including a CRT (CathodeRay Tube), an LCD (Liquid Crystal Display), etc., and a speaker, etc.; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN card, a modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the input / output interface 905 as needed. A removable medium 911, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 910 as needed so that a computer program read therefrom is installed into the storage section 908 as needed.

[0113] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 909, and / or installed from the removable medium 911. When the computer program is executed by the central processor 901, various functions defined in the system of the present application are executed.

[0114] It should be noted that Fig. 9 The computer system 900 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0115] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0116] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle operation control method, characterized in that: include: Obtaining an operating parameter of each perception object in a set of perception objects perceived by a perception device of the current vehicle; Based on the operating parameters of each of the sensed objects and the predicted driving trajectory of the current vehicle, determining whether there is a collision risk between each of the sensed objects and the current vehicle; When there is a risk of collision between a target perception object of the group of perception objects and the current vehicle, the vehicle posture of the current vehicle is adjusted through the vehicle suspension of the current vehicle to sink the vehicle center of gravity of the current vehicle before the predicted collision time of the target perception object.

2. The method according to claim 1, characterized in that The determining, based on the operating parameters of each of the sensed objects and the predicted driving trajectory of the current vehicle, whether there is a collision risk between each of the sensed objects and the current vehicle includes: In the case where there is a mobile sensing object in the group of sensing objects, determining a predicted driving trajectory of the mobile sensing object based on the operating parameters of the mobile sensing object; judging whether there is an intersection between the predicted driving trajectory of the mobile sensing object and the predicted driving trajectory of the current vehicle, and obtaining a first judgment result, wherein, in the case where the first judgment result is that there is an intersection and the time for the current vehicle to reach the intersection is less than or equal to a first time threshold, there is a risk of collision between the mobile sensing object and the current vehicle; in the case where the first judgment result is that there is no intersection, there is no risk of collision between the mobile sensing object and the current vehicle; In the case that there is a stationary perception object in the group of perception objects, it is determined whether the stationary perception object is located on the predicted driving trajectory of the current vehicle to obtain a second judgment result, wherein, when the second judgment result is that the stationary perception object is located on the predicted driving trajectory of the current vehicle and the time for the current vehicle to reach the object position of the stationary perception object is less than or equal to a second time threshold, there is a risk of collision between the stationary perception object and the current vehicle; when the second judgment result is that the stationary perception object is not located on the predicted driving trajectory of the current vehicle, there is no risk of collision between the stationary perception object and the current vehicle.

3. The method according to claim 1, characterized in that The adjusting the vehicle posture of the current vehicle by using the vehicle suspension of the current vehicle includes: In a case where the predicted collision area of ​​the target perception object is located at a side of the current vehicle, determining a target tilt angle of a body of the current vehicle based on the predicted collision area and a predicted collision angle of the target perception object, wherein the body of the current vehicle is divided into a group of body areas, and the predicted collision area is one of the group of body areas; According to the target tilt angle, the vehicle posture of the current vehicle is adjusted through the vehicle suspension of the current vehicle, wherein the adjusted vehicle center of gravity of the current vehicle sinks and shifts toward the predicted collision direction of the target perception object.

4. The method according to claim 3, characterized in that The determining a target tilt angle of a body of the current vehicle based on the predicted collision area and the predicted collision angle of the target sensing object comprises: searching a target relationship table corresponding to the predicted collision area using a combination of the speed of the target perception object and the absolute value of the predicted collision angle, wherein the target relationship table is used to record a corresponding relationship between the inclination angle of the vehicle body of the current vehicle and a combination of the speed of the perception object and the absolute value of the collision angle of the perception object when the area to be collided is the predicted collision area, and the absolute value of the predicted collision angle is less than or equal to 90 degrees; The found inclination angle that matches the combination of the speed of the target perception object and the predicted collision angle is determined as the target inclination angle.

5. The method according to claim 3, characterized in that: The determining a target tilt angle of a body of the current vehicle based on the predicted collision area and the predicted collision angle of the target sensing object comprises: The target tilt angle is obtained by weightedly summing the speed of the target perception object and the absolute value of the predicted collision angle using a set of weighting coefficients corresponding to the predicted collision area, wherein the absolute value of the predicted collision angle is less than or equal to 90 degrees.

6. The method according to claim 1, characterized in that The vehicle suspension of the current vehicle includes an air suspension, a movable component is arranged on a transverse support rod in a chassis frame of the current vehicle, and retractable air pressure chambers are respectively connected to both ends of the movable component, and the air pressure chambers at both ends of the movable component are adjusted by injecting air into the air suspension of the current vehicle, and the pressure is adjusted by controllable air valves arranged on both sides of the movable component; The adjusting the vehicle posture of the current vehicle by using the vehicle suspension of the current vehicle includes: In the case that the predicted collision area of ​​the target perception object is located on the side of the current vehicle, the body heights of the left and right sides of the current vehicle are adjusted by the air suspension of the current vehicle, and the controllable air valve on the predicted collision direction side of the movable component is opened to utilize the pressure difference to drive the movable component to move toward the predicted collision direction side of the target perception object, thereby adjusting the vehicle posture of the current vehicle, wherein the body of the current vehicle is divided into a group of body areas, and the predicted collision area is one of the body areas in the group of body areas.

7. The method according to any one of claims 1 to 6, characterized in that The number of the sensing devices is multiple; Before acquiring the operating parameters of each perception object in a group of perception objects perceived by the perception device of the current vehicle, the method further includes: Continuously acquiring the perception data obtained by each of the perception devices from perceiving the environment in which the current vehicle is located, and performing time synchronization on the perception data of each of the perception devices to obtain a data code stream with clock synchronization; The clock-synchronized data code stream is transmitted to a designated processing component, wherein the operating parameters of each sensing object are obtained by parsing the received data code stream by the designated processing component.

8. A vehicle operation control device, characterized in that: include: An acquisition module, used to acquire an operating parameter of each perception object in a group of perception objects perceived by a perception device of the current vehicle; A judgment module, configured to judge whether there is a collision risk between each of the perception objects and the current vehicle based on the operating parameters of each of the perception objects and the predicted driving trajectory of the current vehicle; An adjustment module is used to adjust the vehicle posture of the current vehicle through the vehicle suspension of the current vehicle when there is a risk of collision between the target perception object of the group of perception objects and the current vehicle, so as to sink the vehicle center of gravity of the current vehicle before the predicted collision time of the target perception object.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program implements the steps of the method described in any one of claims 1 to 7 when executed by a processor.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method described in any one of claims 1 to 7 are implemented.

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