CN112009476B

CN112009476B - Vehicle protection method and device and vehicle

Info

Publication number: CN112009476B
Application number: CN201910395422.6A
Authority: CN
Inventors: 罗朝晖; 吴亿超; 李文
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2019-05-13
Filing date: 2019-05-13
Publication date: 2022-03-15
Anticipated expiration: 2039-05-13
Also published as: CN112009476A

Abstract

The application discloses a vehicle protection method, a vehicle protection device and a vehicle, wherein the method comprises the following steps: acquiring vertical position information of at least one front wheel; and controlling the reverse rotation of the rear wheels if the vertical position of at least one of the front wheels reaches the target limit position. The method provided by the application can eliminate the emergency accident that the vehicle gradually falls off the cliff when the front wheels rush out of the road surface, and protect the safety of passengers.

Description

Vehicle protection method and device and vehicle

Technical Field

The application belongs to the technical field of vehicle manufacturing, and particularly relates to a vehicle protection method, a vehicle protection device and a vehicle with the device.

Background

The prior highway and tourism passenger car at home and abroad, European Union and domestic operation passenger car all require to be additionally provided with an AEBS (emergency braking system), and when the passenger car meets the obstacle in front of the road during running, the passenger car automatically detects the obstacle and automatically emergently brakes to stop. However, an emergency situation may occur in which the front wheel is suspended above the cliff and the rear wheel is still on the road surface after braking, and in which case the vehicle would most likely fall off the cliff if the protection device were not present.

In the related art, although the number of airbags in the passenger compartment is increased or a parachute is installed on the roof, the damage caused by the fall can be reduced only slightly in all of these methods, and it is difficult to protect the safety of the passenger.

Disclosure of Invention

The present application is directed to solving at least one of the problems in the prior art.

The application discloses a protection method of a vehicle, comprising the following steps: acquiring vertical position information of at least one front wheel; and controlling the reverse rotation of the rear wheels if the vertical position of at least one of the front wheels reaches the target limit position.

According to the method provided by the embodiment of the application, when the vertical position of the front wheel reaches the target limit position, the front wheel can be judged to rush out of the road surface, and the vehicle can be automatically backed up by reversing the rear wheel, so that the emergency that the vehicle gradually falls off the cliff when the front wheel rushes out of the road surface can be eliminated, and the safety of passengers is protected.

The present application further provides a protective device for a vehicle, comprising: a first acquisition unit configured to acquire vertical position information of at least one front wheel; the control unit is configured to send out a control signal based on the information acquired by the first acquisition unit; and the execution unit is used for driving the rear wheels to rotate reversely based on the control signal sent by the control unit.

The application also provides a vehicle comprising the device.

The present application also proposes a computer-readable storage medium storing a computer program which, when executed by a processor, implements the method as described above.

The advantages of the device, the vehicle and the computer readable storage medium over the prior art are the same as the advantages of the method described above, and are not described herein again.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flow chart of a method of safeguarding a vehicle according to one embodiment of the present application;

FIG. 2 is a flow chart of a method of safeguarding a vehicle according to another embodiment of the present application;

FIG. 3 is a schematic structural view of a protective device of a vehicle according to one embodiment of the present application;

FIG. 4 is a schematic illustration of a vehicle in a first position according to one embodiment of the present application;

FIG. 5 is a schematic illustration of a vehicle in a second position according to one embodiment of the present application;

FIG. 6 is a partial schematic structural view of an air-suspended vehicle according to one embodiment of the present application;

fig. 7 is a partial structural schematic view of a leaf spring suspended vehicle according to another embodiment of the present application.

Reference numerals:

the vehicle 100 is provided with a plurality of wheels,

a guard device 10 of a vehicle, a first acquiring unit 11, a third acquiring unit 12, a second acquiring unit 13, a control unit 14, an execution unit 15,

front wheel 21, rear wheel 22, air bag 23, leaf spring rocker 24,

altitude valve 31, position sensor 32, tilt sensor 33, speed sensor 34.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

Unless otherwise specified, the front-rear direction in the present application is the longitudinal direction of the vehicle, i.e., the X direction; the left and right directions are the transverse direction of the vehicle, namely the Y direction; the up-down direction is the vertical direction of the vehicle, i.e., the Z direction.

As shown in fig. 1, a safeguard method of a vehicle 100 according to an embodiment of the present application includes the steps of:

step S10, vertical position information of at least one front wheel 21 is acquired.

The vertical position of the front wheel 21 may be the relative position of the front wheel 21, and in an actual implementation, the vertical position of the front wheel 21 may be the vertical distance of the front wheel 21 relative to the body away from the body.

The vehicle usually has two front wheels, although for some vehicles, if its front wheels are more than two, it can still be applied to the protection method of the present application.

It will be appreciated that under normal driving conditions, the front wheel 21 of the vehicle 100 is grounded and the body is depressed by its own weight or the pressure of the contents, so that the body is at a relatively small vertical distance from the front wheel 21. Based on mountain area or overpass road driving condition, if the passenger train rushes out road guardrail, the unsettled condition of front wheel 21 can appear, as shown in fig. 4, front wheel 21 can descend under the effect of self gravity or suspension elastic force this moment for the vertical relative distance of automobile body and front wheel 21 lengthens, can judge the unsettled emergency of front wheel 21 through the vertical position information that acquires front wheel 21.

The vertical position information of the front wheel 21 may be vertical position information of a single wheel of the left front wheel 21, vertical position information of a single wheel of the right front wheel 21, or vertical position information of two wheels of the left front wheel 21 and the right front wheel 21.

In step S20, the rear wheels 22 are controlled to be reversed if the vertical position of at least one of the front wheels 21 reaches the target limit position.

As can be seen from the description of step S10, when the front wheel 21 is suspended, it can be preliminarily determined that the vehicle 100 is in an emergency where it is about to fall off the road. The rear wheel 22 is controlled to rotate reversely, so that the whole vehicle backs up and leaves the edge of the cliff to return to the road surface.

The method provided by the above embodiment of the present application can eliminate the emergency accident that the vehicle 100 gradually falls down to a cliff when the front wheel 21 of the vehicle 100 is rushed out of the road surface, thereby protecting the safety of the passengers.

As shown in fig. 2, a safeguard method of a vehicle 100 according to an embodiment of the present application includes the steps of:

step S10, obtaining vertical position information of at least one front wheel 21, obtaining vehicle body inclination angle information, and obtaining rotational speed information of at least one rear wheel 22.

It will be appreciated that under normal driving conditions, the front wheel 21 of the vehicle 100 is grounded and the body is depressed by its own weight or the pressure of the contents, so that the body is at a relatively small vertical distance from the front wheel 21. Based on mountain area or overpass road driving condition, if the passenger train rushes out road guardrail, the unsettled condition of front wheel 21 can appear, as shown in fig. 4, front wheel 21 can descend under the effect of self gravity or suspension elastic force this moment for the vertical relative distance of automobile body and front wheel 21 lengthens, can tentatively judge the unsettled emergency of front wheel 21 through the vertical position information that acquires front wheel 21.

Under normal driving conditions, the inclination of the road must not exceed a specified value, based on road construction standards. Based on the driving condition of a mountain area or an overpass road, if a passenger car rushes out of a road guardrail, the passenger car can continue to move forwards, at the moment, the front wheel 21 is suspended, the head of the whole vehicle 100 sinks, the rear wheel 22 is supported on the road surface, and a posture that the vehicle body tilts forwards is formed, as shown in fig. 5, in the process of the vehicle body rushing forwards, the vehicle bottom in the middle of the vehicle body can contact with the ground along with the sinking of the head of the vehicle body, and at the moment, the inclination angle of the vehicle 100 basically reaches a target value.

When the vehicle 100 encounters an emergency situation where it is rushing out of the road, the driver, by instinct, will step on the brake pedal to brake, the rotation speed of the rear wheel 22 will gradually decrease to stop rotating, and when the rear wheel 22 stops rotating, there is a possibility of reverse rotation.

In step S20, if the vertical position of at least one of the front wheels 21 reaches the target limit position, the vehicle body inclination reaches the target value, and the rotation speed of at least one of the rear wheels 22 is zero, the rear wheels 22 are controlled to be reversed.

As is apparent from the description of step S10, when the above three conditions are all satisfied, it can be determined that the vehicle 100 is in an emergency where it is about to fall off the road surface, and a normal running situation where the vehicle 100 runs on a steep slope can be excluded. The rear wheel 22 is controlled to rotate reversely, so that the whole vehicle backs up and leaves the edge of the cliff to return to the road surface.

As shown in fig. 3, as an implementation of the method shown in fig. 1 and 2, the present application provides an embodiment of a guard device 10 of a vehicle 100, where the embodiment of the device 10 corresponds to the embodiment of the method shown in fig. 1 and 2, and the device 10 may be applied to various electronic devices.

As shown in fig. 3, the apparatus 10 of this embodiment includes: a first acquisition unit 11, a third acquisition unit 12, a second acquisition unit 13, a control unit 14 and an execution unit 15.

The first acquiring unit 11 is configured to acquire vertical position information of the front wheel 21; a third acquiring unit 12 configured to acquire vehicle body inclination angle information; a second acquisition unit 13 configured to acquire rotation speed information of the rear wheel 22; a control unit 14 configured to issue a control signal based on the information acquired by the first acquiring unit 11, the third acquiring unit 12, and the second acquiring unit 13; and an execution unit 15 configured to drive the rear wheels 22 to reverse based on the control signal issued by the control unit 14.

In this embodiment, the processing manner and the technical effect of each unit can refer to the descriptions of the steps S10-S20, which are not described herein again.

In some embodiments, the first obtaining unit 11 is further configured to obtain a vertical distance of the front wheel 21 with respect to the vehicle body away from the vehicle body.

In a practical implementation, as shown in fig. 6, if the vehicle 100 is of the air suspension type, the first acquisition unit 11 includes a height valve 31 for detecting the height of the air bag 23 of the air suspension.

It is understood that, with the air suspension vehicle 100, when the front wheel 21 moves downward, the air bag 23 pulling the air suspension becomes long, and the height valve 31 can detect this change in height position (vertical position) and send a signal.

In a practical implementation, as shown in fig. 7, if the vehicle 100 is of a leaf spring suspension type, the first acquisition unit 11 includes a position sensor 32 mounted in front of the leaf spring rocker arm 24.

It will be appreciated that with a leaf spring suspension vehicle 100, as the front wheel 21 moves downwardly, the rocker arm 24 behind the leaf spring of the leaf spring suspension is caused to swing forwardly, and when the extreme position is reached, the rocker arm 24 triggers the position sensor 32, which position sensor 32 signals. The position sensor 32 may be of the microswitch type.

In a practical implementation, the third acquisition unit 12 comprises a tilt sensor 33 mounted to the vehicle body, and the second acquisition unit 13 comprises a rotation speed sensor 34 mounted to the rear wheel 22. The actuator unit 15 includes a driving motor.

The present application further discloses a vehicle 100 comprising a device 10 as described in any of the above. The vehicle 100 of this embodiment may be a passenger vehicle, including but not limited to an electric passenger vehicle.

The operation of the vehicle 100 according to the embodiment of the present application in the face of a risk of falling off a cliff will be described with reference to fig. 4 and 5.

Stage 1): as shown in fig. 4, when the vehicle 100 is empty of the front wheels 21 shown in fig. 4, the front wheels start to move downward, and the position signals of the front wheels 21 detected by the Z-direction height sensors of the front wheels 21 are transmitted to the vehicle controller. Meanwhile, the vehicle body inclination angle sensor 33 senses the front inclination angle of the vehicle body and transmits a signal to the vehicle control unit. When the front wheel 21 starts to be suspended, the driver can start to step on the brake pedal by instinct, and the wheel rotation speed of the rear wheel 22 is reduced to zero, and the rotation speed sensor 34 of the rear wheel 22 simultaneously acquires a signal that the rotation speed is zero.

Stage 2): as shown in fig. 5, when the whole vehicle continues to move to the position of fig. 5 on the cliff, the vehicle 100 continues to slide forward, and the vehicle body middle part under the ground contact state is reached, several conditions are preset: detecting a front left or right single wheel or the front left and right wheels are both at the lowest position; the dip angle of the vehicle body reaches a target value; and thirdly, the rotating speed of the rear wheel is zero and the like, and the requirements are met. At this time, the vehicle controller processes the received sensor signals and sends signals to the drive motor controller to automatically operate the drive motor and the rear wheel 22 to reverse, so that the vehicle backs up, leaves the edge of the cliff and returns to the road.

The present application also discloses a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described safeguard method for the vehicle 100.

The computer readable storage medium of the present application includes, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, server, or device, or a combination of any of the foregoing.

More specific examples of the computer-readable storage medium of the present application include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, server, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, server, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present application may be implemented by software or hardware. The described units may also be located in the processor.

In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A method of safeguarding a vehicle, comprising:

acquiring vertical position information of at least one front wheel;

acquiring rotation speed information of at least one rear wheel;

acquiring vehicle body inclination angle information;

if the vertical position of at least one of the front wheels reaches a target limit position, the rotating speed of at least one of the rear wheels is zero, and the inclination angle of the vehicle body reaches a target value, controlling the rear wheels to rotate reversely; the target extreme position is the position of the front wheel when the front wheel rushes out of the road surface; the vehicle body inclination angle refers to an included angle between the longitudinal direction of the vehicle and a road surface.

2. The method of claim 1, wherein the obtaining vertical position information of the front wheels comprises:

and acquiring the vertical distance of the front wheels relative to the vehicle body and departing from the vehicle body.

3. A guard for a vehicle, comprising:

a first acquisition unit configured to acquire vertical position information of at least one front wheel;

a second acquisition unit configured to acquire rotational speed information of at least one rear wheel;

the third acquisition unit is configured to acquire vehicle body inclination angle information;

the control unit is configured to send a control signal when the vertical position of at least one of the front wheels obtained by the first obtaining unit reaches a target limit position, the rotating speed of at least one of the rear wheels obtained by the second obtaining unit is zero, and the inclination angle of the vehicle body obtained by the third obtaining unit reaches a target value; the target extreme position is the position of the front wheel when the front wheel rushes out of the road surface; the vehicle body inclination angle refers to an included angle between the longitudinal direction of the vehicle and a road surface;

and the execution unit is used for driving the rear wheels to rotate reversely based on the control signal sent by the control unit.

4. The apparatus of claim 3, wherein the first obtaining unit is further configured to obtain a vertical distance of the front wheel relative to the body away from the body.

5. The apparatus of claim 4, wherein the vehicle is air-suspended, and the first obtaining unit includes a height valve for detecting a bladder height of the air-suspended.

6. The apparatus of claim 4, wherein the vehicle is a leaf spring suspension and the first acquisition unit comprises a position sensor mounted forward of a leaf spring rocker arm.

7. The apparatus of claim 3, wherein the third acquisition unit comprises a vehicle body mounted tilt sensor and the second acquisition unit comprises a rear wheel mounted rotational speed sensor.

8. The device according to any of claims 3-6, wherein the execution unit comprises a drive motor.

9. A vehicle, characterized in that it comprises a device according to any one of claims 3-8.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-2.