CN-121973762-A - Vehicle control method, device, equipment and storage medium

Abstract

The application relates to a vehicle control method, a device, equipment and a storage medium, wherein the method comprises the steps of obtaining running state data of a vehicle at the current moment and road surface state data of the vehicle at the current moment, carrying out prediction processing based on the running state data to obtain a predicted roll angle, wherein the predicted roll angle is the roll angle corresponding to the vehicle at the next moment at the current moment, carrying out data processing based on the running state data and the road surface state data to obtain torque compensation data under the condition that the predicted roll angle meets rollover early warning conditions, carrying out torque compensation on the current output torque of the vehicle based on the torque compensation data to obtain target torque, and controlling the running of the vehicle based on the target torque.

Inventors

• LI TAO
• ZHANG JIE
• YAN YUE

Assignees

• 中汽创智科技有限公司

Dates

Publication Date

20260505

Application Date

20260130

Claims (10)

1. 1. A vehicle control method, characterized in that the method comprises: Acquiring running state data of a vehicle at the current moment and road surface state data of the vehicle at the current moment; The predicted roll angle is the roll angle corresponding to the next moment of the vehicle at the current moment; Under the condition that the predicted roll angle meets the rollover early warning condition, carrying out data processing based on the running state data and the road surface state data to obtain torque compensation data, wherein the rollover early warning condition is related to the road surface state data and the running state data; performing torque compensation on the current output torque of the vehicle based on the torque compensation data to obtain target torque; And controlling the vehicle to run based on the target torque.
2. 2. The method of claim 1, wherein the travel state data includes a roll angle and a roll angle acceleration, wherein the predicting based on the travel state data to obtain a predicted roll angle comprises: The method comprises the steps of carrying out data processing based on the roll angle acceleration and a predicted time length to obtain an offset roll angle, wherein the predicted time length is the time length between the vehicle running from the current moment to the next moment, and the offset roll angle is the roll angle offset of the vehicle relative to the current moment at the next moment; and determining the predicted roll angle based on the offset roll angle and the roll angle corresponding to the vehicle at the current moment.
3. 3. The method of claim 1, wherein the driving status data includes a vehicle speed, a roll angle, and a roll angle acceleration, and the method of determining the rollover warning condition includes: Determining a target roll angle based on the vehicle speed, the road surface state data and a first preset corresponding relation, wherein the first preset corresponding relation is a mapping relation among a reference vehicle speed, reference road surface state data and a reference roll angle, and the target roll angle represents a roll angle corresponding to the vehicle in a roll critical state; determining the rollover warning condition based on the first fusion data of the target roll angle and a first preset coefficient; The method further comprises the steps of: And when the predicted roll angle is larger than or equal to the first fusion data, determining that the predicted roll angle meets the rollover early warning condition.
4. 4. The method of claim 3, wherein the driving status data includes a vehicle speed, a steering wheel angle, and a steering wheel steering angle speed, wherein the performing data processing based on the driving status data and the road surface status data to obtain torque compensation data includes: Determining a target steering wheel angle based on the vehicle speed, the road surface state data and a second preset corresponding relation, wherein the second preset corresponding relation is a mapping relation among a reference vehicle speed, reference road surface state data and a reference steering wheel angle, and the target steering wheel angle represents the maximum steering wheel angle of the steering wheel allowed to rotate under the current vehicle speed; And processing based on the target steering wheel angle, the steering wheel angle and the steering wheel steering angular speed to obtain the torque compensation data.
5. 5. The method of claim 3, wherein the travel state data comprises a steering wheel steering angle speed, the method further comprising: and under the condition that the predicted roll angle meets the early warning exit condition and the steering angle speed of the steering wheel is gradually reduced, the torque compensation data is subjected to decreasing processing according to a preset decreasing amount until the torque compensation data is decreased to a target value.
6. 6. The method of claim 5, wherein the method for determining the early warning exit condition comprises: Determining the early warning exiting condition based on the second fusion data of the target roll angle and a second preset coefficient; The method further comprises the steps of: and when the predicted roll angle is smaller than or equal to the second fusion data, determining that the predicted roll angle meets the early warning exit condition, wherein the first preset coefficient is larger than the second preset coefficient.
7. 7. The method according to claim 1, wherein the method further comprises: and under the condition that the predicted roll angle meets the rollover early-warning condition, generating a rollover early-warning signal, wherein the rollover early-warning signal comprises at least one of a sound early-warning signal, a lamplight early-warning signal and a vibration early-warning signal.
8. 8. A vehicle control apparatus, characterized in that the apparatus comprises: The acquisition module is used for acquiring running state data of the vehicle at the current moment and road surface state data of the vehicle at the current moment; The system comprises a roll angle prediction module, a roll angle prediction module and a control module, wherein the roll angle prediction module is used for performing prediction processing based on the running state data to obtain a predicted roll angle; The torque compensation determining module is used for performing data processing based on the driving state data and the road surface state data to obtain torque compensation data under the condition that the predicted roll angle meets the rollover early warning condition; the target torque determining module is used for performing torque compensation on the current output torque of the vehicle based on the torque compensation data to obtain target torque; and the vehicle control module is used for controlling the vehicle to run based on the target torque.
9. 9. A vehicle control apparatus, characterized in that it comprises a processor and a memory in which at least one instruction, at least one program, a code set, or an instruction set is stored, the at least one instruction, the at least one program, the code set, or the instruction set being loaded and executed by the processor to implement the vehicle control method according to any one of claims 1 to 7.
10. 10. A computer-readable storage medium having stored therein at least one instruction or at least one program loaded and executed by a processor to implement the vehicle control method according to any one of claims 1 to 7.

Description

Vehicle control method, device, equipment and storage medium Technical Field The present application relates to the field of vehicle control technologies, and in particular, to a vehicle control method, device, apparatus, and storage medium. Background With the rapid development of electric and intelligent in the domestic automobile industry, the popularity of automobiles is greatly improved, the following safety requirements and active safety technologies are gradually increased, and an automobile chassis steering system is used as the core of transverse running of automobiles, and the active safety technologies are also indispensable. In the existing vehicle control technical scheme, the vehicle power-assisted control is carried out only when parameters such as the running state of the vehicle reach the limiting conditions, but the related technical scheme of rollover early warning does not exist in the prior art. Disclosure of Invention In order to solve the technical problems, the embodiment of the application provides a vehicle control method, a device, a computer device and a storage medium, namely, the application predicts based on running state data to obtain a predicted roll angle; under the condition that the predicted roll angle meets the rollover early warning condition, data processing is carried out based on the running state data and the road surface state data to obtain torque compensation data, so that the current output torque of the vehicle is subjected to torque compensation based on the torque compensation data, and the running of the vehicle is controlled. In one aspect, an embodiment of the present application provides a vehicle control method, where the method includes: Acquiring running state data of a vehicle at the current moment and road surface state data of the vehicle at the current moment; The predicted roll angle is the roll angle corresponding to the next moment of the vehicle at the current moment; Under the condition that the predicted roll angle meets the rollover early warning condition, carrying out data processing based on the running state data and the road surface state data to obtain torque compensation data, wherein the rollover early warning condition is related to the road surface state data and the running state data; performing torque compensation on the current output torque of the vehicle based on the torque compensation data to obtain target torque; And controlling the vehicle to run based on the target torque. Further, the driving state data includes a roll angle and a roll angle acceleration, and the predicting processing based on the driving state data to obtain a predicted roll angle includes: The method comprises the steps of carrying out data processing based on the roll angle acceleration and a predicted time length to obtain an offset roll angle, wherein the predicted time length is the time length between the vehicle running from the current moment to the next moment, and the offset roll angle is the roll angle offset of the vehicle relative to the current moment at the next moment; and determining the predicted roll angle based on the offset roll angle and the roll angle corresponding to the vehicle at the current moment. Further, the driving state data includes a vehicle speed, a roll angle and a roll angle acceleration, and the method for determining the rollover warning condition includes: Determining a target roll angle based on the vehicle speed, the road surface state data and a first preset corresponding relation, wherein the first preset corresponding relation is a mapping relation among a reference vehicle speed, reference road surface state data and a reference roll angle, and the target roll angle represents a roll angle corresponding to the vehicle in a roll critical state; determining the rollover warning condition based on the first fusion data of the target roll angle and a first preset coefficient; The method further comprises the steps of: And when the predicted roll angle is larger than or equal to the first fusion data, determining that the predicted roll angle meets the rollover early warning condition. Further, the driving state data comprises a vehicle speed, a steering wheel angle and a steering wheel steering angle speed, and the data processing is performed based on the driving state data and the road surface state data to obtain torque compensation data, including: Determining a target steering wheel angle based on the vehicle speed, the road surface state data and a second preset corresponding relation, wherein the second preset corresponding relation is a mapping relation among a reference vehicle speed, reference road surface state data and a reference steering wheel angle, and the target steering wheel angle represents the maximum steering wheel angle of the steering wheel allowed to rotate under the current vehicle speed; And processing based on the target steering wheel angle, the steering wheel angle and the steeri