A vehicle body roll control method, system and device

Abstract

The application provides a vehicle body rollover control method, system and device, and relates to the technical field of vehicle chassis systems. The method comprises the following steps: acquiring a roll angle of a target vehicle, and determining whether the target vehicle will roll over according to the roll angle; when the result of the determination indicates that the target vehicle will roll over, calculating an estimated rollover time of the target vehicle, and determining a rollover risk level of the target vehicle according to the estimated rollover time; determining an anti-rollover action according to the rollover risk level and the speed of the target vehicle; and when an 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. The technical problem that the vehicle body excessively rolls over when the vehicle travels at a high speed and the prior art cannot make effective adjustment in time can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle chassis system, and particularly relates to a vehicle body rollover control method, system and device. BACKGROUND

[0002] In recent years, with the rapid development of social economy, the automobile has become an indispensable means of transportation in people's daily life, especially under the background of accelerating urbanization, the sales of automobiles increase year by year, which promotes economic construction and industrial upgrading. However, modern vehicles generally have the characteristics of long wheelbase, heavy body weight and high center of mass, which makes the vehicle prone to excessive body roll when turning, jolting or high-speed driving, and even rollover. Therefore, how to improve the body stability of the vehicle has become a major challenge in the field of automobile engineering.

[0003] At present, the electronic stability control system is often used to control the vehicle inclination. The electronic stability control system identifies the rollover risk by monitoring the dynamic state of the vehicle in real time, and then adjusts the power output or adjusts the body suspension by applying brake to individual wheels, so as 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 adjustment to the excessive body roll phenomenon. SUMMARY

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

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

[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 determination result indicates that the target vehicle will roll over, calculating a predicted rollover time of the target vehicle, and determining a rollover risk level of the target vehicle according to the predicted rollover time;

[0008] determining an anti-rollover action according to the rollover risk level and the speed of the target vehicle; wherein the anti-rollover action is executed by at least one target execution device; each target execution device is one of the plurality of 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, where the correspondence table includes a plurality of preset risk levels, a plurality of preset speed levels, and a preset action corresponding to each preset risk level and each preset speed level;

[0011] The risk level of the target vehicle is determined according to the predicted rollover time, and the risk level of the target vehicle is determined according to the predicted rollover time.

[0012] A preset time interval in which the predicted rollover time is located is determined from a plurality of preset time intervals, where each preset time interval is a continuous interval and adjacent to each other, the plurality of preset time intervals are not intersected with each other, and each preset time interval corresponds to a preset risk level.

[0013] The preset risk level corresponding to the preset time interval in which the predicted rollover time is located is determined as the risk level of the target vehicle.

[0014] The anti-rollover action is determined according to the risk level of the target vehicle and the vehicle speed.

[0015] A preset speed interval in which the vehicle speed is located is determined from a plurality of preset speed intervals, where each preset speed interval is a continuous interval and adjacent to each other, the plurality of preset speed intervals are not intersected with each other, and each preset speed interval corresponds to a preset speed level.

[0016] A preset speed level is obtained according to the preset speed interval.

[0017] The preset action corresponding to the risk level of the target vehicle and the preset speed level is determined as the anti-rollover action.

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

[0019] The first action is executed by the suspension device.

[0020] The second action is executed by the suspension device and the power device.

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

[0022] In a possible design, the controlling the at least one target execution device to jointly perform the anti-rollover action when the electronic stability control system is not activated comprises the following steps.

[0023] obtaining state information of an electronic stability control system of the target vehicle, wherein the state 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] performing at least one sub-action of the preset action according to the at least one target execution device, wherein the sub-action comprises: adjusting heights of two sides of air bags of the suspension device according to the roll angle; controlling the power device to brake to reduce a vehicle speed of the target vehicle; and controlling the steering device to steer to adjust a steering angle of the target vehicle when the target vehicle meets a lane-changing requirement.

[0026] In a possible design, before the controlling the at least one target execution device to jointly perform the anti-rollover action, the method further comprises the following steps.

[0027] obtaining a predicted collision time between the target vehicle and a target obstacle, wherein the target obstacle refers to an obstacle closest to the target vehicle in at least one obstacle in a neighboring lane of the target vehicle;

[0028] obtaining lane-changing information of the target vehicle according to the predicted collision time, wherein the lane-changing information is used to indicate whether the target vehicle meets a lane-changing requirement.

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

[0030] the adjusting the heights of the two sides of the air bags of the suspension device according to the roll angle comprises the following steps.

[0031] when the roll angle is positive, reducing the height of the left air bag and increasing the height of the right air bag;

[0032] when the roll angle is negative, increasing the height of the left air bag and reducing the height of the right air bag.

[0033] In a possible design, after the controlling the power device to brake, the method further comprises the following steps.

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

[0035] after the controlling the steering device to steer, the method further comprises:

[0036] sending a steering signal to a light system of the target vehicle to turn on a steering light of the target vehicle.

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

[0038] when the absolute value of the roll angle is greater than a first preset angle, obtaining a determination result that the target vehicle will roll over.

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

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

[0041] a determination result acquisition module, configured to acquire a roll angle of a target vehicle, and determine whether the target vehicle will roll over according to the roll angle;

[0042] a roll risk level acquisition module, configured to, when the determination result indicates that the target vehicle will roll over, calculate an expected roll time of the target vehicle, and determine a roll risk level of the target vehicle according to the expected roll time;

[0043] a roll prevention action determination module, configured to determine a roll prevention action according to the roll risk level and a vehicle speed of the target vehicle; wherein the roll prevention action is executed by at least one target execution device; each target execution device is one of the plurality of execution devices;

[0044] a roll prevention action execution module, configured to control the at least one target execution device to execute the roll prevention 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 connected with the processor in communication;

[0046] the memory stores computer execution instructions;

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

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

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

[0050] The application provides a vehicle body rollover control method, system and device. The vehicle body rollover control method comprises the following steps: obtaining a roll angle of a target vehicle, and determining whether the target vehicle will roll over according to the roll angle; when the determination result indicates that the target vehicle will roll over, calculating a predicted rollover time of the target vehicle, and determining a rollover risk level of the target vehicle according to the predicted rollover time; determining a rollover prevention action according to the rollover risk level and the speed of the target vehicle; and when an electronic stability control system is not activated, controlling at least one target execution device to jointly execute the rollover prevention 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 a complex calculation model or prediction; when the electronic stability control system is not activated, the corresponding target execution device is controlled to execute the rollover prevention action, so that the rollover phenomenon can be effectively controlled. BRIEF DESCRIPTION OF DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0052] The drawings herein are incorporated into the specification and form part of the specification, which shows the embodiments consistent with the application, and together with the specification, is used to explain the principles of the application.

[0053] Figure 1 Flowchart of the vehicle body rollover control method provided by the embodiments of the application Figure 1 ;

[0054] Figure 2 Flowchart of the vehicle body rollover control method provided by the embodiments of the application Figure 2 ;

[0055] Figure 3 A structure schematic diagram of a vehicle body rollover control device provided by an embodiment of the present application is shown in the following figure.

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

[0057] The specific embodiments of the present application have been shown in the above figures, and will be described in more detail hereinafter. These figures and the written description are not intended to restrict the scope of the present application in any way, but to illustrate the concept of the present application by referring to specific embodiments. DETAILED DESCRIPTION

[0058] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, the same numbers are used to indicate the same or similar components. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the present application. Instead, they only represent 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, the terms “first”, “second”, and the like are used to distinguish the same or similar items or components with substantially the same function and role. Those skilled in the art can understand that the terms “first”, “second”, and the like do not limit the number and execution order, and the terms “first”, “second”, and the like do not necessarily mean different. It should be noted that in the embodiments of the present application, the words “exemplary” or “for example” are used to represent examples, illustrations, or descriptions. Any embodiment or design scheme described as “exemplary” or “for example” in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words “exemplary” or “for example” are used to present the relevant concepts in a specific manner. In the embodiments of the present application, “at least one” means one or more, and “multiple” means two or more.

[0060] It should be noted that “at the time of” in the embodiments of the present application can be at the moment when a certain condition occurs, or within a period of time after a certain condition occurs, which is not specifically limited in the embodiments of the present application. In addition, the vehicle body rollover control method provided by the embodiments of the present application is only an example, and the vehicle body rollover control method can include more or less content.

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

[0062] Electronic Stability Control (ESC): An active safety system widely used in modern vehicles, designed to help the vehicle maintain stability during driving, especially in situations of loss of control or skidding, reducing the risk of accidents. ESC assists the driver in controlling the vehicle by automatically intervening in the vehicle's power and braking systems, preventing wheel traction loss, and helping the vehicle avoid skidding, rollover, or loss of control.

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

[0064] Currently, electronic stability control systems are often used to control vehicle tilting. However, when the electronic stability control system is not activated, it cannot make timely and effective adjustments to the excessive tilting phenomenon of the vehicle body, resulting in excessive tilting of the vehicle body.

[0065] Therefore, in order to solve the technical problem that the electronic stability control system cannot make timely and effective adjustments to the excessive tilting phenomenon of the vehicle body when it is not activated, it is found in research that, in order to solve this problem, ① determine whether the vehicle has a rollover tendency; ② when the vehicle has a rollover tendency, obtain the target vehicle's rollover risk level according to the predicted rollover time; ③ determine the anti-rollover action through the vehicle's rollover risk level and speed; ④ when the electronic stability control system is not activated, execute the anti-rollover action by the corresponding execution device.

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

[0067] The application scenarios of the vehicle body rollover control method provided by the embodiments of the present application will be introduced below.

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

[0070] 3) Special vehicles, such as motor homes, have a high internal center of gravity and are usually unbalanced, making them prone to tilting when driving at high speed or turning. The vehicle body rollover control method of the present application can effectively prevent rollover.

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

[0072] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be 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 can not be described again in some embodiments. The embodiments of the present application will be described below with reference to the drawings.

[0073] Figure 1 Flowchart of the vehicle body rollover control method provided by the embodiments of the present application Figure 1 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. The vehicle body rollover control method provided by the embodiments of the present application includes the following steps:

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

[0075] In the embodiments, the roll angle of the target vehicle is obtained by monitoring the side height of each wheel of the target vehicle through a chassis height sensor.

[0076] Specifically, the roll angle Φ is calculated according to the following formula:

[0077]

[0078] Wherein, h1 is the left air bag height; h2 is the right air bag height; L1 is the installation distance between the left and right air bags. The air bag height is obtained by an 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 roll angle of the vehicle can be accurately monitored using a sensor. 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.

[0080] S102, when the judgment result indicates that the target vehicle will roll over, calculating a predicted rollover time of the target vehicle, and determining a rollover risk level of the target vehicle according to the predicted rollover time.

[0081] In the embodiments, the chassis controller calculates the roll rate of the vehicle body according to the roll angle of the vehicle body, and further calculates the predicted rollover time. The predicted rollover time refers to the time when the roll angle reaches the rollover angle if the vehicle continues to travel at the current state, that is, the time when the rollover will occur.

[0082] Specifically, the calculation formula of the predicted rollover time T is as follows:

[0083] ​

[0084] wherein, is the body roll angle acceleration, which can be calculated from the body roll angle. The roll angle is determined by the vehicle structure parameters, which can be obtained by bench test or calculation.

[0085] S103, determining the anti-rollover action according to the rollover risk level of the target vehicle and the vehicle speed.

[0086] In this embodiment, the anti-rollover action is performed 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 of the target vehicle and the vehicle speed, the target execution device that needs to enter the second working mode is determined, and the anti-rollover action is the action performed by the target execution device when it enters the second working mode.

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

[0089] In this embodiment, when the electronic stability control system is not activated, the target execution device is controlled to enter the second working mode, and the corresponding target execution device is controlled to perform the action, 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 the anti-rollover action, which can effectively control the rollover phenomenon.

[0091] The application provides a vehicle body rollover control method, which comprises the following steps: acquiring a body roll angle of a target vehicle, and determining whether the target vehicle will roll over according to the body roll angle; when the determination result indicates that the target vehicle will roll over, calculating a predicted rollover time of the target vehicle, and determining a rollover risk level of the target vehicle according to the predicted rollover time; determining an anti-rollover action according to the rollover risk level of the target vehicle and the vehicle speed; and when an electronic stability control system is not activated, controlling at least one target execution device to jointly perform 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 body roll angle as the judgment standard for whether the target vehicle will roll over is more concise and clear, and does not require a complex calculation model or prediction; when the electronic stability control system is not activated, the corresponding target execution device is controlled to perform the anti-rollover action, which can effectively control the rollover phenomenon.

[0092] In one possible design, S101 comprises:

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

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

[0095] Figure 2 Flowchart of the vehicle body roll control method provided by the embodiment of the present application Figure 2 The embodiment of the present application is based on the embodiment provided by the present application Figure 1 The vehicle body roll control method is further explained. As shown in Figure 2 The vehicle body roll control method of the embodiment comprises:

[0096] S201, obtaining a roll angle of a target vehicle, and determining 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 embodiments of the present application, and will not be repeated here.

[0098] S202, when the determination result indicates that the target vehicle will roll over, calculating a predicted roll time of the target vehicle.

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

[0100] S203, determining a preset time interval in which the predicted roll time is located from a plurality of preset time intervals.

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

[0102] Specifically, when the predicted roll time T

[0103] 1) when t1≤T

[0104] 2) when t2≤T

[0105] 3) when T

[0106] Wherein, t1>t´, t2>t´´. t0 is defined as the time for the driver to find the risk and immediately operate so that the vehicle returns to the safe state, including t´ and t´´; t´ is the time for the driver to find the risk and immediately operate so that the vehicle returns to the normal state, including the driver reaction time and operation time; t´´ is the time for the system controller to immediately intervene so that the vehicle returns to the normal state, including the system response time and operation time; the specific values of t1 and t2 are defined by the manufacturer.

[0107] In S204, a preset risk level corresponding to the preset time interval in which the predicted rollover time is located is determined as the rollover risk level.

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

[0109] Wherein, the first preset time interval, the second preset time interval and the third preset time interval are continuous intervals and adjacent to each other, that is, the right end point of the third preset time interval is the left end point of the second preset time interval, the right end point of the second preset time interval is the left end point of the first preset time interval, and meanwhile, any two of 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 that of determining the rollover risk level in S102 in the above-mentioned embodiments of the application, and will not be described here.

[0111] In S205, a preset speed interval in which the vehicle speed is located is determined from a plurality of preset speed intervals.

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

[0113] Specifically, the vehicle speed of the target vehicle can be obtained according to a wheel speed sensor. The wheel speed sensor is mainly used for monitoring the wheel speed of the vehicle, thereby being used for calculating the vehicle driving speed.

[0114] In this embodiment, the following is only 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 interval; if the vehicle speed v satisfies 30 < v < 60, it is considered that the vehicle speed v is in the second preset speed interval; and if the vehicle speed v satisfies 60 < v, it is considered that the vehicle speed v is in the third preset speed interval.

[0115] The first preset speed interval, the second preset speed interval and the third preset speed interval are continuous intervals and adjacent to each other, that is, the right end point of the first preset speed interval is the left end point of the second preset speed interval, the right end point of the second preset speed interval is the left end point of the third preset speed interval, and any two of the first preset speed interval, the second preset speed interval and the third preset speed interval do not intersect.

[0116] S206, obtaining a preset speed level according to the preset speed interval.

[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, determining a preset action corresponding to the rollover risk level and the preset speed level as an anti-rollover action.

[0119] In this embodiment, a correspondence table is preset; the correspondence table includes: a plurality of preset risk levels, a plurality of preset speed levels, and a preset action 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 common corresponding preset action. By taking the preset risk level as the rollover risk level, the anti-rollover action can be obtained through the rollover risk level, the preset speed level and the preset correspondence table.

[0121] Different processing measures are taken for different rollover risk levels, which can more reasonably allocate limited resources. In the case of low rollover risk level and low speed, no excessive intervention is needed, which can avoid unnecessary operation and resource waste; and in the case of high rollover risk level and high speed, more resources can be immediately mobilized for intervention, thereby avoiding the occurrence of traffic accidents.

[0122] S208, 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.

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

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

[0125] The first action is executed by the suspension device.

[0126] The second action is executed by the suspension device and the power device together.

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

[0128] In this embodiment, the preset action includes but is 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 single or cooperative action of the suspension device, the power device, and the steering device.

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

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

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

[0133] By obtaining the state information of the electronic stability control system of the target vehicle, it can be known 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, determining at least one target execution device according to a rollover prevention 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 rollover prevention action, and the at least one target execution device refers to at least one of the suspension device, the power device, and the steering device.

[0136] When the electronic stability control system is activated, the priority of the electronic stability control system is higher than that of the suspension device, the steering device, and the power device, the steering device and the power device preferentially respond to the instruction of the electronic stability control system, and the suspension system is not affected by the electronic stability control system.

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

[0138] In this embodiment, the sub-action includes: adjusting the height of each of the two side air bags 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 changing requirement.

[0139] The suspension device, the steering device and the power device act in coordination or individually in the second working mode to maintain the body stability, i.e., to maintain the roll angle within a reasonable range. The second working mode is a working mode designed for vehicle roll by the steering device, the suspension device and the power device. The suspension device, the steering device and the power device are all controlled by corresponding controllers or control systems.

[0140] Specifically, when the suspension device activates the second working mode, the left and right side air bags are actively adjusted by the air suspension electromagnetic valve according to the body roll angle to reduce the height difference between the two side air bags, i.e., to reduce the body roll angle.

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

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

[0143]

[0144] Wherein, n is the adjustment frequency of the steering module; is the adjustment strength of the steering module (0 ≤1); is the maximum steering angle of the steering wheel.

[0145] When the power device activates the second working mode, the output torque is actively reduced to reduce the speed of the current vehicle, thereby reducing the roll moment of the vehicle.

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

[0147] Alternatively, the braking device can replace the steering device. The braking device actively applies a braking force to the wheels opposite to the body roll direction to achieve the purpose of reducing the steering angle of the steering wheel. The specific control method is similar to the above-mentioned control method of the steering device.

[0148] The roll angle of the target vehicle is related to the roll moment of the vehicle, and is positively related to 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] Wherein, m is the total weight of the vehicle; v is the vehicle speed; h is the distance from the center of mass to the roll center, which is positively related to the total weight of the vehicle; a 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 total weight of the vehicle 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 air bag; n Is the air pressure of the suspension air bag, which is obtained through the air pressure sensor on the air bag.

[0154] The suspension air bag pressure sensor is responsible for monitoring the suspension air bag pressure, which is used to calculate the wheel load.

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

[0156]

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

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

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

[0160] Optionally, when the body roll angle is within a reasonable range, the suspension device controls the height of all suspension air bags to decrease with the increase of the vehicle speed and the total weight of the vehicle, so as to reduce the height of the center of mass of the vehicle and thus reduce the roll probability. Wherein, the height of the suspension air bag is adjusted by the air suspension solenoid valve, and the height of the air bag is raised when the solenoid valve is inhaled, and the height of the air bag is lowered when the solenoid valve is exhausted.

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

[0162] When the body roll angle is within a reasonable range, the power device output torque decreases with the increase of the steering wheel angle, so as to reduce the vehicle mass height and thus reduce the probability of rolling during steering. The reduction of the output torque is related to the total weight of the vehicle. The larger the total weight, the higher the reduction. This function should be an optional function that can be turned on and off through a switch.

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

[0164] In a possible design, before S208, the method further includes:

[0165] S401, obtaining an expected collision time between the target vehicle and the target obstacle.

[0166] In this embodiment, the target obstacle refers to the obstacle closest to the target vehicle among at least one obstacle in the 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 obtained by the body radar and the camera. The body radar and the camera detect the distance s and the speed difference Δv of the closest vehicle, pedestrian or roadblock on the two sides adjacent to the current target vehicle, and the chassis controller further calculates the maximum steering angle θ of the steering wheel that can be operated max and the time Δt of collision of the two, to determine whether the current vehicle meets the lane changing condition.

[0168] By combining radar such as millimeter wave radar or laser radar, and camera such as visual sensor, the vehicle can more comprehensively and accurately perceive the surrounding environment, and lay a foundation for determining different execution devices under different conditions.

[0169] S402, obtaining lane changing information of the target vehicle according to the expected collision time.

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

[0171] Specifically, if the lane change information indicates that the target vehicle meets the lane change requirement, on the basis of the above embodiment, the preset action further includes a fourth action; the fourth action is 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 vehicle speed level and whether the lane change requirement is met, to determine the execution device that needs to be switched to the second working mode. The execution device switched to the second working mode acts alone or cooperatively to ensure the body stability, and the details are as follows:

[0173] Table 1

[0174]

[0175] In a possible design, the sub-action in S303: adjusting the height of each of the two sides of the air bag of the suspension device according to the roll angle, includes:

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

[0177] When the roll angle is negative, the height of the left air bag is increased, and the height of the right air bag is reduced.

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

[0179] Specifically, when the roll angle Φ>0, the left air bag electromagnetic valve exhausts to reduce the pressure of the left air bag, and the right air bag electromagnetic valve inhales to increase the pressure of the right air bag, so as to reduce the height of the left air bag and increase the height of the right air bag; when the roll angle Φ<0, the left air bag electromagnetic valve inhales to increase the pressure of the left air bag, and the right air bag electromagnetic valve exhausts to reduce the pressure of the right air bag, so as to reduce the height of the right air bag and increase the height of the left air bag, thereby reducing the roll angle of the vehicle body.

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

[0181] Sending a brake signal to the target vehicle's light system to turn on the target vehicle's brake light.

[0182] The sub-action in S303: controlling the steering device to steer, further includes:

[0183] Sending a steering signal to the target vehicle's light system to turn on the target vehicle's steering light.

[0184] In this embodiment, when the steering device and power device activate the second operating mode, they send signals to the vehicle lighting system to turn on the corresponding brake lights and turn signals to alert surrounding vehicles.

[0185] This application also provides a vehicle rollover control system, which includes a vehicle rollover control device and a plurality of actuators; wherein the vehicle rollover control device is used to implement the vehicle rollover control method of the above embodiments.

[0186] Figure 3 This is a schematic diagram of the vehicle rollover control device provided in an embodiment of this application. Figure 3 As shown, in this embodiment, the vehicle rollover control device can be located in an electronic device. The vehicle rollover control device is located within the vehicle rollover control system, which also includes multiple actuators. The vehicle rollover control device includes:

[0187] The judgment result acquisition module 301 is used to acquire the roll angle of the target vehicle and determine whether the target vehicle will roll over based on 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 based on the expected rollover time.

[0189] The anti-rollover action determination module 303 is used to determine the anti-rollover action based on the rollover risk level and speed of the target vehicle; wherein the anti-rollover action is jointly executed by at least one target actuator; each target actuator is one of multiple actuators;

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

[0191] The vehicle rollover control device provided in this embodiment can perform... Figure 1 The technical solution of the vehicle rollover control method embodiment shown herein, its implementation principle and technical effect are similar to Figure 1 The embodiments of the vehicle rollover control method shown are similar and will not be described in detail here.

[0192] Meanwhile, the vehicle rollover control device provided by the present invention is a further refinement of the vehicle rollover control device provided in the previous embodiment.

[0193] Optionally, in the embodiment, the side overturning risk level obtaining module 302 presets a corresponding relationship table when determining the side overturning risk level of the target vehicle according to the predicted side overturning time; the corresponding relationship table includes a plurality of preset risk levels, a plurality of preset speed levels, and a preset action corresponding to each preset risk level and each preset speed level.

[0194] The preset time interval in which the predicted side overturning time is located is determined from a plurality of preset time intervals; each preset time interval is a continuous interval and adjacent to each other, and the plurality of preset time intervals are not intersected with each other; each preset time interval corresponds to a preset risk level.

[0195] The preset risk level corresponding to the preset time interval in which the predicted side overturning time is located is determined as the side overturning risk level.

[0196] Optionally, in the embodiment, the side overturning risk level obtaining module 302 determines the preset speed interval in which the vehicle speed is located from a plurality of preset speed intervals when determining the anti-side overturning action according to the side overturning risk level of the target vehicle and the vehicle speed; each preset speed interval is a continuous interval and adjacent to each other, and the plurality of preset speed intervals are not intersected with each other; each preset speed interval corresponds to a preset speed level.

[0197] The preset speed level is obtained according to the preset speed interval.

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

[0199] Optionally, in the embodiment, the plurality of execution devices in the anti-side overturning action determining module 303 include a suspension device, a power device, and a steering device.

[0200] Optionally, in the embodiment, the side overturning risk level obtaining module 302 determines the preset action including a first action, a second action, or a third action when determining the anti-side overturning action from the preset action corresponding to the side overturning risk level and the preset speed level.

[0201] The first action is executed by the suspension device.

[0202] The second action is executed by the suspension device and the power device.

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

[0204] Optionally, in the embodiment, the anti-side overturning action executing module 304 obtains state information of the electronic stability control system of the target vehicle when controlling at least one target execution device to jointly execute the anti-side overturning action when the electronic stability control system is not activated; 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 anti-rollover action when the electronic stability control system is not activated;

[0206] executing at least one sub-action of the preset action according to the at least one target execution device; wherein the sub-action comprises: adjusting the height of each of the two side airbags 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-changing requirement.

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

[0208] obtaining the predicted collision time between the target vehicle and the target obstacle; wherein the target obstacle refers to the obstacle closest to the target vehicle among the at least one obstacle in the adjacent lane of the target vehicle;

[0209] obtaining the lane-changing information of the target vehicle according to the predicted collision time; wherein the lane-changing information is used to indicate whether the target vehicle meets the lane-changing requirement.

[0210] Optionally, in the embodiment, when adjusting the height of each of the two side airbags of the suspension device according to the roll angle, when the roll angle is positive, the roll angle indicates that the target vehicle will roll to the right; and when the roll angle is negative, the roll angle indicates that the target vehicle will roll to the left.

[0211] when the roll angle is positive, reducing the height of the left side airbag and increasing the height of the right side airbag;

[0212] when the roll angle is negative, increasing the height of the left side airbag and reducing the height of the right side airbag.

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

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

[0215] Optionally, in the embodiment, when determining whether the target vehicle will roll according to the roll angle, when the absolute value of the roll angle is greater than a first preset angle, the determination result obtaining module 301 obtains a determination result that the target vehicle will roll.

[0216] The vehicle body rollover control device provided by the embodiment can execute the technical solutions of the vehicle body rollover control method embodiments, and has similar implementation principles and technical effects to the vehicle body rollover control method embodiments, which will not be repeated here.

[0217] Figure 4 The structure schematic diagram of the electronic device provided by the embodiment is shown. The electronic device is intended to various electronic devices that can execute the vehicle body rollover control method, such as microcomputers, single-chip microcomputers, and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0218] As shown in Figure 4 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 through a bus 404.

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

[0220] The specific implementation process of the processor 401 can refer to the vehicle body rollover control method embodiments described above, which has similar implementation principles and technical effects. The embodiment will not be repeated here.

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

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

[0223] The bus 404 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus 404 can 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 does not limit to only one bus or one type of bus.

[0224] The functions implemented by the electronic device and the host device described above are introduced for the scheme provided by the embodiments of the present application. It can be understood that the electronic device or the host device contains the hardware structure and / or software module corresponding to the execution of each function in order to implement the above functions. The units and algorithm steps of each example described in combination with the embodiments disclosed in the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in hardware or computer software driven 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 beyond the scope of the technical solutions of the embodiments of the present application.

[0225] The present application also provides a computer readable storage medium, the computer readable storage medium stores computer execution instructions, when the processor executes the computer execution instructions, the body roll control method is realized.

[0226] The computer readable storage medium described above, the readable storage medium can be realized by any type of volatile or non-volatile storage device or their combination, 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 can be any available medium that can be accessed by a general or special purpose computer.

[0227] An exemplary readable storage medium is coupled to the processor, so that the processor can read information from the readable storage medium, and can 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 the electronic device or the host device.

[0228] The memory 402 is a non-transitory computer readable storage medium provided by the present application. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to execute the vehicle body rollover control method provided by the present application.

[0229] The memory 402 is a non-transitory computer readable storage medium, which can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the vehicle body rollover control method in the embodiments of the present application (for example, the judgment result obtaining module 301, the rollover risk level obtaining module 302, the anti-rollover action determining module 303 and the anti-rollover action executing module 304 shown in the figure). The processor 401 executes various function applications and data processing by running the non-transitory software programs, instructions and modules stored in the memory 402, that is, implements the vehicle body rollover control method in the method embodiments. Figure 3

[0230] Meanwhile, the present embodiment also provides a computer program product, which includes a computer program, and the computer program is used to implement the vehicle body rollover control method of the above-mentioned embodiments when executed by a processor.

[0231] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in one or more embodiments of the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards, and provide corresponding operation portal for user to choose authorization or refusal.

[0232] It should be noted that, for the above-mentioned method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the action sequence described, because according to the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0233] ​It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

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

[0235] Furthermore, unless otherwise specified, the functional units / modules in the various embodiments of this application can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or as software program modules.

[0236] When an integrated unit / module is implemented in hardware, the hardware can be digital circuits, analog circuits, etc. The physical implementation of the hardware structure includes, but is not limited to, transistors, memristors, etc. Unless otherwise specified, the processor can be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC, etc. Unless otherwise specified, the storage unit can be any suitable magnetic 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 units / modules are implemented in the form of software program modules and sold or used as independent products, they can be stored in a computer readable memory. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a memory and includes a number of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the embodiments of the method of the present application. The aforementioned memory includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0238] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments. The technical features of the above embodiments can be combined arbitrarily, and in order to make the description concise, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0239] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. The application is intended to cover any variations, uses or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice in the art to which the application pertains or can relate. The specification and examples are to be regarded as exemplary only, and the true scope and spirit of the application are indicated by the following claims.

[0240] It should be understood that the present application is not limited to the precise construction that has been described and illustrated herein and that various modifications and changes can be made therein without departing from the scope thereof. The scope of the application is indicated by the appended claims.

Claims

1. A vehicle body roll control method characterized by, The method is applied to a vehicle body roll control device in a vehicle body roll control system, and the vehicle body roll control system further comprises a plurality of execution devices, and the method further comprises: obtaining a roll angle of a target vehicle, and determining whether the target vehicle will roll over according to the roll angle; when the result of the determination indicates that the target vehicle will roll over, calculating a predicted roll time of the target vehicle, and determining a roll risk level of the target vehicle according to the predicted roll time; determining a roll prevention action according to the roll risk level and the speed of the target vehicle; wherein the roll prevention action is executed by at least one target execution device; each target execution device is one of the plurality of execution devices; when the electronic stability control system is not activated, controlling the at least one target execution device to execute the roll prevention action until the target vehicle will not roll over.

2. The vehicle body roll control method according to claim 1, characterized by, a corresponding relationship table is preset; wherein the corresponding relationship table comprises: a plurality of preset risk levels, a plurality of preset speed levels, and a preset action corresponding to each preset risk level and each preset speed level; determining the roll risk level of the target vehicle according to the predicted roll time comprises: determining a preset time interval in which the predicted roll time is located from a plurality of preset time intervals; wherein each preset time interval is a continuous interval and adjacent to each other, and the plurality of preset time intervals are not intersected with each other; each preset time interval corresponds to a preset risk level; determining the preset risk level corresponding to the preset time interval in which the predicted roll time is located as the roll risk level; determining the roll prevention action according to the roll risk level and the speed of the target vehicle comprises: determining a preset speed interval in which the speed is located from a plurality of preset speed intervals; wherein each preset speed interval is a continuous interval and adjacent to each other, and the plurality of preset speed intervals are not intersected with each other; each preset speed interval corresponds to a preset speed level; obtaining a preset speed level according to the preset speed interval; determining a preset action corresponding to the roll risk level and the preset speed level as the roll prevention action.

3. The vehicle body roll control method according to claim 2, characterized by, The plurality of execution devices comprises a suspension device, a power device and a steering device; the preset action comprises a first action, a second action or a third action; the first action is executed by the suspension device; the second action is executed by the suspension device and the power device; the third action is executed by the suspension device and the steering device.

4. The vehicle body roll control method according to claim 3, characterized by, when the electronic stability control system is not activated, controlling the at least one target execution device to execute the roll prevention action comprises: obtaining 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; when the electronic stability control system is not activated, determining the at least one target execution device according to the roll prevention action; According to the at least one target execution device, at least one sub-action of the preset action is executed; wherein the sub-action comprises: adjusting the height of each of the two side airbags 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-changing requirement.

5. The vehicle body roll control method according to claim 4, characterized by, Before the control of the at least one target execution device jointly executing the anti-rollover action, the method further comprises: obtaining the predicted collision time between the target vehicle and a target obstacle; wherein the target obstacle refers to the obstacle closest to the target vehicle among at least one obstacle in the adjacent lane of the target vehicle; obtaining the lane-changing information of the target vehicle according to the predicted collision time; wherein the lane-changing information is used to indicate whether the target vehicle meets the lane-changing requirement.

6. The vehicle body roll control method according to claim 4, characterized by When the roll angle is positive, the roll angle indicates that the target vehicle will roll to the right; when the roll angle is negative, the roll angle indicates that the target vehicle will roll to the left; the adjustment of the height of each of the two side airbags of the suspension device according to the roll angle comprises: when the roll angle is positive, reducing the height of the left side airbag and increasing the height of the right side airbag; when the roll angle is negative, increasing the height of the left side airbag and reducing the height of the right side airbag.

7. The vehicle body roll control method according to claim 4, characterized by After the control of the power device to brake, the method further comprises: sending a braking signal to the vehicle light system of the target vehicle to turn on the brake light of the target vehicle; After the control of the steering device to steer, the method further comprises: sending a steering signal to the vehicle light system of the target vehicle to turn on the steering light of the target vehicle.

8. The vehicle body roll control method according to claim 1, characterized by, the determination of whether the target vehicle will roll according to the roll angle comprises: when the absolute value of the roll angle is greater than a first preset angle, obtaining a determination result that the target vehicle will roll.

9. A vehicle body roll control system characterized by comprising: comprises: 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 of any one of claims 1 to 8.

10. A vehicle body roll control device characterized by comprising: The vehicle body rollover control device is located in the vehicle body rollover control system, and the vehicle body rollover control system further comprises a plurality of execution devices, and the device comprises: a determination result acquisition module for acquiring the roll angle of the target vehicle and determining whether the target vehicle will roll according to the roll angle; a rollover risk level acquisition module for calculating the predicted rollover time of the target vehicle when the determination result indicates that the target vehicle will roll, and determining the rollover risk level of the target vehicle according to the predicted rollover time; an anti-rollover action determination module for determining 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 target execution device is one of the plurality of execution devices. The anti-rollover action execution module is configured to control the at least one target execution device to jointly execute the anti-rollover action until the target vehicle will not roll over.

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