An engineering machine and a method, apparatus and medium for roll assessment of a body thereof

Abstract

The application discloses an engineering machine and a body roll evaluation method, device and medium thereof, and relates to the field of vehicle control. The method comprises the following steps: acquiring pressure values of left and right suspensions at each axle of the vehicle; and evaluating a body roll risk according to the pressure values of the left and right suspensions. The embodiment of the application realizes the evaluation of the body roll risk based on the suspension pressure values, guarantees the accurate early warning of the body roll risk, is easy to implement, reliable in scheme, timely in early warning, and can fully avoid the occurrence of safety accidents.

Description

Technical Field

[0001] This application relates to the field of construction machinery, specifically to a construction machinery and its vehicle body roll assessment method, device and medium. Background Technology

[0002] Currently, with the continuous development of autonomous driving technology, more and more engineering scenarios are beginning to introduce autonomous vehicles, such as mining trucks (hereinafter referred to as mining trucks) which have begun to be used extensively in mining areas. This places very high demands on the safety of autonomous driving operations, among which anti-rollover requirements are a crucial aspect.

[0003] However, taking autonomous mining trucks as an example, the complexity of the terrain in engineering scenarios and the high difficulty of unloading materials can easily lead to the entire vehicle tilting and overturning, causing safety accidents and affecting the normal operation of the mining truck. To address this, existing technologies typically equip vehicles with dedicated angle or attitude sensors to detect cargo box roll angle, vehicle roll angle, vehicle pitch angle, or vehicle attitude to determine if there is a risk of vehicle tilting. However, on the one hand, vehicle attitude cannot be accurately reflected in terms of tilting risk because it cannot be fed back in real time; on the other hand, the increase in angle sensors leads to increased hardware costs and decreased hardware reliability.

[0004] Therefore, a new vehicle rollover assessment scheme is needed to avoid vehicle rollover accidents. Summary of the Invention

[0005] The purpose of this application is to provide an engineering machinery and its vehicle body roll assessment method, device and medium to at least partially solve the above-mentioned technical problems.

[0006] To achieve the above objectives, the first aspect of this application provides a vehicle body roll assessment method, comprising: obtaining the pressure values ​​of the left and right suspensions at each axle of the vehicle; and assessing the vehicle body roll risk based on the pressure values ​​of the left and right suspensions.

[0007] In this embodiment of the application, obtaining the pressure values ​​of the left and right suspensions of the vehicle at each axle includes: using the vehicle's own suspension pressure sensor or a dedicated pressure sensor suitable for the suspension position configuration to collect the pressure values ​​of the left and right suspensions of the vehicle at each axle.

[0008] In this embodiment of the application, the step of assessing the vehicle body roll risk based on the pressure values ​​of the left and right suspensions includes: comparing the pressure values ​​of the left and right suspensions at each axle and determining whether there is a vehicle body roll risk in the corresponding axle direction based on the comparison results; or performing numerical calculations on the pressure values ​​of the left and right suspensions at each axle to obtain corresponding roll assessment indicators, and determining whether there is a vehicle body roll risk in the corresponding axle direction based on the roll assessment indicators.

[0009] In this embodiment of the application, the numerical calculation includes: calculating the pressure difference and the sum of the pressure values ​​of the left and right suspensions at each axle, calculating the quotient of the pressure difference and the sum of the pressure, and then converting the quotient as a percentage to obtain the roll evaluation index.

[0010] In this embodiment of the application, after calculating the pressure difference and pressure sum of the left and right suspensions at each axle, and before calculating the quotient of the pressure difference and the pressure sum, the numerical calculation further includes: processing the pressure difference and the pressure sum using a preset scaling function, and using the processed pressure difference and pressure sum for the calculation of the quotient.

[0011] In this embodiment of the application, the scaling function is any one of the following functions or a combination of any number of the following functions: logarithmic function, exponential function, trigonometric function, power function, and absolute value function.

[0012] In this embodiment of the application, determining whether there is a risk of vehicle body roll in the direction of the corresponding axle based on the roll assessment index includes: when the roll assessment index is greater than the permissible percentage of the pressure difference pre-configured for the corresponding axle for a duration exceeding a preset time, determining that there is a risk of vehicle body roll in the direction corresponding to the axle.

[0013] In this embodiment of the application, the step of determining whether there is a risk of vehicle body roll in the direction of the corresponding axle based on the roll assessment index further includes: when the roll assessment index is greater than the permissible percentage of the pressure difference pre-configured for the corresponding axle for a duration exceeding the preset time, determining whether the vehicle body is tilted to the left or right based on whether the pressure difference value corresponding to the axle is greater than zero.

[0014] A second aspect of this application provides a vehicle roll assessment device, comprising: a memory configured to store instructions; and a processor configured to retrieve the instructions from the memory and, when executing the instructions, to implement any of the aforementioned vehicle roll assessment methods.

[0015] A third aspect of this application provides an engineering machine, including: any of the above-described vehicle roll assessment devices; and a pressure sensor suitable for suspension mounting on the engineering machine, for collecting and providing suspension pressure values ​​to the vehicle roll assessment device.

[0016] In this embodiment of the application, the engineering machinery is an unmanned mining machinery.

[0017] Through the above technical solution, the embodiments of this application realize the assessment of vehicle roll risk based on suspension pressure value, ensuring accurate early warning of vehicle roll risk. It is easy to implement, the solution is reliable and the early warning is timely, which can fully avoid the occurrence of safety accidents.

[0018] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0020] Figure 1 The schematic diagram illustrates a flow chart of a vehicle body roll assessment method according to an embodiment of this application;

[0021] Figure 2 The schematic diagram illustrates a flowchart of an application example of vehicle body roll determination according to an embodiment of this application;

[0022] Figure 3 This schematically illustrates a flowchart of rollover hazard identification according to an embodiment of this application; and

[0023] Figure 4 A schematic block diagram of a vehicle roll assessment device according to an embodiment of this application is shown. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0025] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0026] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0027] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0028] Before introducing the specific embodiments of this application, the inventive concept of this application will be briefly described to enable those skilled in the art to more clearly understand the embodiments of this application. That is, based on the discovery of the defects in the existing vehicle body roll assessment schemes, the inventors of this application, taking mining trucks as an example, further discovered that there is a huge difference in the force on the left and right suspensions when a mining truck rolls due to gravity, and thus conceived of using the difference in pressure on the left and right suspensions to determine the vehicle body roll.

[0029] Figure 1 The illustration schematically shows a flowchart of a vehicle body roll assessment method according to an embodiment of this application. Figure 1 As shown in the figure, this application provides a vehicle body roll assessment method, which may include the following steps S100 and S200.

[0030] Step S100: Obtain the pressure values ​​of the left and right suspensions of the vehicle at each axle.

[0031] For example, the vehicle's own suspension pressure sensors or dedicated pressure sensors suitable for suspension location configuration can be used to collect the pressure values ​​of the left and right suspensions at each axle. That is, the pressure sensors on the vehicle's existing suspension configuration can be reused to obtain the suspension pressure. For example, a pressure sensor is configured on the three-axle hydropneumatic suspension of a mining truck, but it is not limited to this. Dedicated pressure sensors can also be configured for vehicles that do not have pressure sensors on their suspensions, depending on actual needs.

[0032] Step S200: Assess the risk of vehicle roll based on the pressure values ​​of the left and right suspensions.

[0033] In the first example, the pressure values ​​of the left and right suspensions at each axle can be compared, and the comparison results can be used to determine whether there is a risk of body roll in the corresponding axle direction. For example, if the pressure value of the left suspension of the front axle is much greater than that of the right, it indicates that there is a high risk of body roll at the left front of the vehicle.

[0034] In the second example, the pressure values ​​of the left and right suspensions at each axle are numerically calculated to obtain the corresponding roll assessment index, and the roll assessment index is used to determine whether there is a risk of vehicle roll in the direction of the corresponding axle.

[0035] The numerical calculation is described, for example, as follows: calculating the pressure difference and the sum of the pressure values ​​of the left and right suspensions at each axle, calculating the quotient of the pressure difference and the sum of the pressure, and then converting the quotient by a percentage to obtain the roll assessment index.

[0036] However, the inventors of this application further discovered during the implementation of the embodiments of this application that road surface potholes and sensor device measurement errors can cause huge fluctuations in the pressure values ​​of the left and right suspensions measured by the sensors, making it difficult to accurately predict roll risk. Therefore, in a preferred embodiment, after calculating the pressure difference and pressure sum of the left and right suspensions at each axle, and before calculating the quotient of the pressure difference and pressure sum, the numerical calculation may further include: processing the pressure difference and pressure sum using a preset scaling function, and using the processed pressure difference and pressure sum for calculating the quotient.

[0037] The scaling functions include, but are not limited to, logarithmic functions, exponential functions, trigonometric functions, power functions, and absolute value functions, as well as combinations of any number of them. The following application examples will use the logarithmic function as an example to illustrate the relevant numerical operations; these will not be elaborated upon further here.

[0038] Furthermore, for the second example, following the above numerical calculations, determining whether there is a risk of vehicle roll in the direction of the corresponding axle based on the roll assessment index may include: when the roll assessment index exceeds the pre-configured allowable percentage value of the pressure difference for the corresponding axle for a duration exceeding a preset time, determining that there is a risk of vehicle roll in the direction corresponding to that axle. The allowable percentage value of the pressure difference can be determined experimentally or obtained through mathematical modeling and simulation.

[0039] Furthermore, after determining that there is a risk of vehicle roll in the direction corresponding to the axle, it would be even more beneficial to determine whether it is a leftward or rearward roll. Accordingly, if the roll assessment index exceeds the permissible percentage of the pre-configured pressure difference for the corresponding axle for a duration exceeding the preset time, the vehicle can be further judged to be either tilted to the left or right based on whether the pressure difference value corresponding to the axle is greater than zero. This process will be described in detail below through application examples and will not be repeated here.

[0040] Thus, through the above steps S100 and S200, the vehicle roll assessment method of this application embodiment has at least the following advantages:

[0041] First, the embodiments of this application do not rely on vehicle body posture for roll warning, thus avoiding the problem of not being able to accurately predict roll risk due to the inability to provide real-time vehicle body posture information.

[0042] Second, the embodiments of this application do not rely on angle sensors to measure the pitch or tilt angle of the cargo box or vehicle body, thus avoiding the additional hardware cost and reduced recognition reliability caused by the addition of sensors.

[0043] Third, the embodiments of this application can fully utilize the characteristic that suspension pressure values ​​can be accurately measured. They can reuse the pressure sensors on the existing suspension of the vehicle to obtain suspension pressure. While reducing costs, they ensure accurate early warning of vehicle roll risk. The implementation is easy, the solution is reliable, and the early warning is timely, which can prevent the occurrence of safety accidents.

[0044] The following is a specific application example to illustrate the vehicle roll assessment method of this application. This application example is for an unmanned mining truck equipped with front, middle and rear axles and a hydropneumatic suspension (hereinafter referred to as suspension), and the roll assessment index is obtained by calculating the data mentioned in the second example above.

[0045] Specifically, Figure 2 This is a schematic diagram illustrating the process of vehicle body roll detection in an application example of this application. For example... Figure 2 As shown, this application example includes the following steps:

[0046] Step S1: Identify road conditions. Specifically, the vehicle's autonomous driving perception system identifies the road conditions in the unloading area ahead and feeds back the identification results to the autonomous driving control system in advance to prepare for vehicle tilt warning.

[0047] Step S2: Determine whether to enter the rollover hazard assessment mode based on road conditions. For example, when the unmanned mining truck travels to a potholed or sloping road surface in the unloading area, the unmanned driving control system enters the rollover hazard assessment mode to determine whether the vehicle is at risk of rollover as it is about to unload.

[0048] Step S3: Begin roll hazard identification. (For example...) Figure 3 As shown, the specific steps include S301-S304.

[0049] Step S301: Read the left front suspension pressure P using the pressure sensor. fl Right front suspension pressure P fr Left rear suspension pressure P rl Right rear suspension pressure P rr Left and middle rear suspension pressure P ml Right rear suspension pressure P mr .

[0050] Step S302: Calculate the percentage difference in suspension pressure between the front and rear sides separately. The calculation method includes processing the pressure values ​​using a logarithmic function ln(x) with the natural logarithm as the base, as detailed below:

[0051] 1) Percentage of front suspension pressure difference P f =[ln(|P fl -P fr |)] / [ln(P fl +P fr )]*100%;

[0052] 2) Rear suspension pressure difference percentage P r =[ln(|(P rl +P ml )-(P rr +P mr )|)] / [ln(P rl +P rr +P ml +P mr )]*100%.

[0053] Step S303: Determine the judgment conditions for roll alarm judgment. Specifically, the judgment conditions include the following:

[0054] Condition 1, P f >v f , where v f This is the permissible percentage value for the front roll pressure difference;

[0055] Condition 2, P r >v r , where v r This is the allowable percentage value for the rear roll pressure difference;

[0056] Condition 3, calculate the front axle pressure difference ΔP f =P fl -P fr ;

[0057] Condition 4: Calculate the rear axle pressure difference ΔP r =(P rl +P ml )-(P rr +P mr ).

[0058] Where either condition 1 or condition 2 lasts for T s If the time is right, a roll risk is confirmed, triggering a roll alarm.

[0059] Step S304: Determine the roll direction. That is, determine the roll warning direction, including the following situations:

[0060] 1)P f >v f And ΔP f >0 indicates a risk of left-frontal tilt.

[0061] 2)P f >v f And ΔP f <0 indicates a risk of right-frontal tilt.

[0062] 3)P r >v r And ΔP r If the value is greater than 0, there is a risk of left rearward tilting.

[0063] 4)P r >v r And ΔP r If the value is less than 0, there is a risk of right rearward tilting.

[0064] It should be noted that, in addition to the percentage of pressure difference, other parameters can also be used as indicators for roll assessment, such as: 1) directly using the pressure difference between the left and right sides ΔP = P 左 -P 右 1) Determine if the absolute value |ΔP| > A (the value determined by calibration), and determine leftward or rightward tilt based on the sign of ΔP; 2) Directly use the pressure ratio between the left and right sides, such as K = P 左 / P 右 If K > A1 (where A1 > 1), the tilt is to the left; if K > A2 (where A2 < 1), the tilt is to the right. A1 and A2 are determined by calibration.

[0065] Step S4: Implement anti-roll control. For example, if a roll risk alarm is triggered before the vehicle has unloaded the cargo, the autonomous driving control system will prohibit sending a power take-off request to the lifting system; if a roll risk alarm is triggered while the vehicle is taking power to lift and unload the cargo box, the power take-off request to the lifting system will be immediately terminated, and safety measures will be taken based on the roll direction warning to ensure safety.

[0066] Step S5: Exit the rollover hazard assessment mode. For example, when the unmanned mining truck reaches a non-pothole-prone surface in the unloading area, the unmanned driving control system exits the rollover hazard assessment mode, which assesses whether the vehicle is at risk of rollover before unloading, until it re-enters this mode.

[0067] Thus, this application example targets mining trucks equipped with hydropneumatic suspension, using the percentage of suspension pressure difference as a key indicator for roll assessment, and then utilizing the difference in pressure on the left and right hydropneumatic suspensions to determine vehicle roll. Specifically, reusing pressure sensors on the three-axle hydropneumatic suspension to obtain suspension pressure helps save hardware costs; and by numerically processing the pressure values ​​using a logarithmic function ln(x) with the natural logarithm as the base, sensor measurement errors caused by road surface potholes and sensor equipment measurement errors can be reduced.

[0068] It should be noted that, in addition to the vehicle with front, middle and rear axles in this application example, the vehicle body roll assessment method of this application embodiment is also applicable to vehicles with only front and rear dual axle suspension or vehicles with only one air suspension on the middle and rear axles.

[0069] Figure 4 A schematic diagram illustrating a structural block diagram of a vehicle body roll assessment device according to an embodiment of this application is shown. Figure 4 As shown, this application provides a vehicle body roll assessment device, which may include: a memory configured to store instructions; and a processor configured to retrieve instructions from the memory and, when executing the instructions, to implement the vehicle body roll assessment method of the above embodiments.

[0070] The vehicle roll assessment device is, for example, an on-board controller or a remote controller, wherein the on-board controller is integrated into the autonomous driving control system, and the remote controller communicates with the autonomous driving control system to achieve remote control of the vehicle.

[0071] Other implementation details or technical effects of the vehicle roll assessment device in this application can be found in the above-described embodiments of the vehicle roll assessment method, and will not be repeated here.

[0072] This application also provides an engineering machinery, which includes: the vehicle roll assessment device described above; and a pressure sensor suitable for suspension mounting on the engineering machinery, for collecting and providing suspension pressure values ​​to the vehicle roll assessment device. The engineering machinery is preferably unmanned mining machinery, such as the unmanned mining truck described above.

[0073] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the above-described vehicle body roll assessment method.

[0074] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0075] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0076] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0077] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0078] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0079] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0080] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0081] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0082] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for assessing vehicle body roll, characterized in that, include: Obtain the pressure values ​​of the left and right suspensions of the vehicle at each axle; as well as Assessing vehicle roll risk based on the pressure values ​​of the left and right suspensions includes: performing numerical calculations on the pressure values ​​of the left and right suspensions at each axle to obtain corresponding roll assessment indicators, and determining whether there is vehicle roll risk in the direction of the corresponding axle based on the roll assessment indicators. The numerical calculation includes: calculating the pressure difference and the sum of pressure values ​​of the left and right suspensions at each axle, calculating the quotient of the pressure difference and the sum of pressure values, and then converting the quotient as a percentage to obtain the roll evaluation index.

2. The vehicle roll assessment method according to claim 1, characterized in that, The process of obtaining the pressure values ​​of the left and right suspensions of the vehicle at each axle includes: The pressure values ​​of the left and right suspensions at each axle of the vehicle are collected using the vehicle's own suspension pressure sensor or a dedicated pressure sensor suitable for the suspension position.

3. The vehicle body roll assessment method according to claim 1, characterized in that, The method of assessing the vehicle roll risk based on the pressure values ​​of the left and right suspensions also includes: Compare the pressure values ​​of the left and right suspensions at each axle, and determine whether there is a risk of vehicle roll in the corresponding axle direction based on the comparison results.

4. The vehicle body roll assessment method according to claim 1, characterized in that, After calculating the pressure difference and sum of pressure values ​​of the left and right suspensions at each axle, and before calculating the quotient of the pressure difference and the sum of pressure values, the numerical calculation further includes: The pressure difference and the sum of pressures are processed using a preset scaling function, and the processed pressure difference and the sum of pressures are used to calculate the quotient.

5. The vehicle body roll assessment method according to claim 4, characterized in that, The scaling function is any one of the following functions or a combination of any number of the following functions: logarithmic function, exponential function, trigonometric function, power function, and absolute value function.

6. The vehicle body roll assessment method according to claim 1, characterized in that, The step of determining whether there is a risk of vehicle roll in the corresponding axle direction based on the roll assessment index includes: If the roll assessment index exceeds the permissible percentage of the pre-configured pressure difference for the corresponding axle for a duration exceeding a preset time, it is determined that there is a risk of vehicle roll in the direction corresponding to that axle.

7. The vehicle body roll assessment method according to claim 6, characterized in that, The step of determining whether there is a risk of vehicle roll in the corresponding axle direction based on the roll assessment index also includes: If the duration of the roll assessment index being greater than the pre-configured percentage allowable value of the pressure difference for the corresponding axle exceeds the preset time, the vehicle body is judged to be tilted to the left or right based on whether the pressure difference value corresponding to the axle is greater than zero.

8. A vehicle body roll assessment device, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the vehicle roll assessment method according to any one of claims 1 to 7.

9. An engineering machinery, characterized in that, include: The vehicle roll assessment device as described in claim 8; as well as A pressure sensor suitable for suspension mounting on the engineering machinery is used to collect and provide suspension pressure values ​​to the vehicle roll assessment device.

10. The engineering machinery according to claim 9, characterized in that, The engineering machinery mentioned is unmanned mining machinery.

11. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the vehicle roll assessment method according to any one of claims 1 to 7.

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