CN-121989922-A - Method and device for preventing scratch of vehicle chassis, electronic equipment and storage medium

CN121989922ACN 121989922 ACN121989922 ACN 121989922ACN-121989922-A

Abstract

The application discloses a method, a device, electronic equipment and a storage medium for preventing scratch of a vehicle chassis, which comprise the steps of acquiring chassis parameters and current speed of the vehicle, identifying road surface information of a front road, determining a passing result of the vehicle chassis on the front road according to the chassis parameters and the road surface information, calculating to obtain a safe speed of the vehicle under the road surface type according to the chassis parameters and the road surface information based on the passing result, and controlling the vehicle to execute a preset scratch prevention strategy under the condition that the current speed is larger than the safe speed, wherein the scratch prevention strategy comprises at least one of early warning prompt, active control of the vehicle chassis and speed adjustment. According to the application, road surface and chassis constraints are comprehensively considered, the trafficability of the vehicle chassis on different road surface scenes is evaluated, the safety speed of vehicles passing through the road surface under various road surface types is combined, a plurality of anti-scratch strategies are actively adopted, the chassis scratch risks are comprehensively treated, the occurrence of scratch accidents on the vehicle chassis is effectively avoided, and the active safety performance of the vehicle is improved.

Inventors

JIANG SHIGUO
LI HUI

Assignees

重庆赛力斯凤凰智创科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260323

Claims (10)

1.A method for preventing scratch of a vehicle chassis, the method comprising: acquiring chassis parameters and current speed of a vehicle and identifying road surface information of a road ahead, wherein the chassis parameters comprise dynamic chassis height and chassis passability constraint parameters, and the road surface information comprises road surface type and road surface elevation data corresponding to the road surface type; Determining the trafficability result of the vehicle chassis on the road in front according to the chassis parameters and the road surface information; Based on the trafficability result, calculating to obtain a safe vehicle speed under the road surface type according to the chassis parameters and the road surface information; And under the condition that the current vehicle speed is greater than the safe vehicle speed, controlling the vehicle to execute a preset anti-scratch strategy, wherein the anti-scratch strategy comprises at least one of early warning prompt, active control of a vehicle chassis and vehicle speed adjustment.
2. The method of claim 1, wherein determining a trafficability result of a vehicle chassis on a road ahead based on the chassis parameters and the road surface information comprises: Extracting pavement elevation data corresponding to the pavement type from the pavement information, and determining pavement elevation and/or ramp angle corresponding to the pavement type; Comparing the road surface height with the dynamic chassis height, and comparing the ramp angle with the chassis passability constraint parameters which at least comprise a proximity angle, a departure angle and a longitudinal passability angle; If the road surface height is greater than or equal to the dynamic chassis height or the ramp angle is greater than or equal to at least one of the approach angle, the departure angle and the longitudinal passing angle, determining that the vehicle chassis does not pass through as a result of the trafficability of the road ahead; Otherwise the vehicle chassis is passing through the road ahead as a result of uncertainty.
3. The method according to claim 2, wherein said calculating a safe vehicle speed under said road surface type based on said trafficability result from said chassis parameter and said road surface information comprises: if the passing result of the chassis of the vehicle on the road in front is uncertain and can pass, extracting the road surface type from the road surface information, wherein the road surface type comprises a ramp road surface and an off-ramp road surface; According to the road surface height, the dynamic chassis height and the chassis passability constraint parameters, respectively calculating the safe speed of the vehicle passing through the front road surface by the double front wheels and the double rear wheels, and obtaining the safe speed of the non-ramp road surface; And respectively calculating the safe vehicle speeds of the vehicles driving in on an ascending slope, driving out on a descending slope through a slope top and driving out on a descending slope through the slope top according to the slope angle and the chassis passability constraint parameters, and obtaining the safe vehicle speed of the slope road surface.
4. The method according to claim 1, wherein the controlling the vehicle to execute the preset scratch prevention strategy in the case that the current vehicle speed is greater than the safe vehicle speed comprises: the early warning prompt comprises at least one of light early warning, voice prompt and head-up display; the vehicle chassis active control comprises controlling a vehicle active suspension, and adjusting the dynamic chassis height to a preset safe height; The vehicle speed adjustment includes adjusting the current vehicle speed to be less than or equal to the safe vehicle speed based on the safe vehicle speed.
5. The method of claim 1, wherein the obtaining chassis parameters and current vehicle speed of the vehicle comprises: Acquiring the current speed of the vehicle; acquiring an initial chassis height of a vehicle in no-load state, a current load quantity and preset chassis passability constraint parameters; and determining the chassis height reduction according to the current load quantity, and obtaining the dynamic chassis height of the vehicle according to the initial chassis height and the chassis height reduction.
6. The method of claim 1, wherein the identifying the road surface information of the road ahead comprises: Collecting point cloud data of a front road by using a laser radar, and detecting reflection information of the front road by using an ultrasonic sensor; according to the point cloud data and the reflection information, road surface elevation data of a road in front are obtained through recognition; and acquiring image data of the front road by adopting a camera, and identifying the image data to obtain the road surface type of the front road.
7. The method according to any one of claims 1 to 6, wherein after determining the trafficability result of the vehicle chassis on the road ahead based on the chassis parameters and the road surface information, further comprising: And if the passing result of the chassis of the vehicle on the road in front is that the chassis of the vehicle is determined to not pass, controlling the vehicle to execute a preset scratch-and-scratch prevention strategy.
8. A vehicle chassis scratch prevention device, the device comprising: The system comprises an acquisition information module, a control module and a control module, wherein the acquisition information module is used for acquiring chassis parameters and current speed of a vehicle and identifying road surface information of a road ahead, the chassis parameters comprise dynamic chassis height and chassis passability constraint parameters, and the road surface information comprises road surface elevation data and road surface types; The determining module is used for determining the trafficability result of the vehicle chassis on the road in front according to the chassis parameters and the road surface information; The safety vehicle speed module is used for calculating the safety vehicle speed under the road surface type according to the chassis parameters and the road surface information based on the trafficability result; The control module is used for controlling the vehicle to execute a preset anti-scratch strategy under the condition that the current vehicle speed is greater than the safe vehicle speed, and the anti-scratch strategy comprises at least one of early warning prompt, active control of a vehicle chassis and vehicle speed adjustment.
9. An electronic device, comprising: A processor; A memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the vehicle chassis anti-scratch method of any of claims 1 to 7.
10. A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program which, when executed by a processor, implements the vehicle chassis anti-scratch method according to any one of claims 1 to 7.

Description

Method and device for preventing scratch of vehicle chassis, electronic equipment and storage medium Technical Field The application belongs to the technical field of vehicle control, and particularly relates to a method and device for preventing scratch of a vehicle chassis, electronic equipment and a storage medium. Background Along with the development of the automobile industry and the continuous progress of the manufacturing process, in order to pursue better riding space and running stability, long-wheelbase and low-chassis sedan and sport type multifunctional vehicles gradually become the main stream of the market, and when the long-wheelbase and low-chassis vehicles pass through roads or slopes with certain height barriers, chassis scratch accidents are easily caused, part scratch damage is caused when the vehicles are light, vehicle faults can be caused when the vehicles are heavy, and running safety is directly endangered. At present, aiming at scratch accidents of a vehicle chassis, the scratch accidents mainly depend on manual control experience and instantaneous judgment of a driver, and when the driver perceives that a front road section is difficult to pass, the speed is reduced or the running track is changed, so that scratch risks are reduced to a certain extent. However, when the vehicle passes over an obstacle road at a certain speed, the suspension system is subjected to instantaneous compression due to load impact, so that the attitude of the vehicle body is dynamically changed, the ground clearance of the chassis is instantaneously reduced, in addition, the inertia caused by the vehicle speed can cause the vehicle to generate severe change of pitching attitude at the top or bottom of the slope, and the interference risk of the chassis and road protrusions is further increased. Because the driving experience, the distance sensing capability and the pre-judging level of each driver are uneven, the actual scratch risk of the vehicle cannot be timely and accurately perceived completely depending on manual operation, and therefore the occurrence of the vehicle chassis scratch accident is difficult to effectively prevent. Disclosure of Invention The embodiment of the application aims to provide a method, a device, electronic equipment and a storage medium for preventing a vehicle chassis from being scratched, which can solve the problem that the actual risk of the vehicle from being scratched cannot be timely and accurately perceived due to the fact that manual operation is completely relied on at present, so that the occurrence of the vehicle chassis scratch accident is difficult to be effectively prevented. In order to solve the technical problems, the application is realized as follows: in a first aspect, an embodiment of the present application provides a method for preventing scratch of a chassis of a vehicle, where the method includes: acquiring chassis parameters and current speed of a vehicle and identifying road surface information of a road ahead, wherein the chassis parameters comprise dynamic chassis height and chassis passability constraint parameters, and the road surface information comprises road surface type and road surface elevation data corresponding to the road surface type; Determining the trafficability result of the vehicle chassis on the road in front according to the chassis parameters and the road surface information; Based on the trafficability result, calculating to obtain a safe vehicle speed under the road surface type according to the chassis parameters and the road surface information; And under the condition that the current vehicle speed is greater than the safe vehicle speed, controlling the vehicle to execute a preset anti-scratch strategy, wherein the anti-scratch strategy comprises at least one of early warning prompt, active control of a vehicle chassis and vehicle speed adjustment. Optionally, the determining the passing result of the vehicle chassis on the road ahead according to the chassis parameters and the road surface information includes: Extracting pavement elevation data corresponding to the pavement type from the pavement information, and determining pavement elevation and/or ramp angle corresponding to the pavement type; Comparing the road surface height with the dynamic chassis height, and comparing the ramp angle with the chassis passability constraint parameters which at least comprise a proximity angle, a departure angle and a longitudinal passability angle; If the road surface height is greater than or equal to the dynamic chassis height or the ramp angle is greater than or equal to at least one of the approach angle, the departure angle and the longitudinal passing angle, determining that the vehicle chassis does not pass through as a result of the trafficability of the road ahead; Otherwise the vehicle chassis is passing through the road ahead as a result of uncertainty. Optionally, based on the trafficability result, according to th