Vehicle overturning control method and device, vehicle and storage medium

Abstract

The invention discloses a vehicle overturning control method and device, a vehicle and a storage medium, relates to the technical field of vehicles, and aims to solve the problem of how to reduce the probability of vehicle overturning events in the driving process. The vehicle turnover control method comprises the steps that under the condition that the roll angle of a vehicle is larger than or equal to a first angle threshold value, a turnover protection mode is triggered; and under the condition that the roll angle of the vehicle is smaller than the first angle threshold value, the vehicle is in a turnover restraining mode.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle rollover control method, device, vehicle, and storage medium. Background Technology

[0002] Currently, during driving, factors such as improper driver operation, excessive speed while turning, sudden braking, and emergency braking can all lead to vehicle rollovers. Vehicle rollover incidents are a serious type of traffic accident, causing far more personal injury and property damage than other traffic accidents. Therefore, reducing the probability of vehicle rollover incidents during driving is an urgent problem to be solved. Summary of the Invention

[0003] The purpose of this application is to provide a vehicle rollover control method, device, vehicle, and storage medium, which aims to solve the problem of how to reduce the probability of vehicle rollover events during driving.

[0004] To achieve the above objectives, this application adopts the following technical solution:

[0005] In a first aspect, this application provides a vehicle rollover control method, comprising:

[0006] When the vehicle's roll angle is greater than or equal to the first angle threshold, the rollover protection mode is triggered; when the vehicle's roll angle is less than the first angle threshold, the vehicle is in rollover suppression mode.

[0007] The vehicle rollover control method provided in this application determines whether the vehicle should be in rollover suppression mode or rollover protection mode based on the vehicle's tilt angle when there is a risk of rollover. When the vehicle tilt angle is less than a first angle threshold, the vehicle is in rollover suppression mode to prevent rollover, thereby reducing the probability of a rollover event. When the vehicle tilt angle is greater than or equal to the first angle threshold, the rollover protection mode is triggered to protect passengers, thereby improving vehicle driving safety.

[0008] In some embodiments, the method further includes triggering a rollover warning function when the vehicle's tilt angle is greater than or equal to a second angle threshold, wherein the second angle threshold is less than a first angle threshold.

[0009] In some embodiments, the above-mentioned rollover warning function includes: a first rollover warning function and a second rollover warning function; when the vehicle is in rollover suppression mode, the rollover warning function is the first rollover warning function; or, when the vehicle is in rollover protection mode, the rollover warning function is the second rollover warning function.

[0010] In some embodiments, the first rollover warning function described above is used to prompt the driver to control the steering wheel to control the vehicle and avoid rollover.

[0011] In some embodiments, the second flip prompt function described above is used to prompt passengers to protect themselves and / or to prompt rescuers to carry out rescue operations.

[0012] In some embodiments, the first rollover warning function includes one or more of the following: displaying a rollover warning interface, which is used to display warning information and / or rollover suppression reminders; wherein the warning information is used to remind the driver that the vehicle is at risk of rollover; the rollover suppression reminder is used to prompt the driver to take action to control the vehicle to avoid rollover; outputting a rollover warning voice; and controlling the vibration device to start vibrating.

[0013] In some embodiments, the above-described flip prompt interface is also used to display at least one of the following: the flip direction of the vehicle and / or the turning direction of the steering wheel; the position information of the vehicle's suspension system.

[0014] In some embodiments, the aforementioned rollover warning voice is used to prompt at least one of the following: prompting the driver that the vehicle is at risk of rollover; prompting the driver to adjust the steering wheel's rotation direction and / or rotation angle; and prompting the vehicle's suspension system's position adjustment information.

[0015] In some embodiments, the first flip prompt function further includes at least one of the following: the brightness of the display showing the flip prompt interface is positively correlated with the tilt angle; and / or, the contrast of the displayed image of the flip prompt interface is positively correlated with the tilt angle; and / or, the pitch and / or loudness of the flip prompt voice is positively correlated with the tilt angle; and / or, the output frequency of the flip prompt voice is positively correlated with the tilt angle; and / or, the vibration frequency and / or vibration amplitude of the vibration device is positively correlated with the tilt angle.

[0016] In some embodiments, the vibration device described above includes: a steering wheel and / or a seat.

[0017] In some embodiments, the second rollover alert function includes at least one of the following: outputting a rollover alert voice; the rollover alert voice includes: alerting passengers that the vehicle has rolled over and / or alerting rescuers to the location of passengers inside the vehicle; sending a rescue signal.

[0018] In some embodiments, the method further includes: in response to a selection instruction for an angle adjustment mode, determining an angle adjustment mode, wherein the angle adjustment mode is used to determine a first angle threshold.

[0019] In some embodiments, the angle adjustment mode includes a first angle adjustment mode and a second angle adjustment mode; wherein, the first angle adjustment mode is used to determine a first angle threshold based on the steering wheel rotation information and a preset third angle threshold; and the second angle adjustment mode is used to use the preset third angle threshold as the first angle threshold.

[0020] In some embodiments, the above-mentioned angle adjustment mode selection command is triggered by one of the following methods: obtaining the user's touch operation on the angle adjustment mode selection interface; receiving the user's operation on the steering wheel toggle device or the angle adjustment mode selection button; or receiving voice information carrying the angle adjustment mode selection command.

[0021] In some embodiments, the steering wheel actuation device includes a steering wheel lever and / or a steering wheel paddle.

[0022] In some embodiments, the above method further includes: exiting the flip suppression mode when the flip suppression exit condition is met.

[0023] In some embodiments, the rollover suppression exit condition includes at least one of the following: the vehicle's roll angle is less than a fourth angle threshold, the fourth angle threshold is less than or equal to a second angle threshold; or a rollover suppression exit command is received.

[0024] In some embodiments, the aforementioned flip suppression exit command is triggered by one of the following methods: obtaining the user's touch operation on the display interface of the flip suppression mode; receiving the user's operation on the steering wheel toggle device or the flip suppression exit button; or receiving voice information carrying the flip suppression exit command.

[0025] In some embodiments, determining the first angle threshold based on the steering wheel rotation information and a preset third angle threshold includes: determining adjustment information based on the steering wheel rotation information and vehicle rollover information; and determining the first angle threshold based on the adjustment information and the preset third angle threshold.

[0026] In some embodiments, the steering wheel rotation information includes: the steering wheel rotation angle and the steering wheel rotation direction; the vehicle rollover information includes the vehicle rollover direction and the vehicle tilt angle.

[0027] In some embodiments, obtaining adjustment information based on steering wheel rotation information and vehicle rollover information includes: determining an adjustment direction based on steering wheel rotation direction and vehicle rollover direction; determining an adjustment angle based on steering wheel rotation angle; and obtaining adjustment information based on adjustment angle and adjustment direction.

[0028] In some embodiments, obtaining the first angle threshold based on the adjustment information and the preset third angle threshold includes: when the flipping direction and the rotation direction are the same, the first angle threshold is the sum of the preset third angle threshold and the adjustment angle; or, when the flipping direction and the rotation direction are not the same, the first angle threshold is the difference between the preset third angle threshold and the adjustment angle.

[0029] In some embodiments, the aforementioned preset third angle threshold is the critical angle at which the vehicle cannot be prevented from overturning.

[0030] In some embodiments, the preset third angle threshold is greater than or equal to 50° and less than or equal to 60°.

[0031] In some embodiments, the method further includes triggering a rollover suppression mode when the vehicle's roll angle is greater than or equal to a second angle threshold and less than a first angle threshold, wherein the second angle threshold is determined based on steering wheel rotation information and a preset fifth angle threshold.

[0032] In some embodiments, the rollover suppression mode includes at least one of the following: a steering suppression mode, a suspension suppression mode, and a warning suppression mode; the steering suppression mode is used to adjust the steering of the vehicle to control vehicle rollover; the suspension suppression mode is used to adjust the attitude of the vehicle through the suspension system to control vehicle rollover; and the warning suppression mode is used to remind the driver to control vehicle rollover by triggering a first rollover warning function.

[0033] In some embodiments, the steering suppression mode described above is used to control the steering wheel rotation based on steering wheel rotation information and vehicle rollover information.

[0034] In some embodiments, controlling the steering wheel rotation based on the steering wheel rotation information and the vehicle rollover information includes: increasing the steering wheel rotation angle when the rollover direction and the rotation direction are the same; and / or, controlling the steering wheel to rotate in the rollover direction when the rollover direction and the rotation direction are not the same.

[0035] In some embodiments, the suspension suppression mode described above is used to control the suspension system to perform adjustment actions based on pose information and the vehicle's roll direction, so as to reduce the vehicle's tilt angle.

[0036] In some embodiments, the suspension system includes multiple suspension structures; according to the pose information and the vehicle's rollover direction, the suspension system is controlled to perform adjustment actions, including: according to the pose information and the vehicle's rollover direction, controlling a first side suspension structure to increase its height; and / or, according to the pose information and the vehicle's rollover direction, controlling a second side suspension structure to decrease its height, wherein the first side suspension structure is one side of the vehicle's left or right side suspension structure, and the second side suspension structure is the other side of the vehicle's left or right side suspension structure.

[0037] In some embodiments, when the vehicle is flipped counterclockwise, the first side suspension structure is a left-side suspension structure, and the second side suspension structure is a right-side suspension structure; or...

[0038] When the vehicle is flipped clockwise, the first side suspension structure is the right side suspension structure, and the second side suspension structure is the left side suspension structure.

[0039] In some embodiments, the above-mentioned control of raising the height of the first side suspension structure includes: controlling the height of the first side suspension structure to rise to its maximum.

[0040] In some embodiments, the above-mentioned control of the second-side suspension structure to reduce its height includes: controlling the height of the second-side suspension structure to be reduced to a minimum.

[0041] In some embodiments, the aforementioned preset fifth angle threshold is the angle at which the vehicle is at risk of rollover.

[0042] In some embodiments, the preset fifth angle threshold is greater than or equal to 10° and less than or equal to 15°.

[0043] In some embodiments, the rollover protection mode described above includes at least one of the following: airbag protection mode, seat belt protection mode, and curtain airbag protection mode.

[0044] In some embodiments, triggering the rollover protection mode when the vehicle's roll angle is greater than or equal to a first angle threshold includes: triggering the rollover protection mode when the vehicle's roll angle is greater than or equal to a first angle threshold and the vehicle body acceleration is greater than or equal to an acceleration threshold.

[0045] In some embodiments, triggering the rollover protection mode when the vehicle's roll angle is greater than or equal to a first angle threshold includes: triggering the rollover protection mode when the vehicle's roll angle is greater than or equal to a first angle threshold and the vehicle body rollover angular velocity is greater than or equal to a rollover angular velocity threshold.

[0046] In some embodiments, triggering the rollover protection mode when the vehicle's roll angle is greater than or equal to a first angle threshold includes: triggering the rollover protection mode when the vehicle's roll angle is greater than or equal to a first angle threshold, the vehicle body rollover angular velocity is greater than or equal to a rollover angular velocity threshold, and the vehicle body acceleration is greater than or equal to an acceleration threshold.

[0047] In some embodiments, the aforementioned roll angle is obtained based on a roll sensor, an angular velocity sensor, and / or a gyroscope.

[0048] In a second aspect, this application provides an electronic device, including: a processor and a memory configured to store processor-executable instructions; wherein the processor is configured to execute the instructions to implement any of the optional vehicle rollover control methods described in the first aspect above.

[0049] Thirdly, this application provides a computer-readable storage medium storing instructions that, when executed by a device, enable the device to perform any of the optional vehicle rollover control methods described in the first aspect above.

[0050] Fourthly, this application provides a vehicle including: the electronic device described in the second aspect, or the computer-readable storage medium described in the third aspect.

[0051] Fifthly, this application provides a computer program product including computer instructions that, when executed on a processor of a device, enable the device to perform any of the optional vehicle rollover control methods described in the first aspect above. Attached Figure Description

[0052] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a schematic diagram of the structure of an auxiliary constraint system provided in an embodiment of this application;

[0054] Figure 2 This is a schematic diagram of a suspension system provided in an embodiment of this application;

[0055] Figure 3 This is a schematic diagram of the structure of an active safety system provided in an embodiment of this application;

[0056] Figure 4A schematic flowchart illustrating a vehicle rollover control method provided in an embodiment of this application;

[0057] Figure 5 This is a schematic diagram illustrating a display screen providing a warning notification, as provided in an embodiment of this application.

[0058] Figure 6 This is a schematic diagram illustrating the effect of the steering wheel rotation direction on vehicle rollover, provided in an embodiment of this application.

[0059] Figure 7 A schematic flowchart illustrating another vehicle rollover control method provided in this application embodiment;

[0060] Figure 8 This is a schematic diagram of the structure of a vehicle rollover control device provided in an embodiment of this application;

[0061] Figure 9 This is a schematic diagram of the structure of a device provided in an embodiment of this application. Detailed Implementation

[0062] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0063] In the description of this application, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or relative positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and for simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Unless otherwise specified, the above-mentioned orientational descriptions can be flexibly set in practical applications, provided that the relative positional relationships shown in the accompanying drawings are satisfied.

[0064] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0065] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, 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 a process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, article, or apparatus that includes that element.

[0066] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0067] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0068] Currently, vehicle safety is receiving increasing attention during driving. During driving, high speeds while turning, sudden braking, or emergency braking can all lead to vehicle rollover accidents. The risk factor for vehicle rollover accidents is extremely high, far exceeding other types of traffic accidents. Therefore, how to prevent vehicle rollovers during driving is becoming increasingly important.

[0069] In related technologies, when a vehicle rollover accident occurs, the rollover protection function is triggered by determining whether the explosion threshold line has been reached based on the rollover angle and rollover angular velocity of the vehicle during travel, combined with the lateral acceleration sensor signal and the vertical acceleration sensor signal. That is, the airbag is deployed and the seat belts are tightened to firmly fix the occupants in the vehicle, preventing the occupants from being thrown out of the vehicle or suffering head injuries during the accident.

[0070] However, the above method only triggers the rollover protection function when the vehicle rolls over, but it cannot reduce the probability of a rollover event.

[0071] Based on this, this application proposes a vehicle rollover control method, comprising: triggering a rollover protection mode when the vehicle's tilt angle is greater than or equal to a first angle threshold; and placing the vehicle in a rollover suppression mode when the vehicle's tilt angle is less than the first angle threshold. When there is a risk of vehicle rollover, the method determines whether the vehicle should be in rollover suppression mode or trigger rollover protection mode based on the vehicle's tilt angle. When the vehicle's tilt angle is less than the first angle threshold, being in rollover suppression mode can control the vehicle to avoid rollover, thereby reducing the probability of a rollover event. When the vehicle's tilt angle is greater than or equal to the first angle threshold, triggering rollover protection mode protects passengers, thereby improving vehicle driving safety.

[0072] In some embodiments, such as Figure 1 As shown, the vehicle is equipped with a Supplemental Restraint System (SRS), which includes passive safety devices such as a restraint controller 110, an airbag deployment device 120, and a seatbelt pretensioner 130. In the event of a vehicle rollover, the restraint controller 110 receives various speed-related signals from the vehicle and determines whether to execute rollover protection operations by controlling the airbag deployment device 120, seatbelt pretensioner 130, and other devices accordingly.

[0073] It is understandable that the signal can be detected by the inertial measurement unit (IMU). The inertial measurement unit can be integrated into the constraint controller 110 of the auxiliary constraint system, or it can be independent of the constraint controller 110. After the inertial measurement unit detects the signal related to the vehicle speed, it sends these signals to the constraint controller 110 through the bus.

[0074] For example, the inertial measurement unit can detect the vehicle's rollover angular velocity signal and three-axis acceleration signals (X, Y, and Z directions). The vehicle's roll angle can be obtained by integrating the rollover angular velocity.

[0075] Among them, the constraint controller 110 can be an electronic control unit (ECU).

[0076] In some embodiments, such as Figure 2 As shown, the vehicle is also equipped with a suspension system, which includes a suspension controller 210 and a suspension structure 220. When there is a risk of vehicle rollover, the suspension controller 210 controls the suspension structure 220 to raise and lower to adjust the vehicle's attitude, thereby reducing the vehicle's roll angle.

[0077] In other embodiments, such as Figure 3As shown, the vehicle is also equipped with an active safety system, which includes an active controller 310, an audio device 320, a display device 330, and a vibration device 340. When there is a risk of vehicle rollover, the active controller controls the audio device, display device, and vibration device to prompt the driver to adjust the steering wheel, thereby reducing the vehicle's roll angle.

[0078] It should be noted that the vehicle also includes a controller, which communicates with the controllers in the auxiliary restraint system, suspension system, and active safety system, enabling the controller to control the auxiliary restraint system, suspension system, and active safety system to operate in an orderly manner when there is a risk of vehicle rollover.

[0079] The vehicle rollover control method of this application is applicable to the controller of the aforementioned vehicle. The controller can be an electronic device such as a personal computer (PC), laptop computer, mobile device, tablet computer, or laptop computer; the embodiments of this application do not limit the specific form of the electronic device. Alternatively, it can be a single server or a server cluster consisting of multiple servers; in some implementations, the server cluster can be a distributed cluster server. The embodiments of this application do not impose any limitations in this regard.

[0080] like Figure 4 As shown, the vehicle rollover control method provided in this application includes:

[0081] S401. If the vehicle's roll angle is greater than or equal to the first angle threshold, the rollover protection mode is triggered.

[0082] The roll angle can be obtained from the roll sensor, angular velocity sensor and / or gyroscope, and the first angle threshold is the critical angle at which the vehicle cannot be prevented from rolling over.

[0083] As one possible implementation, the vehicle's roll angle can be determined based on a roll sensor, angular velocity sensor, or gyroscope. When the roll angle is greater than or equal to a first angle threshold, it indicates that the vehicle is about to roll over and it is unavoidable. At this time, the rollover protection mode is triggered to control the vehicle to roll over.

[0084] The rollover protection mode includes at least one of the following: airbag protection mode, seat belt protection mode, and curtain airbag protection mode.

[0085] The first angle threshold can be obtained based on the steering wheel rotation information and a preset third angle threshold. For example, the preset third angle threshold is greater than or equal to 50° and less than or equal to 60°.

[0086] It should be noted that by adjusting the preset third angle threshold based on the steering wheel rotation angle, and comparing the vehicle's roll angle with the first angle threshold to determine whether the vehicle triggers the rollover protection mode, the impact of the steering wheel rotation angle on vehicle rollover is reduced, thereby enabling more precise control over whether the vehicle triggers the rollover protection mode.

[0087] In some embodiments, a vehicle may have multiple airbags, seat belts, and curtain airbags. Therefore, the deployment of all airbags and curtain airbags, as well as the tightening of all seat belts, can be determined based on the number of passengers in the vehicle, the severity of the rollover, and the risk of passenger injury. For the seat belt tightening operation, the tightening of the seat belts in the seats where passengers are located can be controlled according to their positions in the vehicle, thereby avoiding excessive consumption of computing resources.

[0088] To ensure passenger safety, all airbags and curtain airbags in a vehicle should deploy during a rollover. However, if the rollover is minor and there are few passengers, deploying all airbags and curtain airbags would increase vehicle maintenance costs. Therefore, the deployment of airbags and curtain airbags in appropriate locations can be controlled by comprehensively considering the number of passengers in the vehicle, the severity of the rollover, and the risk of passenger injury. For example, if there is only one person in the vehicle, tightening only the driver's seatbelt will deploy the front airbags, while the rear airbags may not need to deploy.

[0089] It should be noted that different types of vehicles have different interior space sizes, therefore the airbag deployment angles also differ. In actual control, the airbag deployment angle can be preset according to the size of the vehicle's interior space.

[0090] Specifically, when the vehicle's roll angle is less than the first angle threshold, the vehicle is in rollover suppression mode.

[0091] It should be noted that when a vehicle is at risk of rollover, the vehicle's roll angle needs to reach a certain value. That is, the rollover suppression mode is triggered when the vehicle's roll angle is greater than or equal to the second angle threshold.

[0092] In some embodiments, after triggering the rollover suppression mode, if there is no risk of vehicle rollover, the rollover suppression mode needs to be exited. Therefore, the rollover suppression mode exits when the rollover suppression exit conditions are met. The rollover suppression exit conditions include at least one of the following: the vehicle's roll angle is less than a fourth angle threshold, and a rollover suppression exit command is received.

[0093] As one possible implementation, by triggering the rollover suppression mode, the vehicle's roll angle will decrease. When the vehicle's roll angle is less than the fourth angle threshold, it indicates that there is no risk of the vehicle rolling over. At this time, the vehicle can exit the rollover suppression mode. The fourth angle threshold is less than or equal to the second angle threshold.

[0094] For example, assuming the second angle threshold is 10° and the fourth angle threshold is also 10°, when the roll angle is greater than 10°, the roll angle is reduced by using the roll suppression mode, and when the roll angle is less than 10°, the roll suppression mode is exited.

[0095] As another possible implementation, the flip suppression mode can be exited upon receiving a flip suppression exit command. The flip suppression exit command is triggered by one of the following methods: receiving a user's touch operation on the flip suppression mode display interface, receiving a user's operation on the steering wheel toggle device or the flip suppression exit button, or receiving voice information carrying the flip suppression exit command. The steering wheel toggle device includes a steering wheel lever and / or a steering wheel paddle.

[0096] For example, a user can click on the controls on the display interface of the flip suppression mode, adjust the steering wheel lever to the set position, adjust the steering wheel paddle to the set position, press the flip suppression exit button, and emit a voice signal to "exit flip suppression mode".

[0097] Therefore, when a vehicle is at risk of rollover, the system determines whether to activate rollover suppression mode or rollover protection mode based on the vehicle's tilt angle. When the tilt angle is less than a first angle threshold, the vehicle is in rollover suppression mode to prevent rollover, thus reducing the probability of a rollover event. When the tilt angle is greater than or equal to the first angle threshold, rollover protection mode is activated to protect passengers, thereby improving vehicle safety.

[0098] It should be noted that because multiple motion parameters of the vehicle (such as acceleration) change during the rollover process, a combination of these parameters should be considered to improve the accuracy of determining whether the rollover protection mode has been triggered. Therefore, in addition to the vehicle's roll angle being greater than or equal to a first angle threshold, the rollover protection mode is triggered if the vehicle's rollover angular velocity is greater than or equal to a rollover angular velocity threshold and / or the vehicle's acceleration is greater than or equal to an acceleration threshold.

[0099] As one possible implementation, a rollover protection mode is triggered when the vehicle's roll angle is greater than or equal to a first angle threshold and the vehicle body acceleration is greater than or equal to an acceleration threshold.

[0100] As another possible implementation, the rollover protection mode is triggered when the vehicle's roll angle is greater than or equal to a first angle threshold and the vehicle body rollover angular velocity is greater than or equal to a rollover angular velocity threshold.

[0101] As another possible implementation, the rollover protection mode is triggered when the vehicle's roll angle is greater than or equal to a first angle threshold, the vehicle body rollover angular velocity is greater than or equal to a rollover angular velocity threshold, and the vehicle body acceleration is greater than or equal to an acceleration threshold.

[0102] Therefore, by combining the vehicle's rollover angular velocity and acceleration with the rollover angle to determine whether the vehicle triggers the rollover protection mode, the accuracy of triggering the rollover protection mode is improved.

[0103] In some embodiments, when there is a risk of vehicle rollover, a rollover warning may be issued to the driver to alert them to the risk of rollover or to remind the driver to adjust the steering wheel. Therefore, the above method further includes:

[0104] S501. When the vehicle's tilt angle is greater than or equal to the second angle threshold, the rollover warning function is triggered.

[0105] The second angle threshold is the critical value at which the vehicle is at risk of overturning, while the first angle threshold is the critical value at which the vehicle is about to overturn. Therefore, the second angle threshold is less than the first angle threshold.

[0106] In some embodiments, the rollover warning function includes a first rollover warning function and a second rollover warning function. When the vehicle is in rollover suppression mode, the rollover warning function is the first rollover warning function; when the vehicle is in rollover protection mode, the rollover warning function is the second rollover warning function.

[0107] The first rollover warning function prompts the driver to control the steering wheel to prevent the vehicle from rolling over. The second rollover warning function prompts passengers to take self-protective measures and / or alerts rescue personnel to provide assistance.

[0108] As one possible implementation, the first flip prompt function can be achieved by displaying a flip prompt interface, outputting a flip prompt voice, or controlling a vibration device to start vibrating, or by one or more of these methods.

[0109] In some embodiments, the rollover warning interface is used to display warning messages and / or rollover prevention reminders. The warning messages alert the driver to a risk of vehicle rollover, while the rollover prevention reminders prompt the driver to take appropriate action to control the vehicle and prevent it from rolling over.

[0110] For example, suppose the first direction is the driver's left-hand direction. If the vehicle rolls to the left, a warning message alerts the driver that there is a risk of the vehicle rolling backwards to the left. The rollover prevention reminder is used to prompt the driver to adjust the steering wheel rotation direction to the vehicle's rollover direction and / or increase the steering wheel rotation angle in the rollover direction.

[0111] As one possible implementation, when the vehicle's roll angle is greater than or equal to a second angle threshold, the display screen can be controlled to show a rollover warning interface to alert the driver of a risk of rollover. Alternatively, the display screen can be controlled to show a rollover warning interface to alert the driver of a rollover prevention warning, prompting the driver to adjust the steering wheel's rotation direction to the direction of vehicle rollover and / or increase the steering wheel's rotation angle in the rollover direction. Or, the display screen can be controlled to show both a rollover warning interface and a rollover prevention warning to alert the driver to adjust the steering wheel's rotation direction to the direction of vehicle rollover and / or increase the steering wheel's rotation angle in the rollover direction.

[0112] For example, such as Figure 5 As shown, the control display screen can show a flip prompt interface to guide the driver to adjust the vehicle's forward posture by turning the steering wheel. The vehicle flips to the right, and the left direction marked with "×" is the wrong direction. The user needs to control the steering wheel to turn right.

[0113] In other embodiments, the flip prompt interface is also used to display at least one of the following: the flip direction of the vehicle and / or the turning direction of the steering wheel, and the position information of the vehicle's suspension system.

[0114] The positional information of the suspension system includes the position of each suspension structure in the vehicle and the height of each suspension structure.

[0115] For example, the flip prompt interface shows that the vehicle is flipped to the left and the steering wheel is turned to the right. The flip prompt interface also displays the heights of the left front suspension, right front suspension, left rear suspension, and right rear suspension.

[0116] In some embodiments, the rollover prompt voice is used to prompt at least one of the following: prompting the driver that the vehicle is at risk of rollover, prompting the driver to adjust the steering wheel's turning direction and / or turning angle, or prompting the vehicle's suspension system's position adjustment information.

[0117] As one possible implementation, a rollover prompt voice is output when the vehicle's tilt angle is greater than or equal to a second angle threshold.

[0118] For example, when there is a risk of the vehicle rolling to the left, an audible signal "Vehicle is at risk of rolling to the left" can be output. Alternatively, an audible signal "Vehicle is at risk of rolling to the left, turn the steering wheel to the left" can be output. Alternatively, an audible signal "Vehicle is at risk of rolling to the left, turn the steering wheel 180 degrees to the left" can be output. Signals such as "The left suspension height has been lowered to the minimum" can also be output.

[0119] As one possible implementation, the vibration device is controlled to start vibrating when the vehicle's roll angle is greater than or equal to a second angle threshold. The vibration device is used to vibrate the steering wheel and / or the seat.

[0120] For example, if the steering wheel vibrates three times in quick succession, followed by a short interval, then vibrates three times in quick succession again, it indicates that the steering wheel needs to be turned left; if the steering wheel vibrates twice in quick succession, followed by a short interval, then vibrates two times in quick succession again, it indicates that the steering wheel needs to be turned right. Similarly, if the seat vibrates three times in quick succession, followed by a short interval, then vibrates three times in quick succession again, it indicates that the steering wheel needs to be turned left; if the seat vibrates twice in quick succession, followed by a short interval, then vibrates two times in quick succession again, it indicates that the steering wheel needs to be turned right.

[0121] In some embodiments, the greater the vehicle's tilt angle, the more likely the vehicle is to roll over. Therefore, the ease with which the vehicle is likely to roll over can be indicated by displaying the state of the rollover warning interface, the state of the rollover warning voice output, and the vibration state of the vibration device.

[0122] The first flip prompt function also includes at least one of the following: the brightness of the display showing the flip prompt interface is positively correlated with the tilt angle; the contrast of the displayed image on the flip prompt interface is positively correlated with the tilt angle; the pitch and / or loudness of the flip prompt voice is positively correlated with the tilt angle; the output frequency of the flip prompt voice is positively correlated with the tilt angle; and the vibration frequency and / or vibration amplitude of the vibration device are positively correlated with the tilt angle.

[0123] For example, the greater the tilt angle, the higher the brightness of the display showing the flip prompt interface, the greater the contrast of the displayed image on the flip prompt interface, the higher the pitch of the flip prompt voice, the greater the loudness of the flip prompt voice, the higher the output frequency of the flip prompt voice, the higher the vibration frequency of the vibration device, and the greater the vibration amplitude of the vibration device.

[0124] Therefore, by issuing a rollover warning to the driver when there is a risk of vehicle rollover, the driver is guided to turn the steering wheel in the correct direction, thus avoiding a rollover event due to incorrect operation and reducing the probability of a rollover event.

[0125] In some embodiments, the second rollover alert function includes at least one of the following: outputting a rollover alert voice message and sending a rescue signal. The rollover alert voice message includes: the passenger vehicle has rolled over and / or indicating the location of passengers inside the vehicle to rescue personnel.

[0126] As one possible implementation, a rollover prompt voice is output when the vehicle's tilt angle is greater than or equal to a first angle threshold.

[0127] For example, when the vehicle's tilt angle is equal to a first angle threshold, the system outputs either "The vehicle has overturned, please adjust your seating position" or "The passenger in the front passenger seat is awaiting rescue."

[0128] As another possible implementation, a rescue signal is issued when the vehicle's tilt angle is greater than or equal to a first angle threshold.

[0129] For example, when the vehicle's roll angle is equal to a first angle threshold, the vehicle's emergency call function is activated to send a rescue signal.

[0130] It should be noted that the above is only an example to illustrate the process of giving users a flip prompt through visual, auditory and tactile senses. This process may also include other forms of prompts, which will not be described in detail here.

[0131] Therefore, when the vehicle overturns, the second overturn warning function is triggered to prompt passengers to protect themselves, and to send out a rescue signal and indicate the location of passengers inside the vehicle to rescuers, thereby improving the safety of vehicle operation.

[0132] It should be noted that because the vehicle's rollover direction is the same as the steering wheel's rotation direction, the front wheels rotate along with the steering wheel. This generates a centripetal force that counteracts the centrifugal force in the rollover direction, thus reducing the likelihood of rollover. In this situation, the vehicle is actually less likely to roll over. Therefore, combining steering wheel rotation information with the determination of whether the rollover protection mode is triggered improves the accuracy of triggering the rollover protection mode.

[0133] For example, such as Figure 6 As shown, when a vehicle is going downhill, there is a risk of it overturning to the right. If the steering wheel is turned to the right, the vehicle does not overturn (solid line). If the steering wheel is turned to the left, the vehicle overturns (dashed line).

[0134] It is understandable that when the direction of vehicle rollover is not the same as the direction of steering wheel rotation, the centripetal force generated by the front wheels of the vehicle is in the same direction as the centrifugal force in the direction of rollover. Therefore, the actual magnitude of the centrifugal force on the vehicle is the sum of the two. As the centrifugal force received by the vehicle increases, the possibility of rollover increases. Thus, the vehicle is more likely to rollover in this situation.

[0135] In some embodiments, the direction of steering wheel rotation can affect the occurrence of a vehicle rollover event. Therefore, when comparing the roll angle and a first angle threshold, the roll angle or the first angle threshold needs to be corrected based on the steering wheel rotation information. Therefore, the method further includes:

[0136] S601, In response to the angle adjustment mode selection command, determine the angle adjustment mode.

[0137] The angle adjustment mode is used to determine a first angle threshold. The angle adjustment mode includes a first angle adjustment mode and a second angle adjustment mode. The first angle adjustment mode determines the first angle threshold based on steering wheel rotation information and a preset third angle threshold, while the second angle adjustment mode uses the preset third angle threshold as the first angle threshold.

[0138] As one possible implementation, when the angle adjustment mode indicated by the angle adjustment mode selection command is the first angle adjustment mode, the first angle threshold can be determined based on the steering wheel rotation information and the preset third angle threshold.

[0139] As another possible implementation, when the angle adjustment mode indicated by the angle adjustment mode selection command is the second angle adjustment mode, the preset third angle threshold can be used as the first angle threshold.

[0140] The angle adjustment mode selection command is triggered by one of the following methods: obtaining the user's touch operation on the angle adjustment mode selection interface, or receiving the user's operation on the steering wheel toggle device or the angle adjustment mode selection button, or receiving voice information carrying the angle adjustment mode selection command.

[0141] For example, a user can click the first angle adjustment mode control or the second angle adjustment mode control on the angle adjustment mode selection interface, adjust the steering wheel lever or steering wheel paddle to the set position, press the angle adjustment mode selection button, and emit a voice signal of "first angle adjustment mode".

[0142] It should be noted that both exiting the rollover suppression mode and selecting the angle adjustment mode can be achieved by adjusting the steering wheel lever. Both processes can be accomplished using the same lever; for example, adjusting the same steering wheel stalk or paddle to different positions, using different techniques, or varying the number of times the same lever or paddle is moved. Alternatively, the two processes can be accomplished using different levers; for example, using the steering wheel stalk to exit rollover suppression mode and using the steering wheel paddle to select angle adjustment mode. The above distinction between exiting rollover suppression mode and selecting angle adjustment mode is based solely on the position of the steering wheel lever; other methods for distinguishing between these modes will not be detailed here.

[0143] It should be noted that the roll angle and the first angle threshold are two objects under the same judgment condition, and either one can be adjusted during adjustment. Therefore, when the target angle is the preset third angle threshold, the vehicle's roll angle can be adjusted based on steering wheel rotation information and vehicle roll information, and the adjusted roll angle can be compared with the first angle threshold to determine which mode to trigger.

[0144] In some embodiments, when the flipping direction and the rotation direction are the same, the adjusted roll angle is the difference between the vehicle's roll angle and the adjustment angle; when the flipping direction and the rotation direction are not the same, the adjusted roll angle is the sum of the vehicle's roll angle and the adjustment angle.

[0145] Therefore, by selecting the angle adjustment mode, the user can determine whether the angle adjustment mode is the first angle adjustment mode or the second angle adjustment mode, thus improving the flexibility of comparing the tilt angle and the first angle threshold.

[0146] In some embodiments, determining the first angle threshold based on the steering wheel rotation information and a preset third angle threshold includes:

[0147] S701: Adjustment information is determined based on steering wheel rotation information and vehicle rollover information.

[0148] The steering wheel rotation information includes the steering wheel rotation angle and the steering wheel rotation direction. The vehicle rollover information includes the vehicle rollover direction and the vehicle roll angle.

[0149] One possible approach is to determine the adjustment direction based on the steering wheel's rotation direction and the vehicle's roll direction, determine the adjustment angle based on the steering wheel's rotation angle, and obtain adjustment information based on the adjustment angle and adjustment direction.

[0150] It should be noted that the adjustment angle can be preset according to the actual needs of the control process. Different types of vehicles have different steering wheel rotation angles, so the correspondence between the steering wheel rotation angle and the adjustment angle can be determined based on the steering wheel rotation angle. For example, every 20 degrees of steering wheel rotation corresponds to a 1-degree adjustment angle.

[0151] S702. Determine the first angle threshold based on the adjustment information and the preset third angle threshold.

[0152] As one possible implementation, when the flipping direction and the rotation direction are the same, the first angle threshold is the sum of the preset third angle threshold and the adjustment angle; when the flipping direction and the rotation direction are not the same, the first angle threshold is the difference between the preset third angle threshold and the adjustment angle.

[0153] The preset third angle threshold is the critical angle at which the vehicle cannot be prevented from overturning. The preset third angle threshold is greater than or equal to 50° and less than or equal to 60°.

[0154] Therefore, by determining the first angle threshold based on steering wheel rotation information, vehicle rollover information, and a preset third angle threshold, the rollover protection mode is triggered when the roll angle is greater than or equal to the first angle threshold. Since steering wheel rotation affects vehicle posture and balance, determining the first angle threshold using steering wheel rotation information, vehicle rollover information, and the preset third angle threshold improves the accuracy of determining the first angle threshold, thereby improving the accuracy of triggering the rollover protection mode. This avoids the problem of passenger safety being compromised by executing rollover protection operations too early or too late.

[0155] In some embodiments, when there is a risk of vehicle rollover, the vehicle's roll angle is greater than a second angle threshold. Therefore, the above method may further include:

[0156] S801. When the vehicle's roll angle is greater than or equal to the second angle threshold and less than the first angle threshold, the rollover suppression mode is triggered.

[0157] The second angle threshold is determined based on steering wheel rotation information and a preset fifth angle threshold. The preset fifth angle threshold is the angle at which the vehicle is at risk of rollover; for example, the preset fifth angle threshold can be greater than or equal to 10° and less than or equal to 15°.

[0158] One possible implementation involves determining the steering wheel's rotation direction and angle, as well as a preset fifth angle threshold. Based on these factors, a second angle threshold is determined. When the roll angle is greater than or equal to the second angle threshold but less than the first angle threshold, it indicates a risk of vehicle rollover, triggering a rollover suppression mode. This improves the accuracy of determining the second angle threshold, thereby increasing the accuracy of triggering the rollover suppression mode.

[0159] As another possible implementation, the steering wheel rotation direction and angle, as well as a preset fifth angle threshold, are determined. The adjusted roll angle is determined based on the steering wheel rotation direction and angle and the vehicle roll angle. When the adjusted roll angle is greater than or equal to the preset fifth angle threshold and less than the first angle threshold, it indicates that the vehicle is at risk of rollover and triggers the rollover suppression mode.

[0160] It should be noted that when the flipping direction and the rotation direction are the same, the adjusted roll angle is the difference between the vehicle's roll angle and the adjustment angle. When the flipping direction and the rotation direction are not the same, the adjusted roll angle is the sum of the vehicle's roll angle and the adjustment angle.

[0161] Therefore, when the roll angle is greater than or equal to the second angle threshold, that is, when there is a risk of vehicle rollover, the rollover suppression mode is triggered so that the roll angle of the vehicle does not meet the second angle threshold, thereby suppressing vehicle rollover and reducing the risk of rollover, thus reducing the probability of vehicle rollover.

[0162] It should be noted that the rollover suppression mode includes at least one of the following: steering suppression mode, suspension suppression mode, and warning suppression mode. The steering suppression mode is used to adjust the vehicle's steering to control vehicle rollover; the suspension suppression mode works by adjusting the vehicle's attitude through the suspension system to control vehicle rollover; and the warning suppression mode is used to remind the driver to control vehicle rollover by triggering the first rollover warning function.

[0163] In some embodiments, the steering suppression mode is used to control the steering wheel rotation based on steering wheel rotation information and vehicle rollover information.

[0164] As one possible approach, when the flipping direction and the rotation direction are the same, the steering wheel rotation angle is increased; when the flipping direction and the rotation direction are different, the steering wheel is controlled to rotate in the flipping direction.

[0165] Therefore, in situations where there is a risk of vehicle rollover, after determining the direction and / or angle of steering wheel adjustment, the steering wheel can be adjusted without requiring manual operation by the driver, thus improving the vehicle's level of intelligence.

[0166] It should be noted that this application only uses the steering wheel as an example to illustrate the steering suppression mode. In addition to the steering wheel, the steering system in a vehicle includes other components, such as the steering gear. Therefore, the vehicle's direction can also be adjusted by controlling other components within the steering system.

[0167] In some embodiments, the suspension suppression mode is used to control the suspension system to perform adjustment actions based on pose information and the vehicle's roll direction, in order to reduce the vehicle's tilt angle. The suspension system includes multiple suspension structures.

[0168] As one possible implementation, the height of the first side suspension structure is increased based on the pose information and the vehicle's rollover direction, and / or the height of the second side suspension structure is decreased based on the pose information and the vehicle's rollover direction.

[0169] The first side suspension structure is one side of the vehicle's left or right side suspension structure, and the second side suspension structure is the other side of the vehicle's left or right side suspension structure.

[0170] When the vehicle is flipped counterclockwise, the first side suspension structure is the left side suspension structure and the second side suspension structure is the right side suspension structure; or, when the vehicle is flipped clockwise, the first side suspension structure is the right side suspension structure and the second side suspension structure is the left side suspension structure.

[0171] In some embodiments, the height of the first side suspension structure is controlled to rise to its maximum based on the pose information and the vehicle's roll direction.

[0172] For example, assuming each suspension structure has a height of 5 centimeters and the maximum height of the suspension structure is 10 centimeters, when the vehicle rolls to the left, the height of the left suspension structure is raised to 10 centimeters.

[0173] In other embodiments, the height of the second-side suspension structure is controlled to be minimized based on pose information and the vehicle's rollover direction.

[0174] For example, assuming the height of each suspension structure is 5 centimeters, when the vehicle rolls to the left, the height of the right suspension structure is reduced to 0.

[0175] In other embodiments, based on pose information and the vehicle's rollover direction, the height of the first side suspension structure is controlled to rise to its maximum, and the height of the second side suspension structure is controlled to fall to its minimum.

[0176] For example, assuming the height of each suspension structure is 5 centimeters and the maximum height of the suspension structure is 10 centimeters, when the vehicle rolls to the left, the height of the left suspension structure is raised to 10 centimeters, and the height of the right suspension structure is lowered to 0 centimeters.

[0177] It should be noted that the adjustable height of the suspension structure is limited, and therefore the range of adjustable roll angle is also fixed. Even after raising the suspension structure to its highest or lowest position, the vehicle's roll angle is still greater than or equal to the first angle threshold. Therefore, when controlling the suspension system to perform adjustment actions, both sides of the suspension structure are controlled to move, raising the first side's suspension structure to its highest position and lowering the second side's suspension structure to its lowest position.

[0178] Therefore, by controlling the suspension system to perform adjustment actions when there is a risk of vehicle rollover, the vehicle's tilt angle is adjusted to reduce the probability of a rollover event.

[0179] The following example illustrates the vehicle rollover control method of this application. Figure 7 As shown, it includes the following steps:

[0180] S901. Obtain the rotation angle and direction of the vehicle's steering wheel.

[0181] S902, Obtain the vehicle's roll angle.

[0182] It should be noted that, since the adjustment angle corresponding to the steering wheel rotation angle can be ignored when there is a risk of vehicle rollover.

[0183] S903. Determine whether the vehicle's roll angle is greater than or equal to the second angle threshold. If so, a warning message can be sent to the driver through sound warning, steering wheel vibration warning, or visual warning, while controlling the suspension system to adjust the vehicle's attitude. If not, no warning message needs to be sent.

[0184] S904. The roll angle is adjusted by correcting the roll angle based on the rotation angle and direction of the steering wheel.

[0185] S905, obtain vehicle body acceleration.

[0186] S906: Determine whether the adjusted roll angle is greater than or equal to the first angle threshold and whether the vehicle acceleration is greater than or equal to the acceleration threshold. If yes, control the airbag to deploy; otherwise, control the airbag not to deploy.

[0187] The above primarily describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the vehicle rollover control device includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0188] This application embodiment can, based on the above method, exemplarily divide the vehicle rollover control device into functional modules. For example, the vehicle rollover control device may include functional modules corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods.

[0189] Figure 8 This is a schematic diagram of a vehicle rollover control device provided in an embodiment of this application. (Refer to...) Figure 8 The vehicle rollover control device 900 includes: a first processing unit 910.

[0190] The first processing unit 910 is used to trigger a rollover protection mode when the vehicle's roll angle is greater than or equal to a first angle threshold; wherein, when the vehicle's roll angle is less than the first angle threshold, a rollover suppression mode is activated.

[0191] In some embodiments, the above-described device further includes: a second processing unit; the second processing unit is configured to trigger a rollover warning function when the vehicle's tilt angle is greater than or equal to a second angle threshold, wherein the second angle threshold is less than a first angle threshold.

[0192] In some embodiments, the above-mentioned rollover warning function includes: a first rollover warning function and a second rollover warning function; when the vehicle is in rollover suppression mode, the rollover warning function is the first rollover warning function; or, when the vehicle is in rollover protection mode, the rollover warning function is the second rollover warning function.

[0193] In some embodiments, the first rollover warning function described above is used to prompt the driver to control the steering wheel to control the vehicle and avoid rollover.

[0194] In some embodiments, the second flip prompt function described above is used to prompt passengers to protect themselves and / or to prompt rescuers to carry out rescue operations.

[0195] In some embodiments, the first rollover warning function includes one or more of the following: displaying a rollover warning interface, which is used to display warning information and / or rollover suppression reminders; wherein the warning information is used to remind the driver that the vehicle is at risk of rollover; the rollover suppression reminder is used to prompt the driver to take action to control the vehicle to avoid rollover; outputting a rollover warning voice; and controlling the vibration device to start vibrating.

[0196] In some embodiments, the above-described flip prompt interface is also used to display at least one of the following: the flip direction of the vehicle and the turning direction of the steering wheel; the position information of the vehicle's suspension system.

[0197] In some embodiments, the aforementioned rollover warning voice is used to prompt at least one of the following: prompting the driver that the vehicle is at risk of rollover; prompting the driver to adjust the steering wheel's rotation direction and / or rotation angle; and prompting the vehicle's suspension system's position adjustment information.

[0198] In some embodiments, the first flip prompt function further includes at least one of the following: the brightness of the display showing the flip prompt interface is positively correlated with the tilt angle; and / or, the contrast of the displayed image of the flip prompt interface is positively correlated with the tilt angle; and / or, the pitch and / or loudness of the flip prompt voice is positively correlated with the tilt angle; and / or, the output frequency of the flip prompt voice is positively correlated with the tilt angle; and / or, the vibration frequency and / or vibration amplitude of the vibration device is positively correlated with the tilt angle.

[0199] In some embodiments, the vibration device described above includes: a steering wheel and / or a seat.

[0200] In some embodiments, the second rollover alert function includes at least one of the following: outputting a rollover alert voice; the rollover alert voice includes: alerting passengers that the vehicle has rolled over and / or alerting rescuers to the location of passengers inside the vehicle; sending a rescue signal.

[0201] In some embodiments, the apparatus further includes a third processing unit; the third processing unit is configured to determine an angle adjustment mode in response to a selection instruction for an angle adjustment mode, wherein the angle adjustment mode is configured to determine a first angle threshold.

[0202] In some embodiments, the angle adjustment mode includes a first angle adjustment mode and a second angle adjustment mode; wherein, the first angle adjustment mode is used to determine a first angle threshold based on the steering wheel rotation information and a preset third angle threshold; and the second angle adjustment mode is used to use the preset third angle threshold as the first angle threshold.

[0203] In some embodiments, the above-mentioned angle adjustment mode selection command is triggered by one of the following methods: obtaining the user's touch operation on the angle adjustment mode selection interface; receiving the user's operation on the steering wheel toggle device or the angle adjustment mode selection button; or receiving voice information carrying the angle adjustment mode selection command.

[0204] In some embodiments, the steering wheel actuation device includes a steering wheel lever and / or a steering wheel paddle.

[0205] In some embodiments, the above apparatus further includes: a fourth processing unit; the fourth processing unit is configured to exit the flip suppression mode when the flip suppression exit condition is met.

[0206] In some embodiments, the rollover suppression exit condition includes at least one of the following: the vehicle's roll angle is less than a fourth angle threshold, the fourth angle threshold is less than or equal to a second angle threshold; or a rollover suppression exit command is received.

[0207] In some embodiments, the aforementioned flip suppression exit command is triggered by one of the following methods: obtaining the user's touch operation on the display interface of the flip suppression mode; receiving the user's operation on the steering wheel toggle device or the flip suppression exit button; or receiving voice information carrying the flip suppression exit command.

[0208] In some embodiments, the fourth processing unit is specifically used to determine adjustment information based on the steering wheel rotation information and the vehicle rollover information; and to determine a first angle threshold based on the adjustment information and a preset third angle threshold.

[0209] In some embodiments, the steering wheel rotation information includes: the steering wheel rotation angle and the steering wheel rotation direction; the vehicle rollover information includes the vehicle rollover direction and the vehicle tilt angle.

[0210] In some embodiments, the fourth processing unit is specifically used to determine the adjustment direction based on the steering wheel rotation direction and the vehicle rollover direction; determine the adjustment angle based on the steering wheel rotation angle; and obtain adjustment information based on the adjustment angle and adjustment direction.

[0211] In some embodiments, the fourth processing unit is specifically used to, when the flipping direction and the rotation direction are the same, make the first angle threshold the sum of a preset third angle threshold and an adjustment angle; or, when the flipping direction and the rotation direction are not the same, make the first angle threshold the difference between a preset third angle threshold and an adjustment angle.

[0212] In some embodiments, the aforementioned preset third angle threshold is the critical angle at which the vehicle cannot be prevented from overturning.

[0213] In some embodiments, the preset third angle threshold is greater than or equal to 50° and less than or equal to 60°.

[0214] In some embodiments, the above-described device further includes: a fifth processing unit; the fifth processing unit is configured to trigger a rollover suppression mode when the vehicle's roll angle is greater than or equal to a second angle threshold and less than a first angle threshold, wherein the second angle threshold is determined based on steering wheel rotation information and a preset fifth angle threshold.

[0215] In some embodiments, the rollover suppression mode includes at least one of the following: a steering suppression mode, a suspension suppression mode, and a warning suppression mode; the steering suppression mode is used to adjust the steering of the vehicle to control vehicle rollover; the suspension suppression mode is used to adjust the attitude of the vehicle through the suspension system to control vehicle rollover; and the warning suppression mode is used to remind the driver to control vehicle rollover by triggering a first rollover warning function.

[0216] In some embodiments, the steering suppression mode described above is used to control the steering wheel rotation based on steering wheel rotation information and vehicle rollover information.

[0217] In some embodiments, the fifth processing and acquisition unit is specifically used to increase the steering wheel rotation angle when the flipping direction and the rotation direction are the same; and / or to control the steering wheel to rotate in the flipping direction when the flipping direction and the rotation direction are not the same.

[0218] In some embodiments, the suspension suppression mode described above is used to control the suspension system to perform adjustment actions based on the pose information and the vehicle's roll direction, so as to reduce the vehicle's tilt angle.

[0219] In some embodiments, the suspension system includes multiple suspension structures; the fifth processing and acquisition unit is specifically configured to control the first side suspension structure to increase its height based on the pose information and the vehicle's rollover direction; and / or to control the second side suspension structure to decrease its height based on the pose information and the vehicle's rollover direction, wherein the first side suspension structure is one side of the vehicle's left or right suspension structure, and the second side suspension structure is the other side of the vehicle's left or right suspension structure.

[0220] In some embodiments, when the vehicle is flipped counterclockwise, the first side suspension structure is a left-side suspension structure, and the second side suspension structure is a right-side suspension structure; or...

[0221] When the vehicle is flipped clockwise, the first side suspension structure is the right side suspension structure, and the second side suspension structure is the left side suspension structure.

[0222] In some embodiments, the fifth processing and acquisition unit described above is specifically used to control the height of the first side suspension structure to rise to its maximum.

[0223] In some embodiments, the fifth processing and acquisition unit described above is specifically used to control the height of the second side suspension structure to be reduced to a minimum.

[0224] In some embodiments, the aforementioned preset fifth angle threshold is the angle at which the vehicle is at risk of rollover.

[0225] In some embodiments, the preset fifth angle threshold is greater than or equal to 10° and less than or equal to 15°.

[0226] In some embodiments, the rollover protection mode described above includes at least one of the following: airbag protection mode, seat belt protection mode, and curtain airbag protection mode.

[0227] In some embodiments, the first processing unit 910 is specifically used to trigger a rollover protection mode when the vehicle's roll angle is greater than or equal to a first angle threshold and the vehicle body acceleration is greater than or equal to an acceleration threshold.

[0228] In some embodiments, the first processing unit 910 is specifically used to trigger a rollover protection mode when the vehicle's tilt angle is greater than or equal to a first angle threshold and the vehicle body rollover angular velocity is greater than or equal to a rollover angular velocity threshold.

[0229] In some embodiments, the first processing unit 910 is specifically used to trigger a rollover protection mode when the vehicle's tilt angle is greater than or equal to a first angle threshold, the vehicle body rollover angular velocity is greater than or equal to a rollover angular velocity threshold, and the vehicle body acceleration is greater than or equal to an acceleration threshold.

[0230] In some embodiments, the aforementioned roll angle is obtained based on a roll sensor, an angular velocity sensor, and / or a gyroscope.

[0231] Figure 9 This is a schematic diagram of the structure of a device provided in an embodiment of this application. Figure 9 As shown, device 1000 includes, but is not limited to, processor 1001 and memory 1002.

[0232] The aforementioned memory 1002 is used to store the executable instructions of the aforementioned processor 1001. It is understood that the aforementioned processor 1001 is configured to execute instructions to implement the obstacle detection method in the above embodiments.

[0233] It should be noted that those skilled in the art will understand that Figure 9 The device structure shown does not constitute a limitation on the device; the device may include, but is not limited to, other types of devices. Figure 9This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0234] The processor 1001 is the control center of the device, connecting various parts of the device through various interfaces and lines. It performs various functions and processes data by running or executing software programs and / or modules stored in the memory 1002, and by calling data stored in the memory 1002, thereby providing overall monitoring of the device. The processor 1001 may include one or more processing units. Optionally, the processor 1001 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 1001.

[0235] The memory 1002 can be used to store software programs and various data. The memory 1002 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as a determination unit, processing unit, etc.), etc. Furthermore, the memory 1002 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0236] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1002 including instructions, which can be executed by a processor 1001 of the device 1000 to implement the methods in the above embodiments.

[0237] In actual implementation, Figure 8 The first processing unit 910 in the middle can be made by Figure 9 The processor 1001 calls the computer program stored in the memory 1002 to implement the process. The specific execution process can be found in the description of the method section in the previous embodiment, and will not be repeated here.

[0238] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0239] In an exemplary embodiment, this application also provides a vehicle including the aforementioned electronic device or computer-readable storage medium.

[0240] In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by the processor 1001 of the device to perform the methods described above.

[0241] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of the device, they implement the various processes of the above method embodiments and achieve the same technical effect as the above method. To avoid repetition, they will not be described again here.

[0242] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0243] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0244] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the classified units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0245] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0246] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, essentially, or the part that contributes to the prior art, or a complete or partial classification of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0247] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0248] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle rollover control method, characterized in that, The method includes: If the vehicle's roll angle is greater than or equal to a first angle threshold, a rollover protection mode is triggered; if the vehicle's roll angle is less than the first angle threshold, the vehicle is in a rollover suppression mode.

2. The method according to claim 1, characterized in that, The method further includes: If the vehicle's tilt angle is greater than or equal to a second angle threshold, the rollover warning function is triggered, where the second angle threshold is less than the first angle threshold.

3. The method according to claim 2, characterized in that, The flip prompt function includes: a first flip prompt function and a second flip prompt function; When the vehicle is in the rollover suppression mode, the rollover warning function is the first rollover warning function; or, When the vehicle is in the rollover protection mode, the rollover warning function is the second rollover warning function.

4. The method according to claim 3, characterized in that, The first rollover warning function is used to prompt the driver to control the steering wheel to prevent the vehicle from rolling over.

5. The method according to claim 3, characterized in that, The second flip prompt function is used to prompt passengers to protect themselves and / or to prompt rescuers to carry out rescue operations.

6. The method according to claim 3, characterized in that, The first flip prompt function includes one or more of the following: A rollover warning interface is provided, which displays warning information and / or rollover prevention reminders; wherein the warning information is used to alert the driver that the vehicle is at risk of rollover; and the rollover prevention reminder is used to prompt the driver to take action to control the vehicle to avoid rollover. Output a voice prompt indicating the flip; The vibration control device is started to vibrate.

7. The method according to claim 6, characterized in that, The flip prompt interface is also used to display at least one of the following: The direction in which the vehicle rolls over and / or the direction in which the steering wheel turns; The position and orientation information of the vehicle's suspension system.

8. The method according to claim 6, characterized in that, The flip prompt voice is used to prompt at least one of the following: The driver was warned that the vehicle was at risk of overturning. The driver is prompted to adjust the direction and / or angle of the steering wheel. This indicates the position and orientation adjustment information of the vehicle's suspension system.

9. The method according to claim 6, characterized in that, The first flip prompt function further includes at least one of the following: the brightness of the display showing the flip prompt interface is positively correlated with the tilt angle; and / or, The contrast of the image displayed on the flip prompt interface is positively correlated with the tilt angle; and / or, The pitch and / or loudness of the flip prompt voice are positively correlated with the tilt angle; and / or, The output frequency of the flip prompt voice is positively correlated with the tilt angle; and / or, The vibration frequency and / or vibration amplitude of the vibration device are positively correlated with the tilt angle.

10. The method according to claim 6, characterized in that, The vibration device includes: a steering wheel and / or a seat.

11. The method according to claim 3, characterized in that, The second flip prompt function includes at least one of the following: Output a rollover warning voice message; the rollover warning voice message includes: informing passengers that the vehicle has rolled over and / or informing rescue personnel of the location of passengers inside the vehicle; Send a distress signal.

12. The method according to any one of claims 1-11, characterized in that, The method further includes: In response to the selection command for the angle adjustment mode, an angle adjustment mode is determined, which is used to determine the first angle threshold.

13. The method according to claim 12, characterized in that, The angle adjustment mode includes a first angle adjustment mode and a second angle adjustment mode; wherein, the first angle adjustment mode is used to determine the first angle threshold based on the steering wheel rotation information and a preset third angle threshold; the second angle adjustment mode is used to use the preset third angle threshold as the first angle threshold.

14. The method according to claim 12, characterized in that, The angle adjustment mode selection command is triggered in one of the following ways: It captures the user's touch operations on the angle adjustment mode selection interface; Receives user input on the steering wheel toggle mechanism or angle adjustment mode selection button; Receive voice information carrying the selection command for the angle adjustment mode.

15. The method according to claim 14, characterized in that, The steering wheel actuation device includes: a steering wheel lever and / or a steering wheel paddle.

16. The method according to any one of claims 1-15, characterized in that, The method further includes: Exit the flip suppression mode if the exit condition for flip suppression is met.

17. The method according to claim 16, characterized in that, The flip suppression exit condition includes at least one of the following: The vehicle's roll angle is less than a fourth angle threshold, and the fourth angle threshold is less than or equal to the second angle threshold; Received flip suppression exit command.

18. The method according to claim 17, characterized in that, The flip suppression exit command is triggered in one of the following ways: It captures the user's touch operations on the display interface in the flip suppression mode; Receives user input on the steering wheel toggle device or the flip-to-exit button; Received voice information carrying the flip suppression exit command.

19. The method according to claim 13, characterized in that, The determination of the first angle threshold based on the steering wheel rotation information and a preset third angle threshold includes: Adjustment information is determined based on the steering wheel rotation information and the vehicle rollover information; The first angle threshold is determined based on the adjustment information and the preset third angle threshold.

20. The method according to claim 19, characterized in that, The steering wheel rotation information includes: the steering wheel rotation angle and the steering wheel rotation direction; the vehicle rollover information includes the vehicle rollover direction and the vehicle tilt angle.

21. The method according to claim 20, characterized in that, The adjustment information is obtained based on the steering wheel rotation information and the vehicle rollover information, including: The adjustment direction is determined based on the direction of rotation of the steering wheel and the direction of rollover of the vehicle; The adjustment angle is determined based on the rotation angle of the steering wheel; The adjustment information is obtained based on the adjustment angle and the adjustment direction.

22. The method according to claim 21, characterized in that, The step of obtaining the first angle threshold based on the adjustment information and the preset third angle threshold includes: When the flipping direction and the rotation direction are the same, the first angle threshold is the sum of the preset third angle threshold and the adjustment angle; or, When the flipping direction and the rotation direction are inconsistent, the first angle threshold is the difference between the preset third angle threshold and the adjustment angle.

23. The method according to claim 13, characterized in that, The preset third angle threshold is the critical angle at which the vehicle cannot be prevented from overturning.

24. The method according to claim 23, characterized in that, The preset third angle threshold is greater than or equal to 50° and less than or equal to 60°.

25. The method according to any one of claims 1-24, characterized in that, The method further includes: When the vehicle's roll angle is greater than or equal to a second angle threshold and less than a first angle threshold, a rollover suppression mode is triggered. The second angle threshold is determined based on the steering wheel rotation information and a preset fifth angle threshold.

26. The method according to any one of claims 1-25, characterized in that, The rollover suppression mode includes at least one of the following: steering suppression mode, suspension suppression mode, and warning suppression mode; the steering suppression mode is used to adjust the steering of the vehicle to control the vehicle rollover; the suspension suppression mode is used to adjust the attitude of the vehicle through the suspension system to control the vehicle rollover; the warning suppression mode is used to remind the driver to control the vehicle rollover by triggering the first rollover warning function.

27. The method according to claim 26, characterized in that, The steering suppression mode is used to control the steering wheel rotation based on the steering wheel rotation information and the vehicle rollover information.

28. The method according to claim 27, characterized in that, The step of controlling the steering wheel rotation based on the steering wheel rotation information and the vehicle rollover information includes: When the flipping direction and the rotation direction are the same, increase the rotation angle of the steering wheel; and / or, If the flipping direction and the rotation direction are inconsistent, control the steering wheel to rotate in the flipping direction.

29. The method according to claim 7, characterized in that, The suspension suppression mode is used to control the suspension system to perform adjustment actions based on the pose information and the vehicle's roll direction, so as to reduce the vehicle's tilt angle.

30. The method according to claim 29, characterized in that, The suspension system includes multiple suspension structures; controlling the suspension system to perform adjustment actions based on the pose information and the vehicle's roll direction includes: Based on the pose information and the vehicle's rollover direction, the first side suspension structure is controlled to increase its height; And / or, based on the pose information and the vehicle's rollover direction, control the second side suspension structure to lower its height, wherein the first side suspension structure is one side of the vehicle's left or right side suspension structure, and the second side suspension structure is the other side of the vehicle's left or right side suspension structure.

31. The method according to claim 30, characterized in that, When the vehicle is flipped counterclockwise, the first side suspension structure is the left side suspension structure, and the second side suspension structure is the right side suspension structure; or, When the vehicle is flipped in a clockwise direction, the first side suspension structure is the right side suspension structure, and the second side suspension structure is the left side suspension structure.

32. The method according to claim 30, characterized in that, The control of raising the height of the first side suspension structure includes: Control the height of the first side suspension structure to its maximum.

33. The method according to claim 30, characterized in that, The control of lowering the height of the second-side suspension structure includes: The height of the second-side suspension structure is controlled to be reduced to the minimum.

34. The method according to any one of claims 25-33, characterized in that, The preset fifth angle threshold is the angle at which the vehicle is at risk of rolling over.

35. The method according to claim 34, characterized in that, The preset fifth angle threshold is greater than or equal to 10° and less than or equal to 15°.

36. The method according to any one of claims 1-35, characterized in that, The rollover protection mode includes at least one of the following: airbag protection mode, seat belt protection mode, and curtain airbag protection mode.

37. The method according to any one of claims 1-36, characterized in that, The triggering of the rollover protection mode when the vehicle's roll angle is greater than or equal to the first angle threshold includes: If the vehicle's roll angle is greater than or equal to the first angle threshold and the vehicle body acceleration is greater than or equal to the acceleration threshold, the rollover protection mode is triggered.

38. The method according to any one of claims 1-36, characterized in that, The triggering of the rollover protection mode when the vehicle's roll angle is greater than or equal to the first angle threshold includes: If the vehicle's roll angle is greater than or equal to the first angle threshold and the vehicle body rollover angular velocity is greater than or equal to the rollover angular velocity threshold, the rollover protection mode is triggered.

39. The method according to any one of claims 1-36, characterized in that, The triggering of the rollover protection mode when the vehicle's roll angle is greater than or equal to the first angle threshold includes: The rollover protection mode is triggered when the vehicle's roll angle is greater than or equal to the first angle threshold, the vehicle body rollover angular velocity is greater than or equal to the rollover angular velocity threshold, and the vehicle body acceleration is greater than or equal to the acceleration threshold.

40. The method according to any one of claims 1-39, characterized in that, The roll angle is obtained from a roll sensor, an angular velocity sensor, and / or a gyroscope.

41. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the vehicle rollover control method as described in any one of claims 1 to 40.

42. A computer-readable storage medium, characterized in that, When the computer execution instructions stored in the computer-readable storage medium are executed by the processor of the device, the device is capable of performing the vehicle rollover control method as described in any one of claims 1 to 40.

43. A vehicle, characterized in that, include: The electronic device of claim 41, or the computer-readable storage medium of claim 42.

44. A computer program product, the computer program product comprising computer instructions, characterized in that, When the computer instructions are executed on the processor of the device, the device is able to perform the vehicle rollover control method as described in any one of claims 1 to 40.

Images