Vehicle roll-over prevention method, device, apparatus, vehicle, storage medium and program

Abstract

The present disclosure relates to a vehicle rollover prevention method, device, equipment, vehicle, storage medium and program. The method comprises: obtaining a turning instruction, the turning instruction comprising a turning torque; determining a centrifugal torque of the vehicle according to a centrifugal force in the turning process of the vehicle and a 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 torque. Through the above technical solution, by comparing the centrifugal torque determined by the centrifugal force in the turning process of the vehicle with the torque requested by the automatic driving controller in the automatic driving working condition or the torque issued by the joystick in the remote control driving working condition, the minimum torque in the two is selected as the target torque for turning, and the vehicle is controlled to turn according to the target torque, which can ensure that the turning torque in the turning process of the vehicle does not exceed the centrifugal force limit value, and the vehicle can travel safely and smoothly.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle control technology, specifically to a method, device, equipment, vehicle, storage medium, and program for preventing vehicle rollover. Background Technology

[0002] In existing technologies, the torque required for turning in small autonomous vehicles during autonomous driving mode is controlled solely by the torque calculated by the ADU (Autonomous Driving Unit). The torque required during turning is determined by the torque control commands issued by the autonomous driving system. However, sometimes the torque issued by the autonomous driving system exceeds the boundary value of the centrifugal force during turning, leading to vehicle rollover. Similarly, when the vehicle is in remote driving mode, rollover can also occur if the driving force generated by manually operating the joystick exceeds the centrifugal force required for turning. Therefore, addressing the risk of vehicle rollover caused by relying solely on the torque calculated by the ADU or on human experience and intuition is a pressing technical problem that needs to be solved. Summary of the Invention

[0003] To overcome the problems existing in related technologies, this disclosure provides a method, device, equipment, vehicle, storage medium, and program for preventing vehicle rollover.

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

[0005] Obtain a turning command, wherein the turning command includes a turning torque;

[0006] The centrifugal torque of the vehicle is determined based on the centrifugal force and the turning radius of the vehicle during the turning process.

[0007] The target torque of the vehicle is determined based on the centrifugal torque and the turning torque;

[0008] Control the vehicle to turn according to the target torque.

[0009] Optionally, obtaining the turning command includes:

[0010] When the vehicle is operating in autonomous driving mode, the turning command issued by the vehicle's autonomous driving controller is obtained.

[0011] Optionally, obtaining the turning command includes:

[0012] When the vehicle is operating in remote driving mode, the turning command issued by the joystick of the vehicle is obtained.

[0013] Optionally, determining the centrifugal torque of the vehicle based on the centrifugal force during the vehicle's turning process and the vehicle's turning radius includes:

[0014] The vehicle's steering angle and speed during the turning process are obtained through the vehicle's overall controller;

[0015] The centrifugal force during the vehicle's turning process is determined based on the steering angle, the operating speed, the vehicle's body length, and the vehicle's mass.

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

[0017] Optionally, the formula for calculating the centrifugal force is:

[0018]

[0019] In the formula: F represents the magnitude of centrifugal force, and the unit is Newton (N);

[0020] m represents the mass of the vehicle, in kilograms (Kg).

[0021] v represents the vehicle's speed during the turning process, measured in meters per second (m / s).

[0022] This indicates the vehicle's maximum steering angle, in degrees.

[0023] C1 and C2 are constants. C1 is determined by dividing the vehicle length by 2, and C2 is determined by one or more of the following: vehicle length, suspension system, center of gravity height, tire pressure, and road friction coefficient.

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

[0025] The first acquisition module is used to acquire a turning command, the turning command including a turning torque;

[0026] The second acquisition module is used to determine the centrifugal torque of the vehicle based on the centrifugal force and the turning radius of the vehicle during the turning process.

[0027] The determining module is used to determine the target torque of the vehicle based on the centrifugal torque and the turning torque;

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

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

[0030] A memory on which computer programs are stored;

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

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

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

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

[0035] In the above technical solution, a turning command is obtained, which includes a turning torque; the centrifugal torque of the vehicle is determined based on the centrifugal force and the turning radius of the vehicle during the turning process; a target torque of the vehicle is determined based on the centrifugal torque and the turning torque; and the vehicle is controlled to turn according to the target torque. Through this technical solution, by comparing the centrifugal torque determined from the centrifugal force during the vehicle's turning process with the torque requested by the autonomous driving controller under autonomous driving conditions or the torque emitted by the joystick under remote driving conditions, the minimum torque of the two is selected as the target torque for turning. Controlling the vehicle to turn according to this target torque ensures that the turning torque during the vehicle's turning process will not exceed the centrifugal force limit, thus ensuring the safe and stable driving of the vehicle.

[0036] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0037] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0038] Figure 1 This is a flowchart illustrating a vehicle rollover prevention method according to an exemplary embodiment.

[0039] Figure 2 This is a flowchart illustrating another method for preventing vehicle rollover according to an exemplary embodiment.

[0040] Figure 3 This is a block diagram illustrating yet another method for preventing vehicle rollover, according to an exemplary embodiment.

[0041] Figure 4 This is a block diagram illustrating a vehicle rollover prevention device according to an exemplary embodiment.

[0042] Figure 5 This is a block diagram illustrating an electronic device 500 according to an exemplary embodiment. Detailed Implementation

[0043] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

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

[0045] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0046] Centrifugal force refers to the inertial force experienced by an object during turning or curved motion. For automobiles, the accuracy of centrifugal force calculation is crucial to reducing the risk of rollover during high-speed turns or driving. The applicant has found that currently, in small autonomous vehicles operating in autonomous driving mode, the torque value during turning is calculated solely by the ADU (Autonomous Driving Unit) and then sends torque control commands. The VCU (Vehicle Control Unit) issues a corresponding torque value based on the received torque signal to control the vehicle's turn. If the torque value exceeds the magnitude of the centrifugal force required for turning, it can cause the vehicle to roll over. In remote-controlled driving mode, the driver often relies on experience and intuition to manipulate the joystick for turning. If the driver applies excessive torque to the joystick, it can also cause the vehicle to roll over. To address these issues, the applicant has proposed a vehicle rollover prevention method. The following is a description of the vehicle rollover prevention method provided in this disclosure.

[0047] Figure 1 This is a flowchart illustrating a vehicle rollover prevention method according to an exemplary embodiment, such as... Figure 1 As shown, the method includes:

[0048] In step S11, a turning command is obtained, which includes a turning torque.

[0049] In step S12, the centrifugal torque of the vehicle is determined based on the centrifugal force and the turning radius of the vehicle during the turning process.

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

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

[0052] For example, during a turn, the vehicle receives a turn command from its driving controller, which may include an autonomous driving controller operating in autonomous driving mode or a joystick operating in remote driving mode, and the turn command includes a turn torque.

[0053] It is understandable that the centrifugal force of a vehicle is generated at its center of mass, while the centripetal force is generated at the contact point between the tire and the ground. Since the center of mass is higher than the contact point, a resultant force, known as the turning torque, is generated between the two, guiding the vehicle to turn.

[0054] After obtaining the centrifugal force during the vehicle's turn, the centrifugal force can be multiplied by the vehicle's turning radius to determine the centrifugal torque during the turn. The centrifugal torque is then compared with the turning torque, and the minimum torque between the two is taken as the target torque for the vehicle. During the turn, the vehicle's turn is controlled according to the target torque, which ensures that the turning torque during the turn will not exceed the centrifugal torque limit that would cause the vehicle to overturn, thus ensuring the vehicle's safe and stable driving.

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

[0056] Optionally, step S11 may include:

[0057] When the vehicle is operating in autonomous driving mode, the turning command issued by the vehicle's autonomous driving controller is obtained.

[0058] For example, when the vehicle is operating in autonomous driving mode, the vehicle's autonomous driving controller will issue a turning command to control the vehicle to turn. The turning command includes a turning instruction and a turning torque to control the vehicle to turn.

[0059] Optionally, step S11 includes:

[0060] When the vehicle is in remote driving mode, the turning command issued by the joystick of the vehicle is obtained.

[0061] For example, when the vehicle is operating in remote driving mode, the vehicle's joystick will issue a steering request to turn. The turning command issued by the joystick includes a steering command to control the vehicle to turn and a turning torque.

[0062] By comparing the centrifugal torque determined by the centrifugal force during the vehicle's turning process with the torque requested by the autonomous driving controller under autonomous driving conditions or the torque emitted by the joystick under remote driving conditions, the minimum torque of the two is selected as the target torque for turning. By controlling the vehicle to turn according to this target torque, it is possible to ensure that the turning torque during the vehicle's turning process does not exceed the centrifugal force limit, thus ensuring the safe and stable driving of the vehicle.

[0063] Figure 2 This is a flowchart illustrating another vehicle rollover prevention method according to an exemplary embodiment, such as... Figure 2 As shown, step S12 includes:

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

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

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

[0067] For example, the vehicle's steering angle and operating speed are obtained through the vehicle controller. Based on the steering angle, operating speed, vehicle body length, and vehicle mass, the centrifugal force during the vehicle's turning process can be determined. By multiplying the centrifugal force by the vehicle's turning radius, the vehicle's centrifugal torque can be determined.

[0068] The formula for calculating centrifugal force can be expressed as:

[0069]

[0070] In the formula: F represents the magnitude of centrifugal force, and the unit is Newton (N);

[0071] m represents the mass of the car, in kilograms (Kg).

[0072] v represents the speed of the car during the turn, measured in meters per second (m / s).

[0073] r represents the turning radius, in meters (m).

[0074] Since the turning radius of a vehicle is unknown during driving, but the real-time steering angle is known, the formula for calculating centrifugal force can be indirectly obtained from the vehicle's turning radius. This formula for calculating the turning radius of a vehicle can be expressed as:

[0075]

[0076] In the formula: r represents the turning radius, in meters (m);

[0077] L represents the vehicle length, in meters (m).

[0078] This indicates the vehicle's maximum steering angle, in degrees.

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

[0080]

[0081] Simplifying, we can obtain the final formula for calculating centrifugal force as follows:

[0082]

[0083] In the formula: F represents the magnitude of centrifugal force, and the unit is Newton (N);

[0084] m represents the mass of the vehicle, in kilograms (Kg).

[0085] v represents the vehicle's speed during the turning process, measured in meters per second (m / s).

[0086] This indicates the vehicle's maximum steering angle, in degrees.

[0087] C1 and C2 are constants. C1 is determined by dividing the vehicle length by 2, and C2 is determined by one or more of the following: vehicle length, suspension system, center of gravity height, tire pressure, and road friction coefficient.

[0088] Using the above technical solution, the vehicle controller can monitor the steering angle in real time when the vehicle is turning. The system automatically calculates the centrifugal force during vehicle turning, compares the determined centrifugal torque with the turning torque requested by the autonomous driving controller under autonomous driving conditions or the torque emitted by the joystick under remote driving conditions, and selects the minimum torque between the two as the target torque for turning. The system controls the vehicle to turn according to this target torque, ensuring that the turning torque during the vehicle's turn does not exceed the centrifugal force limit, thus ensuring the vehicle's safe and stable driving.

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

[0090] Step S301: When the vehicle is detected to be entering a turning state, if the vehicle is operating in an autonomous driving mode, then proceed to step S302; if the vehicle is operating in a remote driving mode, then proceed to step S303.

[0091] Step S302: When the vehicle is operating in autonomous driving mode, obtain the turning command issued by the vehicle's autonomous driving controller.

[0092] Step S303: When the vehicle is in remote driving mode, obtain the turning command issued by the joystick of the vehicle.

[0093] The turning command may include a turning torque for controlling the vehicle to turn. This turning torque is determined by the automatic driving controller or joystick, as described above, and will not be repeated here.

[0094] Step S304: Obtain the centrifugal force during the vehicle's turning process.

[0095] The method for obtaining centrifugal force has already been introduced above and will not be repeated here.

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

[0097] Step S306: Control the vehicle to turn according to the target torque.

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

[0099] The first acquisition module 401 is used to acquire a turning command, which includes a turning torque.

[0100] The second acquisition module 402 is used to determine the centrifugal torque of the vehicle based on the centrifugal force and the turning radius of the vehicle during the turning process.

[0101] The determining module 403 is used to determine the target torque of the vehicle based on 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 for:

[0104] When the vehicle is operating in autonomous driving mode, the turning command issued by the vehicle's autonomous driving controller is obtained.

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

[0106] When the vehicle is in remote driving mode, the turning command 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] The acquisition submodule is used to acquire the steering angle and running speed of the vehicle during the turning process through the vehicle controller.

[0109] The first determining submodule is used to determine the centrifugal force of the vehicle during the turning process based on the steering angle, the running speed, the vehicle body length, and the vehicle mass.

[0110] The second determining submodule is used to multiply the centrifugal force by the turning radius of the vehicle as the centrifugal torque of the vehicle.

[0111] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0112] Figure 5 This is a block diagram illustrating an electronic device 500 according to an exemplary embodiment. For example... 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 controls the overall operation of the electronic device 500 to complete all or part of the steps in the aforementioned vehicle rollover prevention method. The memory 502 stores various types of data to support the operation of the electronic device 500. This data may include, for example, instructions for any application or method operating 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 (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Multimedia component 503 may include a screen and an audio component. The screen may be, for example, a touchscreen, 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 signals may be further stored in memory 502 or transmitted via communication component 505. The audio component also includes at least one speaker for outputting audio signals. I / O interface 504 provides an interface between processor 501 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. 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 technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 505 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0114] In an exemplary embodiment, the electronic device 500 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the vehicle rollover prevention method described above.

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

[0116] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described vehicle rollover prevention method when executed by the programmable device.

[0117] This disclosure also provides a vehicle that may include the aforementioned electronic device 500.

[0118] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this 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, this disclosure will not describe the various possible combinations separately.

[0120] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A vehicle roll-over prevention method, characterized by, The method comprises: obtaining a turning instruction, the turning instruction comprising a turning moment; determining a centrifugal moment of the vehicle according to a centrifugal force during turning of the vehicle and a turning radius of the vehicle; determining a target moment of the vehicle according to the centrifugal moment and the turning moment; controlling the vehicle to turn according to the target moment; wherein the centrifugal force is calculated according to the following formula: wherein F represents the size of the centrifugal force; m represents the mass of the vehicle; v represents the running speed of the vehicle during turning. denotes the maximum steering angle of the vehicle; , is constant, calibrated by the body length ÷ 2, calibrated by one or more of the body length, the suspension system, the height of the center of mass, the tire pressure, the road friction coefficient.

2. The method of claim 1, wherein, The obtaining of the turning instruction comprises: when the vehicle is running in an automatic driving mode, obtaining the turning instruction sent by an automatic driving controller of the vehicle.

3. The method of claim 1, wherein, The obtaining of the turning instruction comprises: when the vehicle is running in a remote control driving mode, obtaining the turning instruction sent by a joystick of the vehicle.

4. The method of claim 1, wherein, The determination of the centrifugal moment of the vehicle according to the centrifugal force during turning of the vehicle and the turning radius of the vehicle comprises: obtaining a steering angle and a running speed during turning of the vehicle through a vehicle controller of the vehicle; determining a centrifugal force during turning of the vehicle according to the steering angle, the running speed, the length of the vehicle body, and the mass of the vehicle; multiplying the centrifugal force by the turning radius of the vehicle to obtain the centrifugal moment of the vehicle.

5. A vehicle roll-over prevention device characterized by comprising: The method comprises: a first obtaining module configured to obtain a turning instruction, the turning instruction comprising a turning moment; a second obtaining module configured to determine a centrifugal moment of the vehicle according to a centrifugal force during turning of the vehicle and a turning radius of the vehicle; a determining module configured to determine a target moment of the vehicle according to the centrifugal moment and the turning moment; a control module configured to control the vehicle to turn according to the target moment; wherein the centrifugal force is calculated according to the following formula: wherein F represents the size of the centrifugal force; m represents the mass of the vehicle; v represents the running speed of the vehicle during turning. denotes the maximum steering angle of the vehicle; , is constant, calibrated by the body length ÷ 2, calibrated by one or more of the body length, the suspension system, the height of the center of mass, the tire pressure, the road friction coefficient.

6. An electronic device, comprising: The method comprises: 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 1-4.

7. A vehicle characterized by comprising: The electronic device comprises: the electronic device according to claim 6.

8. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method according to any one of claims 1-4.

9. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method according to any one of claims 1-4. The computer program is executed by the processor to implement the steps of the method according to any one of claims 1-4.

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