Vehicle rollover prevention method, device and equipment, vehicle, storage medium and program

Abstract

The invention relates to a vehicle rollover prevention method, device and equipment, a vehicle, a storage medium and a program. The method comprises the steps that a turning instruction is obtained, wherein the turning instruction comprises turning torque; the centrifugal moment of the vehicle is determined according to the centrifugal force in the vehicle turning process and the turning radius of the vehicle; determining a target torque of the vehicle according to the centrifugal torque and the turning torque; and controlling the vehicle to turn according to the target moment. According to the technical scheme, the centrifugal torque determined by the centrifugal force in the turning process of the vehicle is compared with the torque requested by the automatic driving controller under the automatic driving working condition or the torque sent by the rocker under the remote control driving working condition, the minimum torque is selected as the target torque for turning, and the vehicle is controlled to turn according to the target torque. The turning torque in the turning process of the vehicle cannot exceed the centrifugal force limit value, and safe and stable running of the vehicle is guaranteed.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and in particular, to a vehicle rollover prevention method, device, equipment, vehicle, storage medium and program. Background Art

[0002] In the prior art, the torque during the turning process of a small autonomous driving vehicle in the autonomous driving mode is controlled only by the torque calculated by the ADU (Autonomous Driving Unit). The torque required during the turning process of the vehicle is determined by the torque control command issued by the autonomous driving. Sometimes the torque issued by the autonomous driving exceeds the boundary value of the centrifugal force when the vehicle is turning, causing the vehicle to roll over. When the vehicle is in the remote control driving mode, rollover may also occur when the driving force generated by the manual operation of the joystick is greater than the centrifugal force of the vehicle turning. Therefore, the problem of the risk of vehicle rollover caused by relying solely on the torque calculated by the ADU, or relying on human experience and feeling, is a technical problem that urgently needs to be solved. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides a vehicle anti-rollover method, device, equipment, vehicle, storage medium and program.

[0004] According to a first aspect of an embodiment of the present disclosure, a vehicle rollover prevention method is provided, comprising:

[0005] Obtaining a turning instruction, wherein the turning instruction includes a turning moment;

[0006] Determining the centrifugal moment of the vehicle according to the centrifugal force during the turning process of the vehicle and the turning radius of the vehicle;

[0007] determining a target torque of the vehicle according to the centrifugal torque and the turning torque;

[0008] The vehicle is controlled to turn according to the target torque.

[0009] Optionally, obtaining a turning instruction includes:

[0010] When the vehicle is operating in an automatic driving condition, the turning instruction issued by the automatic driving controller of the vehicle is obtained.

[0011] Optionally, obtaining a turning instruction includes:

[0012] When the vehicle is operating in a remote control driving condition, the turning instruction issued by the joystick of the vehicle is obtained.

[0013] Optionally, determining the centrifugal moment of the vehicle according to the centrifugal force during the turning process of the vehicle and the turning radius of the vehicle includes:

[0014] Obtaining the steering angle and running speed of the vehicle during turning by means of the vehicle controller;

[0015] Determining the centrifugal force of the vehicle during a turning process according to the steering angle, the running speed, the body length of the vehicle, and the mass of the vehicle;

[0016] The product of the centrifugal force and the turning radius of the vehicle is taken as the centrifugal moment of the vehicle.

[0017] Optionally, the calculation formula of the centrifugal force is:

[0018]

[0019] Where: F represents the magnitude of centrifugal force, unit: Newton (N);

[0020] m represents the mass of the vehicle, unit: kilogram (Kg);

[0021] v represents the running speed of the vehicle during the turning process, unit: meter per second (m / s);

[0022] Indicates the maximum steering angle of the vehicle, unit: degree;

[0023] C1 and C2 are constants, C1 is calibrated by the vehicle body length ÷ 2, and C2 is calibrated by one or more of the vehicle length, suspension system, center of mass height, tire pressure, and road friction coefficient.

[0024] According to a second aspect of an embodiment of the present disclosure, there is provided a vehicle rollover prevention device, comprising:

[0025] A first acquisition module, used to acquire a turning instruction, wherein the turning instruction includes a turning torque;

[0026] A second acquisition module, configured to determine the centrifugal moment of the vehicle according to the centrifugal force during the turning process of the vehicle and the turning radius of the vehicle;

[0027] a determination module, configured to determine a target torque of the vehicle according to the centrifugal torque and the turning torque;

[0028] A control module is used to control the vehicle to turn according to the target torque.

[0029] According to a third aspect of an embodiment of the present disclosure, there is provided an electronic device, including:

[0030] a memory having a computer program stored thereon;

[0031] A processor is used to execute the computer program in the memory to implement the steps of the vehicle rollover prevention method described in the first aspect of the embodiment of the present disclosure.

[0032] According to a fourth aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: the electronic device described in the third aspect of an embodiment of the present disclosure.

[0033] According to a fifth aspect of an embodiment of the present disclosure, a non-temporary computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle rollover prevention method described in the first aspect of an embodiment of the present disclosure are implemented.

[0034] According to a sixth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps of the vehicle rollover prevention method described in the first aspect of an embodiment of the present disclosure.

[0035] In the above technical solution, a turning instruction is obtained, the turning instruction includes a turning torque; the centrifugal torque of the vehicle is determined according to the centrifugal force during the turning process of the vehicle and the turning radius of the vehicle; the target torque of the vehicle is determined according to the centrifugal torque and the turning torque; and the vehicle is controlled to turn according to the target torque. Through the above technical solution, by comparing the centrifugal torque determined by the centrifugal force during the turning process of the vehicle with the torque requested by the automatic driving controller under the automatic driving condition or the torque issued by the joystick under the remote control driving condition, the minimum torque of the two is selected as the target torque for turning, and the vehicle is controlled to turn according to the target torque, it can be ensured that the turning torque of the vehicle during the turning process will not exceed the centrifugal force limit, and the safe and stable driving of the vehicle is ensured.

[0036] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0038] Figure 1 The figure is a flow chart of a method for preventing a vehicle from rolling over according to an exemplary embodiment.

[0039] Figure 2 The figure is a flow chart of another method for preventing a vehicle from rolling over according to an exemplary embodiment.

[0040] Figure 3 is a block diagram of yet another vehicle rollover prevention method according to an exemplary embodiment.

[0041] Figure 4 The figure is a block diagram of a vehicle anti-rollover device according to an exemplary embodiment.

[0042] Figure 5 is a block diagram of an electronic device 500 according to an exemplary embodiment. DETAILED DESCRIPTION

[0043] 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 embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0044] It is to be understood that, although the operations are described in a specific order in the drawings in the embodiments of the present disclosure, it should not be understood as requiring the operations to be performed in the specific order shown or in a serial order, or requiring the execution of all the operations shown to obtain the desired results. In certain environments, multitasking and parallel processing may be advantageous.

[0045] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0046] Centrifugal force refers to an inertial force received by an object during a turn or curved motion. For a car, the accuracy of the centrifugal force calculation is crucial to the risk of the vehicle rolling over when turning or driving at high speed. The applicant has found that in the current small autonomous driving vehicle, when the vehicle is operating in an autonomous driving condition, the torque value during the turning process is only calculated by the ADU, and the torque control command is sent through the ADU. The VCU (Vehicle Control Unit) sends a corresponding torque value based on the received torque signal to control the vehicle turning. If the magnitude of the torque value exceeds the magnitude of the centrifugal force of the vehicle turning, it will cause the vehicle to roll over. In remote control driving conditions, the driver often manipulates the joystick to turn the vehicle based on human experience and feeling. If the driver manipulates the joystick with too much torque, it will also cause the vehicle to roll over. In response to the above problems, the applicant has proposed a vehicle rollover prevention method. The vehicle rollover prevention method provided by the present disclosure is described below.

[0047] Figure 1 is a flow chart of a vehicle rollover prevention method according to an exemplary embodiment. Figure 1 As shown, the method includes:

[0048] In step S11 , a turning instruction is acquired, and the turning instruction includes a turning moment.

[0049] In step S12, the centrifugal moment of the vehicle is determined according to the centrifugal force of the vehicle during turning and the turning radius of the vehicle.

[0050] In step S13, the target torque of the vehicle is determined according to the centrifugal torque and the turning torque.

[0051] In step S14, the vehicle is controlled to turn according to the target torque.

[0052] Exemplarily, during a turning process, the vehicle obtains a turning instruction issued by a driving controller of the vehicle, where the driving controller includes an automatic driving controller operating under an automatic driving condition or a joystick operating under a remote control driving condition, and the turning instruction includes a turning torque.

[0053] It can be understood that the location where the vehicle generates centrifugal force is the center of mass, and the location where the centripetal force is generated is the contact point between the tire and the ground. The center of mass position is higher than the contact point position, and a resultant force will be generated between the two, which is the deflection torque, guiding the vehicle to turn.

[0054] After obtaining the centrifugal force during the vehicle's turning process, the centrifugal force can be multiplied by the turning radius of the vehicle to determine the centrifugal torque of the vehicle during the turning process. The centrifugal torque is compared with the turning torque, and the minimum torque of the two is taken as the target torque of the vehicle. During the vehicle turning process, the vehicle is controlled to turn according to the target torque, which can ensure that the turning torque during the vehicle turning process does not exceed the centrifugal torque limit that causes the vehicle to roll over, thereby ensuring safe and smooth driving of the vehicle.

[0055] Optionally, after determining the target torque, a filtering module is added to improve the stability of the system.

[0056] Optionally, step S11 may include:

[0057] When the vehicle is operating in an automatic driving condition, the turning instruction issued by the automatic driving controller of the vehicle is obtained.

[0058] Exemplarily, when the vehicle is operating in an automatic driving condition, the automatic driving controller of the vehicle will issue a turning command to control the vehicle to turn, and the turning command includes a turning command and a turning torque for controlling the vehicle to turn.

[0059] Optionally, step S11 includes:

[0060] When the vehicle is operating in a remote control driving condition, the turning instruction issued by the joystick of the vehicle is obtained.

[0061] Exemplarily, when the vehicle is operating in a remote control driving condition, the joystick of the vehicle will issue a steering request to turn, and the turning command issued by the joystick includes a steering command and a turning torque for controlling the turning of the vehicle.

[0062] Through the above technical scheme, the centrifugal torque determined by the centrifugal force during the vehicle's turning process is compared with the torque requested by the automatic driving controller under automatic driving conditions or the torque issued by the joystick under remote control driving conditions, and the minimum torque between the two is selected as the target torque for turning. The vehicle is controlled to turn according to the target torque, which can ensure that the turning torque of the vehicle during turning will not exceed the centrifugal force limit, thereby ensuring safe and smooth driving of the vehicle.

[0063] Figure 2 is a flow chart of another vehicle rollover prevention method according to an exemplary embodiment. Figure 2 As shown, step S12 includes:

[0064] In step S121, the steering angle and running speed of the vehicle during the turning process are obtained through the vehicle controller of the vehicle.

[0065] In step S122, the centrifugal force of the vehicle during the turning process is determined according to the steering angle, the running speed, the body length of the vehicle, and the mass of the vehicle.

[0066] In step S123, the product of the centrifugal force and the turning radius of the vehicle is used as the centrifugal moment of the vehicle.

[0067] Exemplarily, the steering angle and running speed of the vehicle are obtained through the vehicle controller of the vehicle. The centrifugal force of the vehicle during turning can be determined based on the steering angle, the running speed, the body length of the vehicle, and the mass of the vehicle. The centrifugal torque of the vehicle is determined by multiplying the centrifugal force by the turning radius of the vehicle.

[0068] Among them, the centrifugal force calculation formula can be expressed as:

[0069]

[0070] Where: F represents the magnitude of centrifugal force, unit: Newton (N);

[0071] m represents the mass of the car, unit: kilogram (Kg);

[0072] v represents the speed of the car during the turn, unit: meter / second (m / s);

[0073] r represents the turning radius, unit: meter (m).

[0074] Since the turning radius of the vehicle is unknown during driving, but the real-time steering angle is known, the centrifugal force calculation formula can be indirectly obtained through the vehicle turning radius. The calculation formula for the turning radius of the vehicle can be expressed as:

[0075]

[0076] Where: r represents the turning radius, unit: meter (m);

[0077] L represents the vehicle length, unit: meter (m);

[0078] Indicates the maximum steering angle of the vehicle, unit: degree.

[0079] Substituting the vehicle turning radius formula into the centrifugal force calculation formula, we get:

[0080]

[0081] Simplifying, the final centrifugal force calculation formula can be obtained as follows:

[0082]

[0083] Where: F represents the magnitude of centrifugal force, unit: Newton (N);

[0084] m represents the mass of the vehicle, unit: kilogram (Kg);

[0085] v represents the running speed of the vehicle during the turning process, unit: meter per second (m / s);

[0086] Indicates the maximum steering angle of the vehicle, unit: degree;

[0087] C1 and C2 are constants, C1 is calibrated by the vehicle body length ÷ 2, and C2 is calibrated by one or more of the vehicle length, suspension system, center of mass height, tire pressure, and road friction coefficient.

[0088] Through the above technical solution, the vehicle controller can monitor the steering angle in real time when the vehicle turns. The centrifugal force during vehicle turning is automatically calculated, and the centrifugal torque determined by the centrifugal force during vehicle turning is compared with the turning torque requested by the automatic driving controller under automatic driving conditions or the torque generated by the joystick under remote control driving conditions. The minimum torque between the two is selected as the target torque for turning, and the vehicle is controlled to turn according to the target torque. This can ensure that the turning torque during vehicle turning does not exceed the centrifugal force limit, thereby ensuring safe and smooth driving of the vehicle.

[0089] Figure 3 is a block diagram of another vehicle rollover prevention method according to an exemplary embodiment. Figure 3 As shown, the method includes:

[0090] Step S301: When it is detected that the vehicle begins to enter a turning state, if the vehicle is operating in an automatic driving condition, step S302 is executed; if the vehicle is operating in a remote control driving condition, step S303 is executed.

[0091] Step S302: When the vehicle is operating in an automatic driving condition, a turning instruction issued by the automatic driving controller of the vehicle is obtained.

[0092] Step S303: When the vehicle is operating in a remote control driving condition, a turning instruction issued by the vehicle's joystick is obtained.

[0093] Among them, the turning instruction may include a turning torque for controlling the vehicle to turn. The turning torque is determined by the automatic driving controller or the joystick, which has been introduced in the previous article and will not be repeated here.

[0094] Step S304, obtaining the centrifugal force of the vehicle during turning.

[0095] Among them, the method of obtaining centrifugal force has been introduced in the previous article and will not be repeated here.

[0096] Step S305: Compare the centrifugal torque determined by multiplying the centrifugal force and the turning radius with the turning torque, and select the minimum torque between the two as the target torque.

[0097] Step S306, controlling the vehicle to turn according to the target torque.

[0098] Figure 4 is a block diagram of a vehicle rollover prevention device according to an exemplary embodiment. Figure 4 As shown, the vehicle rollover prevention device 400 includes: a first acquisition module 401, a second acquisition module 402, a determination module 403 and a control module 404;

[0099] A first acquisition module 401 is used to acquire a turning instruction, where the turning instruction includes a turning torque;

[0100] A second acquisition module 402 is used to determine the centrifugal moment of the vehicle according to the centrifugal force of the vehicle during turning and the turning radius of the vehicle;

[0101] A determination module 403, configured to determine a target torque of the vehicle according to the centrifugal torque and the turning torque;

[0102] The control module 404 is used to control the vehicle to turn according to the target torque.

[0103] Optionally, the first acquisition module 401 is used to:

[0104] When the vehicle is operating in an automatic driving condition, the turning instruction issued by the automatic driving controller of the vehicle is obtained.

[0105] Optionally, the first acquisition module 401 is used to:

[0106] When the vehicle is operating in a remote control driving condition, the turning instruction issued by the joystick of the vehicle is obtained.

[0107] Optionally, the second acquisition module 402 is configured as: an acquisition submodule, a first determination submodule and a second determination submodule;

[0108] An acquisition submodule is used to acquire the steering angle and running speed of the vehicle during the turning process through the vehicle controller of the vehicle;

[0109] A first determination submodule, used to determine the centrifugal force of the vehicle during a turning process according to the steering angle, the running speed, the body length of the vehicle, and the mass of the vehicle;

[0110] The second determination submodule is configured to take the product of the centrifugal force and the turning radius of the vehicle as the centrifugal torque of the vehicle.

[0111] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0112] Figure 5 FIG. 5 is a block diagram of an electronic device 500 according to an exemplary embodiment. Figure 5 As shown, the electronic device 500 may include: a processor 501 and a memory 502. The electronic device 500 may also include one or more of a multimedia component 503, an input / output (I / O) interface 504, and a communication component 505.

[0113] The processor 501 is used to control the overall operation of the electronic device 500 to complete all or part of the steps in the above-mentioned vehicle rollover prevention method. The memory 502 is used to store various types of data to support the operation of the electronic device 500, and these data may include, for example, instructions for any application or method used to operate on the electronic device 500, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 502 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 503 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 502 or sent through the communication component 505. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 504 provides an interface between the processor 501 and other interface modules, and the above-mentioned other interface modules may be keyboards, mice, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 505 is used for wired or wireless communication between the electronic device 500 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 505 may include: Wi-Fi module, Bluetooth module, NFC module, etc.

[0114] In an exemplary embodiment, the electronic device 500 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned vehicle rollover prevention method.

[0115] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned vehicle rollover prevention method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 502 including program instructions, and the above-mentioned program instructions can be executed by the processor 501 of the electronic device 500 to complete the above-mentioned vehicle rollover prevention method.

[0116] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above-mentioned vehicle rollover prevention method when executed by the programmable device.

[0117] The embodiment of the present disclosure also provides a vehicle, which may include the above-mentioned electronic device 500.

[0118] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0119] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0120] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle rollover prevention method, characterized in that: include: Obtaining a turning instruction, wherein the turning instruction includes a turning moment; Determining the centrifugal moment of the vehicle according to the centrifugal force during the turning process of the vehicle and the turning radius of the vehicle; determining a target torque of the vehicle according to the centrifugal torque and the turning torque; The vehicle is controlled to turn according to the target torque.

2. The method according to claim 1, characterized in that The obtaining of the turning instruction comprises: When the vehicle is operating in an automatic driving condition, the turning instruction issued by the automatic driving controller of the vehicle is obtained.

3. The method according to claim 1, characterized in that: The step of obtaining a turning instruction comprises: When the vehicle is operating in a remote control driving condition, the turning instruction issued by the joystick of the vehicle is obtained.

4. The method according to claim 1, characterized in that The determining the centrifugal moment of the vehicle according to the centrifugal force during the turning process of the vehicle and the turning radius of the vehicle includes: Obtaining the steering angle and running speed of the vehicle during turning by means of the vehicle controller; Determining the centrifugal force of the vehicle during a turning process according to the steering angle, the running speed, the body length of the vehicle, and the mass of the vehicle; The product of the centrifugal force and the turning radius of the vehicle is taken as the centrifugal moment of the vehicle.

5. The method according to claim 4, characterized in that The calculation formula of the centrifugal force is: Where: F represents the magnitude of centrifugal force; m represents the mass of the vehicle; v represents the running speed of the vehicle during the turning process; Indicates the maximum steering angle of the vehicle; C1 and C2 are constants, C1 is calibrated by the vehicle body length ÷ 2, and C2 is calibrated by one or more of the vehicle length, suspension system, center of mass height, tire pressure, and road friction coefficient.

6. A vehicle rollover prevention device, characterized in that: include: A first acquisition module, used to acquire a turning instruction, wherein the turning instruction includes a turning torque; A second acquisition module, configured to determine the centrifugal moment of the vehicle according to the centrifugal force during the turning process of the vehicle and the turning radius of the vehicle; a determination module, configured to determine a target torque of the vehicle according to the centrifugal torque and the turning torque; A control module is used to control the vehicle to turn according to the target torque.

7. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 5.

8. A vehicle, characterized in that: include: The electronic device according to claim 7.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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