Vehicle body attitude control method, electronic device, computer program product and vehicle

Abstract

The invention discloses a vehicle body posture control method, electronic equipment, a computer program product and a vehicle. The vehicle body posture control method comprises the steps that it is determined that the vehicle is in a leap working condition; determining a vehicle-to-ground attitude value according to the vehicle-to-ground distance value; and when the vehicle-to-ground attitude value meets the attitude adjustment condition, attitude adjustment is conducted on the vehicle body. According to the method, the ground posture of the vehicle can be recognized, the posture of the vehicle body can be adjusted under the vehicle leap working condition, the vehicle can stably land, tire burst or rollover caused by rapid increase of the ground contact point load at the landing moment due to two-wheel landing when the vehicle lands is avoided, the driving safety of the vehicle is improved, and the personal safety of passengers is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a vehicle body posture control method, an electronic device, a computer-readable storage medium, a computer program product and a vehicle. Background Art

[0002] In the related technology, the vehicle's posture is not adjusted during the leap process, especially under extreme leap conditions of medium and long distances. The pitch angle of the vehicle to the ground will gradually increase during the leap process. When the vehicle lands, it may cause both wheels of the vehicle to touch the ground. The load at the contact point increases rapidly at the moment of landing, causing the risk of tire blowout. In severe cases, the vehicle may roll over, threatening the personal safety of the occupants. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present invention is to provide a vehicle body posture control method, which can identify the vehicle's posture relative to the ground, adjust the vehicle body posture under the vehicle leaping condition, make the vehicle land smoothly, avoid the two wheels of the vehicle landing on the ground, and cause the load at the landing point to increase rapidly, causing tire blowout or rollover, thereby improving the driving safety of the vehicle and ensuring the personal safety of the passengers.

[0004] A second objective of the present invention is to provide an electronic device.

[0005] A third object of the present invention is to provide a computer-readable storage medium.

[0006] A fourth object of the present invention is to provide a computer program product.

[0007] A fifth object of the present invention is to provide a vehicle.

[0008] In order to solve the above problems, an embodiment of the first aspect of the present invention provides a vehicle body posture control method, including: determining that a vehicle is in a flying condition; determining a vehicle-to-ground posture value based on a vehicle-to-ground distance value; and adjusting the posture of the vehicle body when the vehicle-to-ground posture value meets a posture adjustment condition.

[0009] According to the vehicle body posture control method of the embodiment of the present invention, when it is determined that the vehicle is in a leaping condition, the vehicle-ground distance value is obtained, and the vehicle-ground posture value is determined by the vehicle-ground distance value. After the vehicle-ground posture value meets the posture adjustment condition, the vehicle body is posture adjusted under the vehicle leaping condition to make the vehicle land smoothly, avoid the two wheels touching the ground when the vehicle lands, which causes the load at the contact point to increase rapidly at the moment of landing, causing a tire blowout or rollover, thereby improving the driving safety of the vehicle and ensuring the personal safety of the occupants.

[0010] In some embodiments, determining that the vehicle is in a flying condition includes: the maximum detection distance value of the vehicle to the ground is greater than the vehicle ground clearance threshold; wherein the maximum detection distance value is the maximum value of a plurality of vehicle-to-ground distance values, and the plurality of vehicle-to-ground distance values ​​are the relative distances between a plurality of distance measurement points on the vehicle and the ground.

[0011] In some embodiments, the vehicle-to-ground posture value includes a vehicle-to-ground posture distance value; determining the vehicle-to-ground posture value based on the vehicle-to-ground distance includes: obtaining a vehicle-to-ground reference distance value at a current moment; obtaining the vehicle-to-ground posture distance value corresponding to each ranging point on the vehicle based on the vehicle-to-ground distance value corresponding to each ranging point and the vehicle-to-ground reference distance value.

[0012] In some embodiments, the vehicle-to-ground reference distance value is a minimum value among a plurality of vehicle-to-ground distance values, and the plurality of vehicle-to-ground distance values ​​are relative distances between a plurality of ranging points on the vehicle and the ground.

[0013] In some embodiments, the vehicle-to-ground attitude distance value corresponding to each ranging point is calculated by the following formula: ; in, is the vehicle-to-ground attitude distance value corresponding to the mth ranging point, is the vehicle-to-ground distance value corresponding to the mth ranging point, is the relative distance between the distance measuring point and the ground when the vehicle is in a horizontal state, is the reference distance value of the vehicle to the ground.

[0014] In some embodiments, the vehicle-to-ground posture value satisfies the posture adjustment condition, including: the maximum vehicle-to-ground posture distance value of the vehicle is greater than the vehicle ground clearance threshold, wherein the maximum vehicle-to-ground posture distance value is the maximum value of multiple vehicle-to-ground posture distance values ​​corresponding to multiple ranging points on the vehicle.

[0015] In some embodiments, adjusting the posture of a vehicle body includes: determining a target front wheel speed value and a target rear wheel speed value of the vehicle according to the vehicle body posture at a current moment.

[0016] In some embodiments, the vehicle body posture is determined based on the vehicle-to-ground distance values ​​corresponding to multiple ranging points on the vehicle.

[0017] In some embodiments, determining the target front wheel speed value and target rear wheel speed value of the vehicle based on the vehicle body posture at the current moment includes: when the vehicle body posture is a head-up posture, the target front wheel speed value is less than the front wheel speed value at the current moment, and the target rear wheel speed value is less than the rear wheel speed value at the current moment; when the vehicle body posture is a head-down posture, the target front wheel speed value is greater than the front wheel speed value at the current moment, and the target rear wheel speed value is greater than the rear wheel speed value at the current moment.

[0018] In some embodiments, when the vehicle body posture is a head-up posture, the target front wheel speed is the speed difference between the front wheel speed at the current moment and the first speed regulation step, and the target rear wheel speed is the speed difference between the rear wheel speed at the current moment and the second speed regulation step.

[0019] In some embodiments, when the vehicle body posture is a head-down posture, the target front wheel speed is the sum of the front wheel speed at the current moment and the speed of the first speed regulation step, and the target rear wheel speed is the sum of the rear wheel speed at the current moment and the speed of the second speed regulation step.

[0020] In some embodiments, the first speed regulation step is k equally divided values ​​of the first speed regulation difference, the first speed regulation difference is the speed difference between the maximum allowable front wheel speed of the vehicle and the front wheel speed at the current moment, wherein k is a positive integer greater than 1.

[0021] In some embodiments, the second speed regulation step is k equally divided values ​​of the second speed regulation difference, where the second speed regulation difference is the speed difference between the maximum allowable rear wheel speed of the vehicle and the rear wheel speed at the current moment, where k is a positive integer greater than 1.

[0022] In some embodiments, the vehicle body posture control method further includes: when the vehicle's ground posture value satisfies an exit posture adjustment condition, the front and rear wheel speeds of the vehicle are adjusted to the front and rear wheel speed values ​​before the vehicle body posture adjustment.

[0023] In some embodiments, the vehicle-to-ground posture value satisfies the exit posture adjustment condition including: the maximum vehicle-to-ground posture distance value of the vehicle is less than the vehicle ground clearance threshold.

[0024] A second aspect of the present invention provides an electronic device, comprising: at least one processor; a memory communicatively connected to the at least one processor; the memory storing a computer program executable by the at least one processor, wherein the at least one processor implements the vehicle body posture control method described in the above embodiment when executing the computer program.

[0025] According to the electronic device of the embodiment of the present invention, the corresponding vehicle body posture control program can be stored in the memory. When the vehicle body posture control method is implemented, the processor runs the program in the memory. When it is determined that the vehicle is in a flying condition, the posture of the vehicle body is adjusted to make the vehicle land smoothly, avoiding the situation where the two wheels of the vehicle touch the ground, causing the load at the contact point to increase rapidly at the moment of landing, causing a tire blowout or rollover, thereby improving the driving safety of the vehicle and ensuring the personal safety of the occupants.

[0026] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed, implements the vehicle body posture control method described in the above embodiment.

[0027] A fourth aspect of the present invention provides a computer program product, which includes a computer program stored on a computer-readable storage medium, wherein the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the vehicle body posture control method described in the above embodiment.

[0028] A fifth aspect of the present invention provides a vehicle, the vehicle includes the electronic device described in the above embodiment; or, the vehicle includes multiple ranging devices and a controller, the ranging device is used to detect the distance value of the vehicle to the ground, the controller is connected to each of the ranging devices, and the controller is used to execute the vehicle body posture control method described in the above embodiment.

[0029] According to the vehicle of the embodiment of the present invention, when it is determined that the vehicle is in a leaping condition, the controller controls the distance measuring device to obtain the vehicle-to-ground distance value in real time, determines the vehicle-to-ground posture value according to the vehicle-to-ground distance value, and after the vehicle-to-ground posture value meets the posture adjustment condition, the controller controls the vehicle body to adjust the posture, so that the vehicle lands smoothly, avoiding the situation where the two wheels of the vehicle touch the ground, causing the load at the contact point to increase rapidly at the moment of landing, causing a tire blowout or rollover, thereby improving the driving safety of the vehicle and ensuring the personal safety of the occupants.

[0030] In some embodiments, a plurality of distance measuring devices are disposed at a plurality of distance measuring points on the chassis of the vehicle to detect vehicle-to-ground distance values ​​corresponding to the plurality of distance measuring points.

[0031] In some embodiments, the plurality of distance measuring devices are distributed symmetrically along the length direction of the vehicle.

[0032] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a flow chart of a vehicle body posture control method according to an embodiment of the present invention; Figure 2 is a flow chart of a vehicle flying attitude adjustment control strategy according to an embodiment of the present invention; Figure 3 is a structural block diagram of an electronic device according to an embodiment of the present invention; Figure 4 is a structural block diagram of a vehicle according to an embodiment of the present invention; Figure 5 is a structural block diagram of a vehicle according to an embodiment of the present invention; Figure 6 It is a schematic diagram of the arrangement position of the distance measuring device according to an embodiment of the present invention.

[0034] Reference numerals: Vehicle 200; Electronic device 100; processor 101; memory 102; distance measuring device 201; controller 202. DETAILED DESCRIPTION

[0035] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0036] Leaping conditions are special user conditions that must be considered during the design and development phase of the vehicle. When the vehicle is driving on a racetrack section, when facing discontinuous sections in situations such as ramp jumping and stunt performances, the vehicle often crosses the current section through its own inertia to ensure the continuity of the vehicle's driving. At present, the research on vehicle leaping conditions is mainly focused on suspension performance and chassis component strength to optimize the driving comfort and structural performance of the vehicle during the leap and landing. It is worth noting that in addition to the above aspects, the posture adjustment of the vehicle during the leap also needs to be paid attention to, especially in extreme leaping conditions of medium and long distances. The pitch angle of the vehicle to the ground will gradually increase during the leap process. When the vehicle lands, the vehicle may land on both wheels at the least, and the load at the contact point at the moment of landing will increase rapidly, causing the risk of tire blowout; in severe cases, the vehicle may roll over, threatening the personal safety of the occupants.

[0037] In the prior art, the main focus is on the motion posture recognition of the vehicle during road movement, collecting the occupant's body posture, vehicle slope and vehicle suspension travel to calculate the vehicle's current motion posture, and taking the vehicle suspension height in the horizontal driving state as the target motion posture for adaptive suspension height adjustment. For this type of method, since the vehicle slope and suspension travel are used as posture recognition references, this type of method is limited to the posture recognition problem in the road driving state of the vehicle, and cannot effectively handle the body posture analysis in the leaping condition; on the other hand, since the road condition information is often unknown when the vehicle lands in the leaping condition, it is impossible to use the flat road surface as the body posture adjustment target, so the body posture adjustment target of this method is not applicable in the leaping condition.

[0038] Another existing method is to collect vehicle ground environment information and aerial environment information through vehicle-mounted cameras, and perform feature training and information fusion through neural networks to determine the vehicle's current motion posture. This method mainly uses image machine learning methods to recognize vehicle postures, but because the method itself involves high-precision sensor devices such as image acquisition, on the one hand, it increases the configuration cost of the vehicle, and on the other hand, it also causes the posture recognition results to be heavily dependent on the clarity of the image information, which greatly affects the recognition effect under different road conditions and different scenes.

[0039] In order to solve the above problems, an embodiment of the first aspect of the present invention provides a vehicle body posture control method, which can identify the vehicle's posture relative to the ground, adjust the posture of the vehicle body under the vehicle's flying condition, so that the vehicle can land smoothly, avoid the situation where both wheels touch the ground when the vehicle lands, causing the load at the contact point to increase rapidly at the moment of landing, causing a tire blowout or rollover, thereby improving the vehicle's driving safety and ensuring the personal safety of the occupants.

[0040] Reference below Figure 1 A vehicle body posture control method according to an embodiment of the first aspect of the present invention is described as follows: Figure 1 As shown, the method at least includes steps S1 to S3.

[0041] Step S1, determining that the vehicle is in a flying condition.

[0042] Specifically, to determine whether the vehicle is in a leaping condition, it is usually necessary to judge based on the driving status of the vehicle. When the vehicle is in a leaping condition, the height of the vehicle will first rise and then fall, forming a parabola or a similar trajectory. The height change of the vehicle can be judged by detecting the distance between the vehicle and the ground. During the leaping process, due to the effects of gravity and inertia, the body posture may change, such as tilt, pitch, etc. To ensure the safety of the vehicle, when it is determined that the vehicle is in a leaping condition, the body posture is adjusted in real time to ensure that the vehicle lands smoothly at the end of the leap.

[0043] Step S2, determining the vehicle-to-ground posture value according to the vehicle-to-ground distance value.

[0044] Specifically, the vehicle's ground attitude value is a value that describes the vehicle's inclination relative to the ground, which may include pitch angle, yaw angle, etc. The vehicle's ground distance value is first detected by a distance measuring device. For example, a laser radar, ultrasonic sensor, etc. are used to measure the distance between the vehicle and the ground. These sensors can provide high-precision distance data, but it is necessary to pay attention to factors such as the installation position, measurement range and accuracy of the distance measuring device. Based on the detection, multiple ground distance measurement values ​​of the bottom of the vehicle are obtained, and the vehicle's ground attitude value is calculated. The vehicle's current attitude is determined based on the vehicle's ground attitude value, and it is determined whether the vehicle's current attitude needs to be adjusted.

[0045] Step S3, when the vehicle's attitude value relative to the ground meets the attitude adjustment condition, the attitude of the vehicle body is adjusted.

[0046] Specifically, the vehicle's ground posture threshold is first determined, and a reasonable ground posture threshold is set according to different vehicle types. After obtaining multiple ground distance measurement values ​​of the bottom of the vehicle based on detection and calculating the vehicle's ground posture value, the calculated vehicle ground posture value is compared with the ground posture threshold. If the vehicle's ground posture value at the current moment is greater than the ground posture threshold, the vehicle posture is adjusted and the user is prompted. When adjusting the body posture, according to the established adjustment strategy, the vehicle power system adjusts the speed of the front and rear wheels at corresponding steps respectively, thereby changing the body posture to keep the vehicle stable. After the posture adjustment is executed, the vehicle's ground posture value is judged again to determine whether to continue adjusting until the vehicle is stable, to ensure that the vehicle posture achieves the expected effect and meets safety requirements when the vehicle lands.

[0047] According to the vehicle body posture control method of the embodiment of the present invention, when it is determined that the vehicle is in a leaping condition, the vehicle-ground distance value is obtained, and the vehicle-ground posture value is determined by the vehicle-ground distance value. After the vehicle-ground posture value meets the posture adjustment condition, the vehicle body is posture adjusted under the vehicle leaping condition to make the vehicle land smoothly, avoid the two wheels touching the ground when the vehicle lands, which causes the load at the contact point to increase rapidly at the moment of landing, causing a tire blowout or rollover, thereby improving the driving safety of the vehicle and ensuring the personal safety of the occupants.

[0048] In some embodiments, determining that the vehicle is in a flying condition includes: a maximum detection distance value of the vehicle to the ground is greater than a threshold value of the vehicle's ground clearance; wherein the maximum detection distance value is a maximum value among a plurality of vehicle-to-ground distance values, and the plurality of vehicle-to-ground distance values ​​are relative distances between a plurality of distance measurement points on the vehicle and the ground.

[0049] Specifically, the maximum detection distance value of the vehicle to the ground is the maximum value selected from the relative distances to the ground measured by multiple ranging points on the vehicle. The multiple ranging points are distributed on the vehicle. Since the distances from each ranging point to the ground may be different when the vehicle is in a flying condition, the maximum value is selected from the relative distances to the ground measured by multiple ranging points. The vehicle ground clearance threshold is set in advance, for example, it can be set to 3m or 5m. If the maximum detection distance value of the vehicle to the ground is greater than the vehicle ground clearance threshold, it means that the vehicle test is in a flying condition, and it is necessary to determine whether the vehicle posture needs to be adjusted.

[0050] For example, to identify the height of the vehicle, the vehicle is driving normally on the road, and the A distance measuring device monitors the relative distance between each point and the ground in real time , The even-numbered distance measuring devices should be arranged symmetrically on the left and right sides of the vehicle chassis. The lower limit of the vehicle's ground clearance is , that is, the threshold of vehicle height from the ground is This value is obtained through test calibration evaluation during the vehicle R&D and design phase, and is used to evaluate whether the vehicle will fall from this height without affecting the driving safety performance of the vehicle. is the maximum monitoring distance of the vehicle at the current moment, then: ; During vehicle driving, the following logic is used to determine whether the vehicle enters the flying condition: ; According to the above expression, when the maximum distance value of each measuring point under the vehicle satisfies If the vehicle is not in a flying condition, the vehicle will continue to move forward while maintaining the current driving state; otherwise, the vehicle will be in a flying condition, and the posture adjustment will be determined based on the posture of the vehicle body relative to the ground.

[0051] In some embodiments, the vehicle-to-ground posture value includes a vehicle-to-ground posture distance value; determining the vehicle-to-ground posture value based on the vehicle-to-ground distance includes: obtaining a vehicle-to-ground reference distance value at the current moment; obtaining the vehicle-to-ground posture distance value corresponding to each ranging point on the vehicle based on the vehicle-to-ground distance value corresponding to each ranging point and the vehicle-to-ground reference distance value.

[0052] Specifically, the vehicle-to-ground attitude distance value can be understood as the vertical distance between the bottom of the vehicle and the ground; because the ground over which the vehicle flies may be undulating when the vehicle is in a flying condition, a vehicle-to-ground reference distance value is introduced, and the vehicle-to-ground reference distance value at the current moment can be understood as the vertical distance between the bottom of the vehicle and a uniform plane; when the vehicle is in a flying condition, each ranging point on the vehicle obtains a corresponding vehicle-to-ground distance value, and after obtaining the vehicle-to-ground distance value, calculation is performed based on the vehicle-to-ground distance value and the vehicle-to-ground reference distance value to obtain the vehicle-to-ground attitude distance value corresponding to each ranging point.

[0053] In some embodiments, the vehicle-to-ground reference distance value is a minimum value among a plurality of vehicle-to-ground distance values, and the plurality of vehicle-to-ground distance values ​​are relative distances between a plurality of ranging points on the vehicle and the ground.

[0054] Specifically, multiple vehicle-to-ground distance values ​​refer to the relative distances between multiple ranging points on the vehicle and the ground. These ranging points are distributed at the bottom of the vehicle and are used to monitor the relative distance between the vehicle and the ground in real time. After the vehicle-to-ground distance values ​​are detected by multiple ranging points, the minimum value of the multiple vehicle-to-ground distance values ​​is set as the vehicle-to-ground reference distance value.

[0055] In some embodiments, the vehicle-to-ground attitude distance value corresponding to each ranging point is calculated using the following formula: ; in, is the vehicle-to-ground attitude distance value corresponding to the mth ranging point, is the vehicle-to-ground distance value corresponding to the mth ranging point, is the relative distance from the measuring point to the ground when the vehicle is in a horizontal state, is the reference distance between the vehicle and the ground.

[0056] Specifically, since there are multiple ranging points distributed at the bottom of the vehicle, the vehicle-to-ground attitude distance value corresponding to each ranging point can be calculated by the above formula: is the relative distance from the measuring point to the ground when the vehicle is in a horizontal state, The value of can be obtained by experimental measurement during the vehicle development and design stage. When the vehicle is in a flying condition, multiple distance measurement points at the bottom of the vehicle can obtain the vehicle-to-ground distance value in real time. , from multiple vehicle-to-ground distance values Select the minimum value as the reference distance between the vehicle and the ground , and then the vehicle-to-ground attitude distance value corresponding to each ranging point is calculated according to the formula.

[0057] In some embodiments, the vehicle-to-ground posture value satisfies the posture adjustment condition, including: the maximum vehicle-to-ground posture distance value of the vehicle is greater than the vehicle ground clearance threshold, wherein the maximum vehicle-to-ground posture distance value is the maximum value of multiple vehicle-to-ground posture distance values ​​corresponding to multiple ranging points on the vehicle.

[0058] Specifically, multiple corresponding vehicle-to-ground attitude distance values ​​are calculated based on multiple vehicle ranging points, and the maximum value among the multiple vehicle-to-ground attitude distance values ​​is selected as the maximum vehicle-to-ground attitude distance value. If the vehicle's maximum vehicle-to-ground attitude distance value is greater than the vehicle's ground clearance threshold, it means that the vehicle's pitch angle is too large during the leap process, and the vehicle's attitude needs to be adjusted at this time. If the vehicle's maximum vehicle-to-ground attitude distance value is less than or equal to the vehicle's ground clearance threshold, the vehicle's attitude does not need to be adjusted at this time.

[0059] For example, when judging the vehicle body posture adjustment, assume that when the vehicle is in a horizontal state, the bottom of the vehicle is arranged The relative distance from the ground measured by the distance measuring device is This value can be obtained through test measurement during the vehicle development and design phase. When the vehicle is determined to be in a flying condition, set is the reference distance between the vehicle and the ground at the current moment, and satisfies ; Then the vehicle-to-ground attitude distance value of each measuring point can be obtained ,satisfy: ; set up is the maximum vehicle-to-ground attitude distance value at the current moment, satisfying: ; The body posture adjustment can be based on the following judgment conditions: ; In some embodiments, adjusting the posture of the vehicle body includes: determining a target front wheel speed value and a target rear wheel speed value of the vehicle according to the vehicle body posture at a current moment.

[0060] Specifically, when the vehicle's maximum vehicle-to-ground attitude distance value is greater than the vehicle's ground clearance threshold, the vehicle's pitch angle is too large during the leap process, and the vehicle's attitude needs to be adjusted, the vehicle's target front wheel speed value and target rear wheel speed value are first determined based on the vehicle's body attitude at the current moment. The target front wheel speed value and target rear wheel speed value can be understood as the vehicle's front wheel speed value and rear wheel speed value required to keep the vehicle stable during the leap process, and the vehicle body attitude is adjusted through different front and rear wheel speed values.

[0061] In some embodiments, the vehicle body posture is determined based on vehicle-to-ground distance values ​​corresponding to a plurality of ranging points on the vehicle.

[0062] Specifically, a plurality of ranging points are symmetrically distributed at the bottom of the vehicle, and a ranging device arranged at the ranging points obtains a ground distance value in real time under a vehicle leaping condition. The vehicle body posture can be determined based on the plurality of obtained vehicle ground distance values. The vehicle body posture can be that the pitch angle is too large or the elevation angle is too large. When the pitch angle of the vehicle body is too large, the ground distance value at the front of the vehicle is lower than the ground distance value at the rear of the vehicle. When the elevation angle of the vehicle body is too large, the ground distance value at the front of the vehicle is higher than the ground distance value at the rear of the vehicle.

[0063] In some embodiments, determining the target front wheel speed value and target rear wheel speed value of the vehicle based on the vehicle body posture at the current moment includes: when the vehicle body posture is a head-up posture, the target front wheel speed value is less than the front wheel speed value at the current moment, and the target rear wheel speed value is less than the rear wheel speed value at the current moment; when the vehicle body posture is a head-down posture, the target front wheel speed value is greater than the front wheel speed value at the current moment, and the target rear wheel speed value is greater than the rear wheel speed value at the current moment.

[0064] Specifically, in the vehicle leaping condition, when the body posture is a head-up posture, that is, when the front of the vehicle is higher than the rear of the vehicle, the front wheel speed value and the rear wheel speed value of the vehicle at the current moment are obtained, and the front wheel speed value and the rear wheel speed value of the vehicle are adjusted to reach the target front wheel speed value and the target rear wheel speed value, the target front wheel speed value is less than the front wheel speed value at the current moment, and the target rear wheel speed value is less than the rear wheel speed value at the current moment, so that the vehicle is stable; when the body posture is a head-down posture, that is, when the front of the vehicle is lower than the rear of the vehicle, the front wheel speed value and the rear wheel speed value of the vehicle at the current moment are obtained, and the front wheel speed value and the rear wheel speed value of the vehicle are adjusted to reach the target front wheel speed value and the target rear wheel speed value, the target front wheel speed value is greater than the front wheel speed value at the current moment, and the target rear wheel speed value is greater than the rear wheel speed value at the current moment, so that the vehicle is stable.

[0065] In some embodiments, when the vehicle body posture is a head-up posture, the target front wheel speed is the speed difference between the front wheel speed at the current moment and the first speed regulation step, and the target rear wheel speed is the speed difference between the rear wheel speed at the current moment and the second speed regulation step.

[0066] Specifically, the first speed regulation step can be understood as the step length for adjusting the vehicle's front wheel speed, and the second speed regulation step length can be understood as the step length for adjusting the vehicle's rear wheel speed. When the vehicle body posture is in a head-up posture, that is, when the front of the vehicle is higher than the rear of the vehicle, it is necessary to reduce the target front wheel speed and the target rear wheel speed. Therefore, after obtaining the front wheel speed at the current moment, the front wheel speed at the current moment is subtracted from the speed of the first speed regulation step length to obtain the target front wheel speed. After obtaining the rear wheel speed at the current moment, the rear wheel speed at the current moment is subtracted from the speed of the second speed regulation step length to obtain the target rear wheel speed.

[0067] In some embodiments, when the vehicle body posture is a head-down posture, the target front wheel speed is the sum of the front wheel speed at the current moment and the speed of the first speed regulation step, and the target rear wheel speed is the sum of the rear wheel speed at the current moment and the speed of the second speed regulation step.

[0068] Specifically, when the vehicle body posture is in a head-down posture, that is, when the front of the vehicle is lower than the rear of the vehicle, it is necessary to increase the target front wheel speed and the target rear wheel speed. Therefore, after obtaining the front wheel speed at the current moment, the front wheel speed at the current moment is summed with the speed of the first speed regulation step to obtain the target front wheel speed. After obtaining the rear wheel speed at the current moment, the rear wheel speed at the current moment is summed with the speed of the second speed regulation step to obtain the target rear wheel speed.

[0069] In some embodiments, the first speed regulation step is k equally divided values ​​of the first speed regulation difference, the first speed regulation difference is the speed difference between the maximum allowable front wheel speed of the vehicle and the front wheel speed at the current moment, where k is a positive integer greater than 1.

[0070] Specifically, the front wheel speed of the vehicle at the current moment is obtained, and the maximum allowable front wheel speed of the vehicle is subtracted from the front wheel speed at the current moment to obtain a first speed difference. The first speed difference is divided into k equal values ​​as a first speed step, where k is a positive integer greater than 1. The larger the k, the smaller the first speed step, and the more accurate the adjustment of the front wheel speed is, so that the front wheel speed can be adjusted to the target front wheel speed.

[0071] In some embodiments, the second speed regulation step is k equally divided values ​​of the second speed regulation difference, the second speed regulation difference is the speed difference between the maximum allowable rear wheel speed of the vehicle and the rear wheel speed at the current moment, where k is a positive integer greater than 1.

[0072] Specifically, the rear wheel speed of the vehicle at the current moment is obtained, and the second speed difference is obtained by subtracting the maximum allowable rear wheel speed of the vehicle from the rear wheel speed at the current moment. The second speed difference is divided into k equal values ​​as the second speed step, where k is a positive integer greater than 1. The larger the k, the smaller the second speed step, and the more accurate the adjustment of the rear wheel speed is, which facilitates adjusting the rear wheel speed to the target rear wheel speed.

[0073] For example, when the vehicle posture adjustment is required according to the current vehicle posture, the front and rear wheel speeds of the vehicle at the current moment are recorded as , . Assume that the maximum allowable speed of the front and rear wheels is , The maximum permissible speed depends on the vehicle and engine permissible performance, which is determined by the vehicle design parameters. Based on the above parameters, calculate the speed range of the front and rear wheels at the current moment. , ,satisfy: ; ; Combined with the data test results during vehicle development, the current speed range is , Divide into The speed control step length is the value of each step in the front and rear wheel speed range. , Size meets: ; ; When the vehicle needs to adjust its posture in a flying condition, the vehicle power system adjusts the speed of the front and rear wheels according to the corresponding step lengths. When the front of the vehicle is higher than the rear of the vehicle (i.e. the vehicle is in an upward posture), the front and rear wheels decelerate according to their respective adjustment steps; when the front of the vehicle is lower than the rear of the vehicle (i.e. the vehicle is in a downward posture), the front and rear wheels accelerate according to their respective adjustment steps. In this process, the maximum value of the vehicle-to-ground posture distance values ​​corresponding to the m distance measurement points at the current moment is calculated and fed back in real time, and it is determined whether to continue to adjust.

[0074] In some embodiments, the vehicle body posture control method further includes: when the vehicle's ground posture value meets the exit posture adjustment condition, the front and rear wheel speeds of the vehicle are adjusted to the front and rear wheel speed values ​​before the vehicle body posture is adjusted.

[0075] Specifically, a plurality of corresponding vehicle-to-ground posture distance values ​​are calculated based on a plurality of vehicle ranging points. When the vehicle-to-ground posture distance value meets the exit posture adjustment condition, it indicates that the vehicle body is stable at this time and the vehicle posture does not need to be adjusted. The front and rear wheel speeds of the vehicle are adjusted to the front and rear wheel speeds before the posture adjustment is performed.

[0076] In some embodiments, the vehicle-to-ground posture value satisfies the exit posture adjustment condition including: the vehicle's maximum vehicle-to-ground posture distance value is less than the vehicle's ground clearance threshold.

[0077] Specifically, multiple corresponding vehicle-to-ground posture distance values ​​are calculated based on multiple vehicle ranging points, and the maximum value among the multiple vehicle-to-ground posture distance values ​​is selected as the maximum vehicle-to-ground posture distance value. If the vehicle's maximum vehicle-to-ground posture distance value is less than the vehicle's ground clearance threshold, it means that the vehicle body is stable at this time and there is no need to adjust the vehicle posture.

[0078] For example, when the wheel speed is initialized, if the maximum vehicle-to-ground attitude distance value of the vehicle at the current moment is less than the lower limit of the ground clearance When the vehicle reaches the ground height threshold, the front and rear wheel speeds are set to the state before the front and rear wheel speeds are adjusted. At this time, the vehicle lands in the current posture.

[0079] Reference below Figure 2 The following are examples of the vehicle's flying attitude adjustment control steps: Step S4, the vehicle drives.

[0080] Step S5, determine whether the lower limit of the height above the ground is reached, if so, execute step S6, otherwise, execute step S9.

[0081] Step S6, determine whether posture adjustment is required, if so, execute step S7, otherwise, execute step S9.

[0082] Step S7, classifying the front and rear wheel speeds.

[0083] Step S8, the wheel speed is adjusted step by step.

[0084] Step S9, wheel speed initialization.

[0085] Step S10, continue driving.

[0086] For the vehicle body posture recognition and adjustment in the vehicle leaping condition, the body posture recognition based on suspension travel in the prior art is not applicable to the leaping condition, while the method based on image recognition is highly dependent on the image acquisition progress and image algorithm processing, and the image acquisition equipment required by the method also increases the hardware cost of the whole vehicle. Compared with the prior art, the method of the present invention proposes to recognize the vehicle's ground posture based on the vehicle-ground distance, and realizes the body posture recognition in the leaping condition according to the rotation speed distribution of the front and rear wheels. Compared with the prior art, the method of the present invention identifies the vehicle's posture relative to the ground based on the vehicle-to-ground distance. The method is simple and effective. Except for the distance measuring device arranged at the bottom of the vehicle, there is no need to arrange complex detection devices such as image detection on the whole vehicle, thereby reducing the development cost of the vehicle; the method of the present invention uses the vehicle's posture relative to the ground as the vehicle's posture recognition result. Compared with recognizing the vehicle's posture relative to the horizontal road surface, the method can perform body posture recognition under different road conditions, so that the vehicle control strategy can be better matched with the road surface information; the method of the present invention controls the front and rear wheel speed distribution of the vehicle in the leaping state, controls the vehicle's pitch posture by adjusting the angular momentum distribution of the whole vehicle, and realizes the posture adjustment of the whole vehicle without adding a counterweight module; the method of the present invention dynamically adjusts the wheel speed in stages based on the speed regulation range, effectively taking into account the adjustment accuracy and driving safety; the method of the present invention sets the wheel speed initialization after completing the body posture adjustment, thereby avoiding the vehicle speed surge caused by the excessive wheel speed when the vehicle lands in the leaping condition, and effectively ensuring the driving safety of the vehicle.

[0087] A second aspect of the present invention provides an electronic device, such as Figure 3 As shown, the electronic device 100 includes: at least one processor 101 and a memory 102 .

[0088] Among them, at least one processor 101 is in communication connection with the memory 102, and the memory 102 stores a computer program that can be executed by the at least one processor 101. When the at least one processor 101 executes the computer program, the vehicle body posture control method is implemented.

[0089] According to the electronic device of the embodiment of the present invention, the corresponding vehicle body posture control program can be stored in the memory. When the vehicle body posture control method is implemented, the processor runs the program in the memory. When it is determined that the vehicle is in a flying condition, the posture of the vehicle body is adjusted to make the vehicle land smoothly, avoiding the situation where the two wheels of the vehicle touch the ground, causing the load at the contact point to increase rapidly at the moment of landing, causing a tire blowout or rollover, thereby improving the driving safety of the vehicle and ensuring the personal safety of the occupants.

[0090] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements a vehicle body posture control method when executed.

[0091] A fourth aspect of the present invention provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer executes a vehicle body posture control method.

[0092] A fifth aspect of the present invention provides a vehicle, such as Figure 4 As shown, the vehicle 200 includes: an electronic device 100; or Figure 5 As shown, the vehicle 200 includes: a distance measuring device 201 and a controller 202 .

[0093] The distance measuring device 201 is used to detect the distance value between the vehicle and the ground, and the controller 202 is connected to each distance measuring device 201 . The controller 202 is used to execute the vehicle body posture control method.

[0094] According to the vehicle of the embodiment of the present invention, when it is determined that the vehicle is in a leaping condition, the controller controls the distance measuring device to obtain the vehicle-to-ground distance value in real time, determines the vehicle-to-ground posture value according to the vehicle-to-ground distance value, and after the vehicle-to-ground posture value meets the posture adjustment condition, the controller controls the vehicle body to adjust the posture, so that the vehicle lands smoothly, avoiding the situation where the two wheels of the vehicle touch the ground, causing the load at the contact point to increase rapidly at the moment of landing, causing a tire blowout or rollover, thereby improving the driving safety of the vehicle and ensuring the personal safety of the occupants.

[0095] In some embodiments, Figure 6 As shown, a plurality of distance measuring devices are arranged at a plurality of distance measuring points on the chassis of the vehicle to detect the vehicle-to-ground distance values ​​corresponding to the plurality of distance measuring points.

[0096] In some embodiments, Figure 6 As shown, multiple distance measuring devices are distributed symmetrically along the length direction of the vehicle.

[0097] Specifically, for the vehicle body posture recognition and adjustment strategy of the vehicle leaping condition of the present invention, it is required to be arranged symmetrically on the left and right of the vehicle chassis. A distance measuring device, the types of which include but are not limited to laser radar, millimeter wave radar, ultrasonic distance measuring device, etc. The distance measuring device can be arranged on the side of the vehicle body bottom plate facing the ground. The schematic diagram of its arrangement position is as follows Figure 6 As shown, the specific layout position and layout method are not limited and can be flexibly adjusted according to the layout of vehicle components.

[0098] In the description of this specification, any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code including one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0099] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0100] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0101] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0102] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0103] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0104] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, substrates, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0105] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle body posture control method, characterized in that: include: Determine that the vehicle is in a flying condition; Determine the vehicle's ground posture value according to the vehicle-ground distance value; When the vehicle's attitude value relative to the ground meets an attitude adjustment condition, the attitude of the vehicle body is adjusted.

2. The vehicle body posture control method according to claim 1, characterized in that: Determining that the vehicle is in a flying condition includes: The maximum detection distance value of the vehicle to the ground is greater than the vehicle ground clearance threshold; The maximum detection distance value is the maximum value among a plurality of vehicle-to-ground distance values, and the plurality of vehicle-to-ground distance values ​​are relative distances between a plurality of distance measurement points on the vehicle and the ground.

3. The vehicle body posture control method according to claim 1 or 2, characterized in that: The vehicle-to-ground attitude value includes a vehicle-to-ground attitude distance value; Determining the vehicle-to-ground attitude value according to the vehicle-to-ground distance comprises: Obtain the current vehicle-to-ground reference distance value; The vehicle-to-ground posture distance value corresponding to each ranging point is obtained according to the vehicle-to-ground distance value corresponding to each ranging point on the vehicle and the vehicle-to-ground reference distance value.

4. The vehicle body posture control method according to claim 3, characterized in that: The vehicle-to-ground reference distance value is a minimum value among a plurality of vehicle-to-ground distance values, and the plurality of vehicle-to-ground distance values ​​are relative distances between a plurality of distance measurement points on the vehicle and the ground.

5. The vehicle body posture control method according to claim 3, characterized in that: The vehicle-to-ground attitude distance value corresponding to each ranging point is calculated by the following formula: ； in, is the vehicle-to-ground attitude distance value corresponding to the mth ranging point, is the vehicle-to-ground distance value corresponding to the mth ranging point, is the relative distance between the distance measuring point and the ground when the vehicle is in a horizontal state, is the reference distance value of the vehicle to the ground.

6. The vehicle body posture control method according to claim 3, characterized in that: The vehicle-to-ground attitude value satisfies an attitude adjustment condition, including: a maximum vehicle-to-ground attitude distance value of the vehicle is greater than a vehicle ground clearance threshold, wherein the maximum vehicle-to-ground attitude distance value is a maximum value among a plurality of vehicle-to-ground attitude distance values ​​corresponding to a plurality of ranging points on the vehicle.

7. The vehicle body posture control method according to claim 1, characterized in that: The posture adjustment of the vehicle body includes: determining a target front wheel speed value and a target rear wheel speed value of the vehicle according to the vehicle body posture at a current moment.

8. The vehicle body posture control method according to claim 7, characterized in that: The vehicle body posture is determined according to the vehicle-to-ground distance values ​​corresponding to a plurality of distance measurement points on the vehicle.

9. The vehicle body posture control method according to claim 7, characterized in that: Determining the target front wheel speed value and the target rear wheel speed value of the vehicle according to the vehicle body posture at the current moment includes: When the vehicle body posture is a head-up posture, the target front wheel speed value is less than the front wheel speed value at the current moment, and the target rear wheel speed value is less than the rear wheel speed value at the current moment; When the vehicle body posture is a head-down posture, the target front wheel speed value is greater than the front wheel speed value at the current moment, and the target rear wheel speed value is greater than the rear wheel speed value at the current moment.

10. The vehicle body posture control method according to claim 9, characterized in that: When the vehicle body posture is the head-up posture, the target front wheel speed is the speed difference between the current front wheel speed and the first speed regulation step, and the target rear wheel speed is the speed difference between the current rear wheel speed and the second speed regulation step.

11. The vehicle body posture control method according to claim 9, characterized in that: When the vehicle body posture is a head-down posture, the target front wheel speed is the sum of the front wheel speed at the current moment and the speed of the first speed regulation step, and the target rear wheel speed is the sum of the rear wheel speed at the current moment and the speed of the second speed regulation step.

12. The vehicle body posture control method according to claim 10 or 11, characterized in that: The first speed regulation step is k equally divided values ​​of the first speed regulation difference, and the first speed regulation difference is the speed difference between the maximum allowable speed of the front wheels of the vehicle and the front wheel speed at the current moment, wherein k is a positive integer greater than 1.

13. The vehicle body posture control method according to claim 10 or 11, characterized in that: The second speed regulation step is k equally divided values ​​of the second speed regulation difference, and the second speed regulation difference is the speed difference between the maximum allowable speed of the rear wheels of the vehicle and the rear wheel speed at the current moment, wherein k is a positive integer greater than 1.

14. The vehicle body posture control method according to claim 6, characterized in that: The vehicle body posture control method further includes: When the vehicle's posture value relative to the ground meets the exit posture adjustment condition, the front and rear wheel speeds of the vehicle are adjusted to the front and rear wheel speed values ​​before the posture adjustment of the vehicle body is performed.

15. The vehicle body posture control method according to claim 14, characterized in that: The vehicle-to-ground posture value satisfies the exit posture adjustment condition including: the maximum vehicle-to-ground posture distance value of the vehicle is less than the vehicle ground clearance threshold.

16. An electronic device, characterized in that: include: at least one processor; a memory communicatively coupled to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, and when the at least one processor executes the computer program, the vehicle body posture control method according to any one of claims 1 to 15 is implemented.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the vehicle body posture control method according to any one of claims 1 to 15 is implemented.

18. A computer program product, comprising a computer program stored on a computer-readable storage medium, wherein the computer program comprises program instructions, and when the program instructions are executed by a computer, the computer is caused to execute the vehicle body posture control method according to any one of claims 1 to 15.

19. A vehicle, characterized in that: The vehicle comprises the electronic device of claim 16; Alternatively, the vehicle includes a plurality of distance measuring devices and a controller, the distance measuring device is used to detect the distance value of the vehicle to the ground, the controller is connected to each of the distance measuring devices, and the controller is used to execute the vehicle body posture control method described in any one of claims 1-15.

20. The vehicle according to claim 19, characterized in that The multiple distance measuring devices are arranged at multiple distance measuring points on the vehicle chassis to detect the vehicle-to-ground distance values ​​corresponding to the multiple distance measuring points.

21. The vehicle according to claim 20, characterized in that The plurality of distance measuring devices are symmetrically distributed along the length direction of the vehicle.

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