Vehicle body rollover control method, system and device

Abstract

The invention provides a vehicle body rollover control method, system and device, and relates to the technical field of vehicle chassis systems. The method comprises the steps that the roll angle of a target vehicle is obtained, and whether the target vehicle will roll over or not is judged according to the roll angle; when the judgment result indicates that the target vehicle will roll over, the predicted roll-over time of the target vehicle is calculated, and the roll-over risk level of the target vehicle is determined according to the predicted roll-over time; determining an anti-rollover action according to the rollover risk level and the vehicle speed of the target vehicle; and when the electronic stability control system is not activated, at least one target execution device is controlled to jointly execute the rollover prevention action until the target vehicle will not rollover. The technical problem that when the running speed of a vehicle is high, the vehicle body excessively rolls due to the fact that effective adjustment cannot be made in time in the prior art can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle chassis systems, and in particular to a vehicle body rollover control method, system and device. Background Art

[0002] In recent years, with the rapid development of social economy, cars have become an indispensable means of transportation in people's daily lives. Especially in the context of accelerated urbanization, car sales have increased year by year, promoting economic construction and industrial upgrading. However, modern vehicles generally have the characteristics of long wheelbase, heavy body weight and high center of mass. These characteristics make it easy for the vehicle to excessively tilt or even roll over when turning, bumping or driving at high speed. Therefore, how to improve the stability of the vehicle body has become a major challenge in the current automotive engineering field.

[0003] At present, electronic stability control systems are often used to control vehicle tilt. The electronic stability control system monitors the dynamic state of the vehicle in real time, identifies the risk of rollover, and then applies brakes to individual wheels, adjusts power output, or adjusts the body suspension to prevent the vehicle from rolling and overturning. However, when the electronic stability control system is not activated, it is impossible to make timely and effective adjustments to the excessive roll of the vehicle body. Summary of the invention

[0004] The present application provides a vehicle body rollover control method, system and device to solve the technical problem that when the electronic stability control system is not activated, it is impossible to make timely and effective adjustments to the excessive roll of the vehicle body.

[0005] In a first aspect, the present application provides a vehicle body rollover control method, the method being applied to a vehicle body rollover control device in a vehicle body rollover control system, the vehicle body rollover control system further comprising a plurality of execution devices, and the method further comprising:

[0006] Obtaining a roll angle of a target vehicle, and determining whether the target vehicle will roll over according to the roll angle;

[0007] When the judgment result indicates that the target vehicle will roll over, calculating the expected rollover time of the target vehicle, and determining the rollover risk level of the target vehicle according to the expected rollover time;

[0008] Determine an anti-rollover action according to the rollover risk level and the speed of the target vehicle; wherein the anti-rollover action is jointly executed by at least one target execution device; each of the target execution devices is one of the multiple execution devices;

[0009] When the electronic stability control system is not activated, the at least one target execution device is controlled to jointly execute the anti-rollover action until the target vehicle will not roll over.

[0010] In a possible design, a correspondence table is preset; wherein the correspondence table includes: a plurality of preset risk levels, a plurality of preset speed levels, and a preset action corresponding to each of the preset risk levels and each of the preset speed levels;

[0011] Determining the rollover risk level of the target vehicle according to the estimated rollover time includes:

[0012] Determine, from a plurality of preset time intervals, a preset time interval in which the estimated rollover time is located; wherein each of the preset time intervals is a continuous interval and is adjacent to each other, and the plurality of preset time intervals do not intersect with each other; and each of the preset time intervals corresponds to a preset risk level;

[0013] Determining a preset risk level corresponding to a preset time interval within which the expected rollover time is located as the rollover risk level;

[0014] The step of determining the anti-rollover action according to the rollover risk level and the speed of the target vehicle includes:

[0015] Determine a preset speed interval in which the vehicle speed is located from a plurality of preset speed intervals; wherein each of the preset speed intervals is a continuous interval and is adjacent to each other, and the plurality of preset speed intervals do not intersect each other; and each of the preset speed intervals corresponds to a preset speed level;

[0016] Obtaining a preset speed level according to the preset speed range;

[0017] A preset action corresponding to both the rollover risk level and the preset speed level is determined as the anti-rollover action.

[0018] In a possible design, the plurality of actuators include a suspension device, a power device, and a steering device; the preset action includes a first action, a second action, or a third action;

[0019] The first action is performed by the suspension device;

[0020] The second action is performed by the suspension device and the power device together;

[0021] The third action is performed jointly by the suspension device and the steering device.

[0022] In a possible design, when the electronic stability control system is not activated, controlling the at least one target execution device to jointly execute the anti-rollover action includes:

[0023] Acquiring status information of an electronic stability control system of the target vehicle; wherein the status information is used to indicate whether the electronic stability control system is activated;

[0024] determining the at least one target execution device according to the anti-rollover action when the electronic stability control system is not activated;

[0025] According to the at least one target execution device, at least one sub-action of the preset action is executed; wherein the sub-actions include: adjusting the height of each airbag on both sides of the suspension device according to the roll angle; controlling the power device to brake to reduce the speed of the target vehicle; when the target vehicle meets the lane change requirement, controlling the steering device to steer to adjust the steering angle of the target vehicle.

[0026] In a possible design, before controlling the at least one target execution device to jointly execute the anti-rollover action, the method further includes:

[0027] Obtaining an estimated collision time between the target vehicle and a target obstacle; wherein the target obstacle refers to an obstacle located in at least one obstacle in an adjacent lane of the target vehicle and which is closest to the target vehicle;

[0028] The lane change information of the target vehicle is obtained according to the estimated collision time; wherein the lane change information is used to indicate whether the target vehicle meets the lane change requirement.

[0029] In a possible design, when the roll angle is a positive number, the roll angle indicates that the target vehicle will roll over to the right; when the roll angle is a negative number, the roll angle indicates that the target vehicle will roll over to the left;

[0030] The step of adjusting the height of the airbags on both sides of the suspension device according to the roll angle comprises:

[0031] When the roll angle is a positive number, the height of the left airbag is reduced and the height of the right airbag is increased;

[0032] When the roll angle is a negative number, the height of the left airbag is increased, and the height of the right airbag is decreased.

[0033] In a possible design, after controlling the power device to brake, the method further includes:

[0034] Sending a brake signal to a lamp system of the target vehicle to turn on a brake light of the target vehicle;

[0035] After controlling the steering device to perform steering, the method further includes:

[0036] A turn signal is sent to the headlight system of the target vehicle to turn on the turn signal of the target vehicle.

[0037] In a possible design, judging whether the target vehicle will roll over according to the roll angle includes:

[0038] When the absolute value of the roll angle is greater than a first preset angle, a judgment result is obtained that the target vehicle will roll over.

[0039] In a second aspect, the present application provides a vehicle body rollover control system, comprising: a vehicle body rollover control device and a plurality of execution devices; wherein the vehicle body rollover control device is used for the vehicle body rollover control method provided in the first aspect of the present application.

[0040] In a third aspect, the present application provides a vehicle body rollover control device, including the vehicle body rollover control device located in the vehicle body rollover control system, the vehicle body rollover control system further including a plurality of execution devices, and the device includes:

[0041] A judgment result acquisition module is used to obtain the roll angle of the target vehicle and judge whether the target vehicle will roll over according to the roll angle;

[0042] A rollover risk level acquisition module, used to calculate the expected rollover time of the target vehicle when the judgment result indicates that the target vehicle will roll over, and determine the rollover risk level of the target vehicle according to the expected rollover time;

[0043] an anti-rollover action determination module, used to determine an anti-rollover action according to the rollover risk level and vehicle speed of the target vehicle; wherein the anti-rollover action is jointly executed by at least one target execution device; each of the target execution devices is one of the multiple execution devices;

[0044] The anti-rollover action execution module is used to control the at least one target execution device to jointly execute the anti-rollover action until the target vehicle will not roll over.

[0045] In a fourth aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0046] The memory stores computer-executable instructions;

[0047] The processor executes the computer-executable instructions stored in the memory to implement the vehicle body rollover control method provided in the first aspect of the present application.

[0048] In a fifth aspect, the present application provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to implement the vehicle body rollover control method provided in the first aspect of the present application.

[0049] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the vehicle body rollover control method provided in the first aspect of the present application.

[0050] The present application provides a vehicle body rollover control method, system and device, the vehicle body rollover control method includes: obtaining the roll angle of the target vehicle, and judging whether the target vehicle will roll over according to the roll angle; when the judgment result indicates that the target vehicle will roll over, calculating the expected rollover time of the target vehicle, and determining the rollover risk level of the target vehicle according to the expected rollover time; determining the anti-rollover action according to the rollover risk level and vehicle speed of the target vehicle; when the electronic stability control system is not activated, controlling at least one target execution device to jointly execute the anti-rollover action until the target vehicle will not roll over. Based on the above method, the following technical effects are achieved: compared with other factors such as vehicle speed, using the roll angle as the judgment standard for whether the target vehicle will roll over is more concise and clear, and does not require complex calculation models or predictions; when the electronic stability control system is not activated, controlling the corresponding target execution device to execute the anti-rollover action can effectively control the rollover phenomenon. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] The accompanying drawings herein are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the description, are used to explain the principles of the present application.

[0053] Figure 1 Schematic diagram of the process of the vehicle body rollover control method provided in the embodiment of the present application Figure 1 ;

[0054] Figure 2 Schematic diagram of the process of the vehicle body rollover control method provided in the embodiment of the present application Figure 2 ;

[0055] Figure 3 A schematic diagram of the structure of a vehicle body rollover control device provided in an embodiment of the present application;

[0056] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0057] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0058] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0059] In the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference. It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way. In the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more.

[0060] It should be noted that the "at..." in the embodiment of the present application can be the instant when a certain situation occurs, or can be a period of time after a certain situation occurs, and the embodiment of the present application does not specifically limit this. In addition, the vehicle body rollover control method provided in the embodiment of the present application is only used as an example, and the vehicle body rollover control method can also include more or less content.

[0061] In order to clearly describe the technical solutions of the embodiments of the present application, some terms and technologies involved in the embodiments of the present application are briefly introduced below:

[0062] Electronic Stability Control (ESC): is an active safety system widely used in modern cars, designed to help the vehicle maintain stability during driving, especially in the event of loss of control or skidding, to reduce the risk of accidents. ESC assists the driver in controlling the vehicle by automatically intervening in the vehicle's power and braking systems, preventing the wheels from losing traction and helping the vehicle avoid skidding, rolling over or losing control.

[0063] In order to clearly understand the technical solution of the present application, the solution of the prior art is first introduced in detail.

[0064] At present, electronic stability control systems are often used to control vehicle tilt. However, when the electronic stability control system is not activated, it is impossible to make timely and effective adjustments to the excessive roll of the vehicle body, resulting in excessive roll of the vehicle body.

[0065] Therefore, in order to solve the technical problem that when the electronic stability control system is not activated, it is impossible to make timely and effective adjustments to the excessive roll of the vehicle body, the research found that in order to solve this problem, ① determine whether the vehicle has a rollover trend; ② when the vehicle has a rollover trend, obtain the rollover risk level of the target vehicle according to the expected rollover time; ③ determine the anti-rollover action based on the vehicle's rollover risk level and vehicle speed; ④ when the electronic stability control system is not activated, the corresponding actuator executes the anti-rollover action.

[0066] Based on the above creative findings, the technical solution of the present application is proposed.

[0067] The following introduces the application scenarios of the vehicle body rollover control method provided in the embodiments of the present application.

[0068] 1) Commercial vehicles, such as buses, vans and trucks, have a high center of gravity and are prone to rollover when driving at high speed, emergency braking or turning. The vehicle body rollover control method of this application can well enhance the stability of the vehicle and reduce the risk of rollover.

[0069] 2) Passenger vehicles, such as crossover vehicles, sports cars and sports vehicles, may face a high risk of rollover when turning quickly. The vehicle rollover control method of the present application can well enhance the safety of the vehicle.

[0070] 3) Special vehicles: For special vehicles such as RVs, the internal center of gravity is high and usually unbalanced, which makes it easy to roll over when driving at high speed or turning. The body rollover control method of the present application can effectively avoid rollover.

[0071] The embodiments of the present application are introduced below in conjunction with the drawings in the specification.

[0072] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0073] Figure 1 Schematic diagram of the process of the vehicle body rollover control method provided in the embodiment of the present application Figure 1 The method is applied to a vehicle body rollover control device in a vehicle body rollover control system. The vehicle body rollover control system further includes a plurality of execution devices. The vehicle body rollover control method provided in this embodiment includes the following steps:

[0074] S101. Obtain a roll angle of a target vehicle, and determine whether the target vehicle will roll over according to the roll angle.

[0075] In this embodiment, the height of each wheel side of the target vehicle is monitored by a chassis height sensor, thereby obtaining the roll angle of the target vehicle.

[0076] Specifically, the calculation formula of the roll angle Φ is as follows:

[0077]

[0078] Among them, h1 is the height of the left air bag; h2 is the height of the right air bag; L1 is the installation distance between the left and right air bags. The air bag height is obtained through the air suspension height sensor.

[0079] The roll angle directly reflects the lateral stability of the vehicle and is a physical quantity that is easy to measure and obtain in real time. The use of sensors can accurately monitor the roll angle of the vehicle. Compared with other factors such as vehicle speed, using the roll angle as a criterion for determining whether the target vehicle will roll over is more concise and clear, and does not require complex calculation models or predictions.

[0080] S102: When the judgment result indicates that the target vehicle will roll over, the estimated rollover time of the target vehicle is calculated, and the rollover risk level of the target vehicle is determined according to the estimated rollover time.

[0081] In this embodiment, the chassis controller calculates the body roll change rate based on the body roll angle, and further calculates the estimated rollover time. The estimated rollover time refers to the time when the roll angle reaches the rollover angle if the vehicle continues to drive in the current state. time, the time when rollover is about to occur.

[0082] Specifically, the calculation formula for the expected rollover time T is as follows:

[0083]

[0084] in, is the body roll angle acceleration, which can be calculated from the roll angle. Determined by the vehicle structural parameters, it can be obtained through bench testing or calculation.

[0085] S103: Determine an anti-rollover action according to the rollover risk level and vehicle speed of the target vehicle.

[0086] In this embodiment, the anti-rollover action is jointly executed by at least one target execution device; each target execution device is one of the multiple execution devices.

[0087] Specifically, according to the rollover risk level and vehicle speed of the target vehicle, the target execution device that needs to enter the second working mode is determined, and the anti-rollover action is the action performed when the target execution device enters the second working mode.

[0088] S104: When the electronic stability control system is not activated, control at least one target execution device to jointly execute an anti-rollover action until the target vehicle will not roll over.

[0089] In this embodiment, when the electronic stability control system is not activated, at least one target execution device is controlled to enter the second working mode, and the corresponding target execution device is controlled to act so that the vehicle body is controlled within an acceptable roll range.

[0090] When the electronic stability control system is not activated, the corresponding target execution device is controlled to perform anti-rollover action, which can effectively control the rollover phenomenon.

[0091] The present application provides a vehicle body rollover control method, which includes: obtaining the roll angle of the target vehicle, and judging whether the target vehicle will roll over according to the roll angle; when the judgment result indicates that the target vehicle will roll over, calculating the expected rollover time of the target vehicle, and determining the rollover risk level of the target vehicle according to the expected rollover time; determining the anti-rollover action according to the rollover risk level and vehicle speed of the target vehicle; when the electronic stability control system is not activated, controlling at least one target execution device to jointly execute the anti-rollover action until the target vehicle will not roll over. Based on the above method, the following technical effects are achieved: compared with other factors such as vehicle speed, using the roll angle as the judgment standard for whether the target vehicle will roll over is more concise and clear, and does not require complex calculation models or predictions; when the electronic stability control system is not activated, controlling the corresponding target execution device to execute the anti-rollover action can effectively control the rollover phenomenon.

[0092] In one possible design, S101 includes:

[0093] When the absolute value of the roll angle is greater than the first preset angle, a judgment result is obtained that the target vehicle will roll over.

[0094] In this embodiment, when the absolute value of the roll angle |Φ|>Φ0, that is, Φ0 is used as the first preset angle, it is considered that the current vehicle is at risk of rollover, where Φ0 represents the maximum roll angle of the vehicle in a safe state, which is determined by the vehicle structural parameters.

[0095] Figure 2 Schematic diagram of the process of the vehicle body rollover control method provided in the embodiment of the present application Figure 2 In this embodiment Figure 1 Based on the embodiments provided, the vehicle body rollover control method is further explained. Figure 2 As shown, the vehicle body rollover control method of this embodiment includes:

[0096] S201. Obtain the roll angle of the target vehicle, and determine whether the target vehicle will roll over according to the roll angle.

[0097] In this embodiment, the effect of S201 is similar to the effect of S101 in the above-mentioned embodiment of the present application, and will not be repeated here.

[0098] S202: When the judgment result indicates that the target vehicle will roll over, calculate the expected rollover time of the target vehicle.

[0099] In this embodiment, the method and effect of calculating the expected rollover time in S202 are similar to the method and effect of calculating the expected rollover time in S102 of the above embodiment of the present application, and will not be repeated here.

[0100] S203: Determine a preset time interval in which the rollover time is expected from a plurality of preset time intervals.

[0101] In this embodiment, each preset time interval is a continuous interval and is adjacent to each other, and multiple preset time intervals do not intersect with each other; each preset time interval corresponds to a preset risk level.

[0102] Specifically, when the estimated rollover time T < t0, it is considered that the current vehicle has a rollover risk, where:

[0103] 1) When t1≤T<t0, the vehicle is considered to be at a low rollover risk level;

[0104] 2) When t2≤T<t1, the vehicle is considered to be at a medium rollover risk level;

[0105] 3) When T<t2, the vehicle is considered to be at a high rollover risk level.

[0106] Among them, t1>t´, t2>t´´. t0 is defined as the time when the driver discovers the risk and immediately operates to return the vehicle to a safe state, including t´ and t´´; t´ is the time when the driver discovers the risk and immediately operates to return the vehicle to a normal state, including the driver's reaction time and operation time; t´´ is the time when the system controller immediately intervenes to return the vehicle to a normal state, including the system response time and operation time; the specific values ​​of t1 and t2 are defined by the manufacturer.

[0107] S204: Determine the preset risk level corresponding to the preset time interval in which the expected rollover time is located as the rollover risk level.

[0108] In this embodiment, if the expected rollover time T satisfies t1≤T<t0, it is considered that the expected rollover time T is located in the first preset time interval, and the corresponding rollover risk level is a low rollover risk level; if the expected rollover time T satisfies t2≤T<t1, it is considered that the expected rollover time T is located in the second preset time interval, and the corresponding rollover risk level is a medium rollover risk level; if the expected rollover time T satisfies T<t2, it is considered that the expected rollover time T is located in the third preset time interval, and the corresponding rollover risk level is a high rollover risk level.

[0109] Among them, the first preset time interval, the second preset time interval and the third preset time interval are all continuous intervals and adjacent to each other, that is, the right endpoint of the third preset time interval is the left endpoint of the second preset time interval, and the right endpoint of the second preset time interval is the left endpoint of the first preset time interval. At the same time, it also satisfies that any two preset time intervals in the first preset time interval, the second preset time interval and the third preset time interval do not intersect.

[0110] In this embodiment, the effect of determining the rollover risk level in S204 is similar to the effect of determining the rollover risk level in S102 in the above embodiment of the present application, and will not be repeated here.

[0111] S205: Determine a preset speed interval in which the vehicle speed is located from a plurality of preset speed intervals.

[0112] In this embodiment, each preset speed interval is a continuous interval and is adjacent to each other, and multiple preset speed intervals do not intersect with each other; each preset speed interval corresponds to a preset speed level.

[0113] Specifically, the speed of the target vehicle can be obtained according to a wheel speed sensor. The wheel speed sensor is mainly used to monitor the wheel speed, so as to calculate the vehicle speed.

[0114] In this embodiment, the following is only used as an example: if the vehicle speed v satisfies 0<v≤30, it is considered that the vehicle speed v is in the first preset speed range; when the vehicle speed v satisfies 30<v≤60, it is considered that the vehicle speed v is in the second preset speed range; if the vehicle speed v satisfies 60<v, it is considered that the vehicle speed v is in the third preset speed range.

[0115] Among them, the first preset speed interval, the second preset speed interval and the third preset speed interval are all continuous intervals and adjacent to each other, that is, the right endpoint of the first preset speed interval is the left endpoint of the second preset speed interval, and the right endpoint of the second preset speed interval is the left endpoint of the third preset speed interval. At the same time, it also satisfies that any two preset speed intervals in the first preset speed interval, the second preset speed interval and the third preset speed interval do not intersect.

[0116] S206: Obtain a preset speed level according to the preset speed range.

[0117] In this embodiment, the preset speed level corresponding to the first preset speed interval is low speed, the preset speed level corresponding to the second preset speed interval is medium speed, and the preset speed level corresponding to the third preset speed interval is high speed.

[0118] S207: Determine a preset action corresponding to both the rollover risk level and the preset speed level as an anti-rollover action.

[0119] In this embodiment, a correspondence table is preset; wherein the correspondence table includes: a plurality of preset risk levels, a plurality of preset speed levels, and preset actions corresponding to each preset risk level and each preset speed level.

[0120] Specifically, in the preset correspondence table, each preset risk level and each preset speed level have a corresponding preset action. The preset risk level is used as the rollover risk level, and the anti-rollover action can be obtained through the rollover risk level, the preset speed level and the preset correspondence table.

[0121] Taking different measures for different rollover risk levels can more reasonably allocate limited resources. In the case of low rollover risk level and low speed, no excessive intervention is required, which can avoid unnecessary operations and waste of resources; in the case of high rollover risk level and high speed, more resources can be immediately mobilized for intervention to avoid traffic accidents.

[0122] S208: When the electronic stability control system is not activated, control at least one target execution device to jointly execute an anti-rollover action until the target vehicle will not roll over.

[0123] In this embodiment, the effect of S208 is similar to the effect of S104 in the above embodiment of the present application, and will not be repeated here.

[0124] In a possible design, the plurality of actuators include a suspension device, a power device, and a steering device; the preset action includes a first action, a second action, or a third action;

[0125] The first action is performed by the suspension device;

[0126] The second action is performed by the suspension device and the power unit together;

[0127] The third action is performed by the suspension device and the steering device together.

[0128] In this embodiment, the preset actions include but are not limited to the above actions, and other execution actions can be added according to actual conditions.

[0129] The stability and safety of the vehicle can be well ensured through the individual or coordinated actions of the suspension device, power device and steering device.

[0130] In a possible design, in the above embodiment, S208 includes:

[0131] S301, obtaining status information of an electronic stability control system of a target vehicle;

[0132] In this embodiment, the status information is used to indicate whether the electronic stability control system is activated.

[0133] By acquiring the status information of the electronic stability control system of the target vehicle, it is possible to know whether the electronic stability control system is activated, so as to determine the next execution action.

[0134] S302: When the electronic stability control system is not activated, determine at least one target execution device according to the anti-rollover action.

[0135] In this embodiment, when the electronic stability control system is not activated, at least one target execution device is determined according to the anti-rollover action, and the at least one target execution device here refers to at least one of a suspension device, a power device and a steering device.

[0136] When the electronic stability control system is activated, its priority is higher than that of the suspension device, steering device and power device. The steering device and power device will respond to the instructions of the electronic stability control system first, and the suspension system will not be affected by the electronic stability control system.

[0137] S303: Execute at least one sub-action of the preset action according to at least one target execution device.

[0138] In this embodiment, the sub-actions include: adjusting the height of the airbags on both sides of the suspension device according to the roll angle; controlling the power device to brake to reduce the speed of the target vehicle; and controlling the steering device to steer to adjust the steering angle of the target vehicle when the target vehicle meets the lane change requirements.

[0139] The suspension device, steering device and power device work together or individually in the second working mode to maintain the stability of the vehicle body, that is, to maintain the roll angle within a reasonable range. The second working mode is the working mode designed by the steering device, suspension device and power device for vehicle roll. The suspension device, steering device and power device are all controlled by the corresponding controller or control system.

[0140] Specifically, when the suspension device activates the second working mode, the air suspension solenoid valve actively adjusts the air intake and exhaust of the left and right airbags according to the roll angle of the vehicle body, thereby reducing the height difference of the airbags on both sides, that is, reducing the roll angle of the vehicle body.

[0141] When the steering device activates the second working mode, a steering angle opposite to the roll direction of the vehicle body is actively applied to the steering wheel, thereby reducing the steering angle of the steering wheel, and ultimately reducing the roll moment of the current vehicle and reducing the risk of vehicle roll.

[0142] Furthermore, the turning angle θ applied by the steering device to the steering wheel, which is opposite to the roll direction of the vehicle body, is increased step by step until the risk level of the vehicle is reduced to low risk. The calculation formula of the turning angle θ applied by the steering device to the steering wheel is as follows:

[0143]

[0144] Where n is the number of steering module adjustments; Adjust the strength for the steering module (0 < ≤1); is the maximum steering wheel angle.

[0145] When the power unit activates the second working mode, the vehicle's roll moment is reduced by actively reducing the output torque and lowering the current vehicle speed.

[0146] In one possible design, when the power unit is in the second operating mode, the output torque is reduced step by step, for example, by 50% of the current output torque each time, until the vehicle risk level is reduced to low risk.

[0147] Optionally, the function of the steering device can be replaced by a braking device. The braking device actively applies braking force to the wheel in the opposite direction of the vehicle body roll to achieve the purpose of reducing the steering angle of the steering wheel. The specific control method is similar to the above-mentioned steering device control method.

[0148] The roll angle of the target vehicle is related to the roll moment of the vehicle and is positively correlated with the roll moment, that is, the smaller the roll moment of the target vehicle, the smaller the roll angle. The calculation formula of the roll moment is as follows:

[0149]

[0150] Among them, m is the gross weight of the vehicle; v is the vehicle speed; h is the distance from the center of mass to the rollover center, which is positively correlated with the gross weight of the vehicle; α is the steering angle of the steering wheel, which is proportional to the steering wheel angle; L is the wheelbase.

[0151] The calculation formula of the vehicle's gross weight m is as follows:

[0152]

[0153] Wherein, m1 is the unsprung mass of the vehicle; is the load corresponding to the unit air pressure of the suspension airbag; n It is the air pressure of the suspension air bag, which is obtained through the air pressure sensor on the air bag.

[0154] The suspension airbag pressure sensor is responsible for monitoring the suspension airbag pressure and is used to calculate the wheel side load.

[0155] The calculation method of the steering wheel steering angle α is as follows:

[0156]

[0157] Among them, β is the steering wheel angle; k is the steering system transmission ratio.

[0158] Therefore, when the steering device is activated in the second working mode, the steering angle of the steering wheel is reduced, thereby reducing the roll moment of the target vehicle, and ultimately achieving the purpose of reducing the roll angle; when the power unit is activated in the second working mode, the output torque is actively reduced, the current vehicle speed is reduced, thereby reducing the roll moment of the target vehicle, and ultimately achieving the purpose of reducing the roll angle.

[0159] The steering wheel angle sensor is responsible for monitoring the steering wheel rotation angle and is used to calculate the steering wheel steering angle.

[0160] Optionally, when the body roll angle is within a reasonable range, the suspension device controls the height of all suspension airbags to decrease as the vehicle speed and gross vehicle weight increase, so as to reduce the height of the vehicle center of mass, thereby reducing the probability of roll. The height of the suspension airbag is adjusted by the air suspension solenoid valve. When the solenoid valve is inlet, the airbag height increases; when the solenoid valve is exhausted, the airbag height decreases.

[0161] When the body roll angle is within a reasonable range, the driver turns the steering wheel, and the steering wheel steering angle actually output by the steering device should be limited by the gross vehicle weight and speed. The greater the target gross vehicle weight and the faster the speed, the smaller the maximum steering wheel steering angle that can be output, thereby reducing the roll probability during the steering process. This function should be an optional function that can be turned on and off by a switch.

[0162] When the body roll angle is within a reasonable range, the torque output by the power unit decreases as the steering wheel angle increases to reduce the vehicle's center of mass, thereby reducing the probability of roll during steering. The reduction in output torque is related to the vehicle's gross weight. The greater the gross weight, the greater the reduction. This function should be an optional function that can be turned on and off by a switch.

[0163] When the body roll angle is within a reasonable range, the suspension, steering and power devices will also perform corresponding actions to reduce the risk of vehicle rollover.

[0164] In a possible design, before S208, it also includes:

[0165] S401: Obtain an estimated collision time between a target vehicle and a target obstacle.

[0166] In this embodiment, the target obstacle refers to the obstacle that is closest to the target vehicle among at least one obstacle located in an adjacent lane of the target vehicle.

[0167] Specifically, the chassis controller determines whether the steering device can be switched to the second working mode according to the surrounding environment. The surrounding environment is acquired through the vehicle body radar and camera. The vehicle body radar and camera detect the distance s and the speed difference △v between the nearest vehicle, pedestrian or roadblock on the two lanes adjacent to the current target vehicle. The chassis controller further calculates the maximum steering angle θ that the steering wheel can operate max And the time △t when the two collide, determine whether the current vehicle meets the lane change conditions.

[0168] By combining radars such as millimeter-wave radar or lidar, and cameras such as visual sensors, vehicles can perceive the surrounding environment more comprehensively and accurately, laying the foundation for determining different actuators under different conditions.

[0169] S402: Obtain lane change information of the target vehicle according to the estimated collision time.

[0170] In this embodiment, the lane change information is used to indicate whether the target vehicle meets the lane change requirement.

[0171] Specifically, if the lane change information indicates that the target vehicle meets the lane change requirement, then based on the above embodiment, the preset action also includes a fourth action; the fourth action is jointly performed by the suspension device, the steering device and the power device.

[0172] As shown in Table 1, the chassis controller comprehensively considers the rollover risk level of the target vehicle, the preset speed level, and whether the lane change requirement is met, and determines the actuator that needs to be switched to the second working mode. The actuator that is switched to the second working mode acts alone or in coordination to ensure the stability of the vehicle body, as follows:

[0173] Table 1

[0174]

[0175] In a possible design, the sub-action in S303: adjusting the height of the airbags on both sides of the suspension device according to the roll angle, includes:

[0176] When the roll angle is positive, the height of the left airbag is reduced and the height of the right airbag is increased;

[0177] When the roll angle is negative, the height of the left airbag is increased and the height of the right airbag is decreased.

[0178] In this embodiment, when the roll angle is a positive number, the roll angle indicates that the target vehicle will roll over to the right; when the roll angle is a negative number, the roll angle indicates that the target vehicle will roll over to the left.

[0179] Specifically, when the roll angle Φ>0, the left airbag solenoid valve exhausts air to reduce the pressure of the left airbag, and the right airbag solenoid valve takes in air to increase the pressure of the right airbag, thereby reducing the height of the left airbag and raising the height of the right airbag; when the roll angle Φ<0, the left airbag solenoid valve takes in air to raise the pressure of the left airbag, and the right airbag solenoid valve exhausts air to reduce the side airbag pressure, thereby reducing the height of the right airbag, raising the height of the left airbag, and reducing the roll angle of the vehicle body.

[0180] In a possible design, after the sub-action in S303: controlling the power device to brake, further includes:

[0181] A brake signal is sent to the target vehicle's lighting system to turn on the target vehicle's brake lights.

[0182] Sub-actions in S303: after controlling the steering device to perform steering, further include:

[0183] Send a turn signal to the target vehicle's lighting system to turn on the target vehicle's turn signal.

[0184] In this embodiment, when the steering device and the power device activate the second working mode, a signal is sent to the vehicle lighting system to turn on the corresponding brake lights and turn lights to alert surrounding vehicles.

[0185] An embodiment of the present application also provides a vehicle body rollover control system, which includes: a vehicle body rollover control device and multiple execution devices; wherein the vehicle body rollover control device is used to implement the vehicle body rollover control method of the above embodiment.

[0186] Figure 3 This is a schematic diagram of the structure of the vehicle body rollover control device provided in the embodiment of the present application. Figure 3 As shown, in this embodiment, the vehicle body rollover control device can be located in the electronic device. The vehicle body rollover control device is located in the vehicle body rollover control system, and the vehicle body rollover control system also includes multiple execution devices. The vehicle body rollover control device includes:

[0187] The judgment result acquisition module 301 is used to obtain the roll angle of the target vehicle and judge whether the target vehicle will roll over according to the roll angle;

[0188] The rollover risk level acquisition module 302 is used to calculate the expected rollover time of the target vehicle when the judgment result indicates that the target vehicle will roll over, and determine the rollover risk level of the target vehicle according to the expected rollover time;

[0189] The rollover prevention action determination module 303 is used to determine the rollover prevention action according to the rollover risk level and the vehicle speed of the target vehicle; wherein the rollover prevention action is jointly executed by at least one target execution device; each target execution device is one of the multiple execution devices;

[0190] The anti-rollover action execution module 304 is used to control at least one target execution device to jointly execute the anti-rollover action when the electronic stability control system is not activated, until the target vehicle will not roll over.

[0191] The vehicle body rollover control device provided in this embodiment can be executed Figure 1 The technical solution of the vehicle body rollover control method embodiment shown in the figure has the same implementation principle and technical effect as Figure 1 The embodiments of the vehicle body rollover control method shown are similar and will not be described in detail here.

[0192] At the same time, the vehicle body rollover control device provided by the present invention further refines the vehicle body rollover control device based on the vehicle body rollover control device provided by the previous embodiment.

[0193] Optionally, in this embodiment, when the rollover risk level acquisition module 302 determines the rollover risk level of the target vehicle according to the expected rollover time, a corresponding relationship table is preset; wherein the corresponding relationship table includes: a plurality of preset risk levels, a plurality of preset speed levels, and preset actions corresponding to each preset risk level and each preset speed level;

[0194] Determine a preset time interval in which the rollover time is expected from a plurality of preset time intervals; wherein each preset time interval is a continuous interval and is adjacent to each other, and the plurality of preset time intervals do not intersect with each other; and each preset time interval corresponds to a preset risk level;

[0195] Determine the preset risk level corresponding to the preset time interval within which the rollover time is expected as the rollover risk level;

[0196] Optionally, in this embodiment, when determining the anti-rollover action according to the rollover risk level and the vehicle speed of the target vehicle, the rollover risk level acquisition module 302 determines a preset speed interval in which the vehicle speed is located from a plurality of preset speed intervals; wherein each preset speed interval is a continuous interval and is adjacent to each other, and the plurality of preset speed intervals do not intersect with each other; and each preset speed interval corresponds to a preset speed level;

[0197] Obtaining a preset speed level according to a preset speed range;

[0198] The preset action corresponding to the rollover risk level and the preset speed level is determined as the anti-rollover action.

[0199] Optionally, in this embodiment, the multiple execution devices in the anti-rollover action determination module 303 include a suspension device, a power device and a steering device.

[0200] Optionally, in this embodiment, when the rollover risk level acquisition module 302 determines the preset action corresponding to the rollover risk level and the preset speed level as the anti-rollover action, the preset action includes the first action, the second action or the third action;

[0201] The first action is performed by the suspension device;

[0202] The second action is performed by the suspension device and the power unit together;

[0203] The third action is performed by the suspension device and the steering device together.

[0204] Optionally, in this embodiment, when the electronic stability control system is not activated, the rollover prevention action execution module 304 controls at least one target execution device to jointly execute the rollover prevention action, and obtains the state information of the electronic stability control system of the target vehicle; wherein the state information is used to indicate whether the electronic stability control system is activated;

[0205] determining at least one target execution device according to the rollover prevention action when the electronic stability control system is not activated;

[0206] According to at least one target execution device, at least one sub-action of the preset action is executed; wherein the sub-actions include: adjusting the height of the airbags on both sides of the suspension device according to the roll angle; controlling the power device to brake to reduce the speed of the target vehicle; when the target vehicle meets the lane change requirement, controlling the steering device to steer to adjust the steering angle of the target vehicle.

[0207] Optionally, in this embodiment, before controlling at least one target execution device to jointly execute the anti-rollover action, the anti-rollover action execution module 304 further includes:

[0208] Obtaining an estimated collision time between the target vehicle and the target obstacle; wherein the target obstacle refers to an obstacle that is closest to the target vehicle among at least one obstacle located in an adjacent lane of the target vehicle;

[0209] The lane change information of the target vehicle is obtained according to the estimated collision time; wherein the lane change information is used to indicate whether the target vehicle meets the lane change requirement.

[0210] Optionally, in this embodiment, when the anti-rollover action execution module 304 adjusts the heights of the airbags on both sides of the suspension device according to the roll angle, when the roll angle is a positive number, the roll angle indicates that the target vehicle will roll over to the right; when the roll angle is a negative number, the roll angle indicates that the target vehicle will roll over to the left;

[0211] When the roll angle is positive, the height of the left airbag is reduced and the height of the right airbag is increased;

[0212] When the roll angle is negative, the height of the left airbag is increased and the height of the right airbag is decreased.

[0213] Optionally, in this embodiment, after controlling the power device to brake, the anti-rollover action execution module 304 sends a braking signal to the vehicle light system of the target vehicle to turn on the brake lights of the target vehicle;

[0214] After controlling the steering device to turn, the anti-rollover action execution module 304 sends a turn signal to the lighting system of the target vehicle to turn on the turn signal of the target vehicle.

[0215] Optionally, in this embodiment, when the judgment result acquisition module 301 judges whether the target vehicle will roll over according to the roll angle, when the absolute value of the roll angle is greater than a first preset angle, a judgment result that the target vehicle will roll over is obtained.

[0216] The vehicle body rollover control device provided in this embodiment can execute the technical solution of the above-mentioned vehicle body rollover control method embodiment. Its implementation principle and technical effect are similar to those of the above-mentioned vehicle body rollover control method embodiment, and will not be described in detail here.

[0217] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device is intended to be used in various electronic devices that can perform the self-vehicle rollover control method, such as a microcomputer, a single-chip microcomputer, and other suitable computers. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0218] like Figure 4 As shown, the electronic device includes: at least one processor 401 and a memory 402. The electronic device also includes a communication component 403. The processor 401, the memory 402 and the communication component 403 are connected via a bus 404.

[0219] In the specific implementation process, at least one processor 401 executes the computer execution instructions stored in the memory 402, so that at least one processor 401 executes the vehicle body rollover control method executed by the electronic device side as above.

[0220] The specific implementation process of the processor 401 can refer to the above-mentioned vehicle body rollover control method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0221] In the above embodiment, it should be understood that the processor 401 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor 401 can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the invention can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0222] The memory 402 may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk storage.

[0223] The bus 404 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus 404 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus 404 in the drawings of the present application is not limited to only one bus or one type of bus.

[0224] The above functions implemented by the electronic device and the main control device introduce the scheme provided by the embodiment of the present application. It is understandable that in order to implement the above functions, the electronic device or the main control device includes a hardware structure and / or software module corresponding to each function. In combination with the units and algorithm steps of each example described in the embodiment disclosed in the embodiment of the present application, the embodiment of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiment of the present application.

[0225] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above vehicle body rollover control method is implemented.

[0226] The computer-readable storage medium mentioned above may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium may be any available medium that can be accessed by a general or special-purpose computer.

[0227] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. The readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). The processor and the readable storage medium can also exist as discrete components in an electronic device or a main control device.

[0228] The memory 402 is a non-transitory computer-readable storage medium provided by the present invention. The non-transitory computer-readable storage medium of the present invention stores computer instructions, and the computer instructions are used to enable a computer to execute the vehicle body rollover control method provided by the present invention.

[0229] The memory 402 is a non-transient computer-readable storage medium that can be used to store non-transient software programs, non-transient computer executable programs and modules, such as program instructions / modules corresponding to the vehicle body rollover control method in the embodiment of the present application (for example, Figure 3 The processor 401 executes various functional applications and data processing by running the non-transient software programs, instructions and modules stored in the memory 402, that is, the vehicle body rollover control method in the above method embodiment is implemented.

[0230] At the same time, this embodiment also provides a computer program product, including a computer program, which is used to implement the vehicle body rollover control method of the above embodiment when the computer program is executed by a processor.

[0231] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and corresponding operation entrances shall be provided for users to choose to authorize or refuse.

[0232] 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 optional embodiments, and the actions and modules involved are not necessarily required for the present application.

[0233] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0234] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0235] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0236] If the integrated unit / module is implemented in the form of hardware, the hardware may be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes but is not limited to transistors, memristors, etc. Unless otherwise specified, the processor may be any appropriate hardware processor, such as a CPU, a GPU, an FPGA, a DSP, an ASIC, etc. Unless otherwise specified, the storage unit may be any appropriate magnetic storage medium or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), Dynamic Random Access Memory (DRAM), Static Random-Access Memory (SRAM), Enhanced Dynamic Random Access Memory (EDRAM), High-Bandwidth Memory (HBM), Hybrid Memory Cube (HMC), etc.

[0237] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

[0238] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0239] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0240] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A vehicle body rollover control method, characterized in that: The method is applied to a vehicle body rollover control device in a vehicle body rollover control system, and the vehicle body rollover control system further includes a plurality of execution devices. Then the method further includes: Obtaining a roll angle of a target vehicle, and determining whether the target vehicle will roll over according to the roll angle; When the judgment result indicates that the target vehicle will roll over, calculating the expected rollover time of the target vehicle, and determining the rollover risk level of the target vehicle according to the expected rollover time; Determine an anti-rollover action according to the rollover risk level and the speed of the target vehicle; wherein the anti-rollover action is jointly executed by at least one target execution device; each of the target execution devices is one of the multiple execution devices; When the electronic stability control system is not activated, the at least one target execution device is controlled to jointly execute the anti-rollover action until the target vehicle will not roll over.

2. The vehicle body rollover control method according to claim 1, characterized in that: A corresponding relationship table is preset; wherein the corresponding relationship table includes: a plurality of preset risk levels, a plurality of preset speed levels, and a preset action corresponding to each of the preset risk levels and each of the preset speed levels; Determining the rollover risk level of the target vehicle according to the estimated rollover time includes: Determine, from a plurality of preset time intervals, a preset time interval in which the estimated rollover time is located; wherein each of the preset time intervals is a continuous interval and is adjacent to each other, and the plurality of preset time intervals do not intersect with each other; and each of the preset time intervals corresponds to a preset risk level; Determining a preset risk level corresponding to a preset time interval within which the expected rollover time is located as the rollover risk level; The step of determining the anti-rollover action according to the rollover risk level and the speed of the target vehicle includes: Determine a preset speed interval in which the vehicle speed is located from a plurality of preset speed intervals; wherein each of the preset speed intervals is a continuous interval and is adjacent to each other, and the plurality of preset speed intervals do not intersect each other; and each of the preset speed intervals corresponds to a preset speed level; Obtaining a preset speed level according to the preset speed interval; A preset action corresponding to both the rollover risk level and the preset speed level is determined as the anti-rollover action.

3. The vehicle body rollover control method according to claim 2, characterized in that: The multiple actuators include a suspension device, a power device and a steering device; the preset action includes a first action, a second action or a third action; The first action is performed by the suspension device; The second action is performed by the suspension device and the power device together; The third action is performed jointly by the suspension device and the steering device.

4. The vehicle body rollover control method according to claim 3, characterized in that: When the electronic stability control system is not activated, controlling the at least one target execution device to jointly execute the anti-rollover action includes: Acquiring status information of an electronic stability control system of the target vehicle; wherein the status information is used to indicate whether the electronic stability control system is activated; determining the at least one target execution device according to the anti-rollover action when the electronic stability control system is not activated; According to the at least one target execution device, at least one sub-action of the preset action is executed; wherein the sub-actions include: adjusting the height of each airbag on both sides of the suspension device according to the roll angle; controlling the power device to brake to reduce the speed of the target vehicle; when the target vehicle meets the lane change requirement, controlling the steering device to steer to adjust the steering angle of the target vehicle.

5. The vehicle body rollover control method according to claim 4, characterized in that: Before controlling the at least one target execution device to jointly execute the anti-rollover action, the method further includes: Obtaining an estimated collision time between the target vehicle and a target obstacle; wherein the target obstacle refers to an obstacle located in at least one obstacle in an adjacent lane of the target vehicle and which is closest to the target vehicle; The lane change information of the target vehicle is obtained according to the estimated collision time; wherein the lane change information is used to indicate whether the target vehicle meets the lane change requirement.

6. The vehicle body rollover control method according to claim 4, characterized in that: When the roll angle is a positive number, the roll angle indicates that the target vehicle will roll over to the right; when the roll angle is a negative number, the roll angle indicates that the target vehicle will roll over to the left; The step of adjusting the height of the airbags on both sides of the suspension device according to the roll angle comprises: When the roll angle is a positive number, the height of the left airbag is reduced and the height of the right airbag is increased; When the roll angle is a negative number, the height of the left airbag is increased, and the height of the right airbag is decreased.

7. The vehicle body rollover control method according to claim 4, characterized in that: After controlling the power device to brake, the method further includes: Sending a brake signal to a lamp system of the target vehicle to turn on a brake light of the target vehicle; After controlling the steering device to perform steering, the method further includes: A turn signal is sent to the headlight system of the target vehicle to turn on the turn signal of the target vehicle.

8. The vehicle body rollover control method according to claim 1, characterized in that: The step of judging whether the target vehicle will roll over according to the roll angle includes: When the absolute value of the roll angle is greater than a first preset angle, a judgment result is obtained that the target vehicle will roll over.

9. A vehicle body rollover control system, characterized in that: include: A vehicle body rollover control device and a plurality of execution devices; wherein the vehicle body rollover control device is used to implement the vehicle body rollover control method as described in any one of claims 1 to 8.

10. A vehicle body rollover control device, characterized in that: The vehicle body rollover control device is located in the vehicle body rollover control system, and the vehicle body rollover control system further includes a plurality of execution devices, and the device includes: A judgment result acquisition module is used to obtain the roll angle of the target vehicle and judge whether the target vehicle will roll over according to the roll angle; A rollover risk level acquisition module, used to calculate the expected rollover time of the target vehicle when the judgment result indicates that the target vehicle will roll over, and determine the rollover risk level of the target vehicle according to the expected rollover time; an anti-rollover action determination module, used to determine an anti-rollover action according to the rollover risk level and vehicle speed of the target vehicle; wherein the anti-rollover action is jointly executed by at least one target execution device; each of the target execution devices is one of the multiple execution devices; The anti-rollover action execution module is used to control the at least one target execution device to jointly execute the anti-rollover action until the target vehicle will not roll over.

Images