CN109606051A - A kind of air suspension car height controlling system based on car networking - Google Patents
A kind of air suspension car height controlling system based on car networking Download PDFInfo
- Publication number
- CN109606051A CN109606051A CN201811423636.1A CN201811423636A CN109606051A CN 109606051 A CN109606051 A CN 109606051A CN 201811423636 A CN201811423636 A CN 201811423636A CN 109606051 A CN109606051 A CN 109606051A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- information
- inflation
- module
- overall height
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0155—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit pneumatic unit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
- B60G17/01908—Acceleration or inclination sensors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention discloses air suspension car height controlling system of one of the air suspension control field of vehicle based on car networking, by car networking communication module, vehicle height sensor, GPS module, acceleration transducer, vehicle speed sensor, car-mounted terminal ECU and inflation/deflation solenoid valve block at the car-mounted terminal ECU is made of road roughness computing module, message processing module, target overall height judgment module, inflation/deflation moment computing module, overall height integrated manipulator, overall height integrated control drive module；Bodywork height, average speed and the road roughness in front information are transferred to target overall height judgment module, the vehicle position information of vehicle location, average speed and the front vehicle in the same direction of this vehicle are transferred to inflation/deflation moment computing module by message processing module；The road information that front can be obtained according to car networking, realizes after calculating target overall height and is pre-adjusted to bodywork height, realize the intelligent control of height of car.
Description
Technical field
The present invention relates to the air suspension control fields of vehicle, and in particular to the vehicle body of the air suspension based on car networking is high
Spend control system.
Background technique
Currently, being equipped with the vehicle of active air suspension relative to assembling the vehicle of passive suspension in control stability and row
Sailing on ride comfort has better performance.In addition, air suspension can carry out real-time bodywork height adjusting according to road condition, make
The performance moment of air suspension keeps optimal state.
It is proposed in the document that China Patent Publication No. is CN104882018A a kind of outstanding for vehicle based on car networking
The pre- identification system of road condition of frame control, the system is by GPS module, car-mounted terminal ECU, road information acquisition module, vehicle
Information module, near-field communication module and vehicle control module composition, can be in advance by necessity such as road ahead work informations
Data transmission solves the problems, such as the hysteresis quality of real-time suspension to the control section of vehicle suspension, but the system is not directed to vehicle
The information of networking is used for the control of bodywork height.A kind of sky is proposed in the document that China Patent Publication No. is CN106143039A
Gas suspension overall height adjustment control method, the control method can control bodywork height by PID control strategy, can
It prevents from air spring gas overcharging or crosses to deflate that bodywork height is made to deviate expectation target height, but the control method is to obtain vehicle
It just can be carried out corresponding ride height control after the real-time parameter of sensor acquisition, so having certain time lag.
Summary of the invention
The present invention is directed to the above-mentioned preparatory control problem existing in the prior art for not being able to achieve bodywork height, proposes one kind
Air suspension ride height control system based on car networking, can make road condition of the vehicle in the process of moving according to front
Complete being pre-adjusted for bodywork height.
A kind of air suspension car height controlling system based on car networking of the present invention the technical solution adopted is that: this is
System is by car networking communication module, vehicle height sensor, GPS module, acceleration transducer, vehicle speed sensor, car-mounted terminal ECU and fills
Venting solenoid valve composition, the car-mounted terminal ECU are sentenced by road roughness computing module, message processing module, target overall height
Disconnected module, inflation/deflation moment computing module, overall height integrated manipulator, overall height integrated control drive module composition；Vehicle speed sensor
It acquires the automobile's instant velocity v information of this vehicle and sends road roughness computing module for automobile's instant velocity v information；Acceleration transducer
Acquire unsprung mass acceleration aiInformation simultaneously will be sent to road roughness computing module；Road roughness computing module, which obtains, works as
Preceding road roughness Gd0(n0) information and it is sent to message processing module；GPS module obtains the vehicle location of this vehicle, vehicle row
Sail direction and average speedInformation is simultaneously sent to message processing module；The real-time overall height H information of vehicle height sensor acquisition vehicle
And it is sent to message processing module；The vehicle location of this vehicle and vehicle heading information are sent vehicle connection by message processing module
Net communication module, car networking communication module filter out front vehicle in the same direction, and acquisition front vehicle location in the same direction and road surface ahead are not
Pingdu Gd1(n0) information and by front vehicle position information in the same direction and road surface ahead unevenness Gd1(n0) information is sent at information
Manage module；Message processing module is by bodywork height H, average speedWith the road roughness G in frontd1(n0) information is transferred to mesh
Mark overall height judgment module, by the vehicle location of this vehicle, average speedIt is transferred to the vehicle position information of front vehicle in the same direction
Inflation/deflation moment computing module；Target overall height judgment module obtains the optimum target overall height H under road ahead travelingaInformation is simultaneously
It is sent to overall height integrated manipulator；Inflation/deflation start time computing module obtains t information at the time of starting inflation/deflation and is sent to
Overall height integrated manipulator；Overall height integrated manipulator exports car height controlling signal and the inflation/deflation moment controls signal to the integrated control of overall height
Drive module processed；Overall height integrated control drive module exports inflation/deflation solenoid valve control signal to inflation/deflation solenoid valve, inflation/deflation
Solenoid valve control bodywork height.
Based on the present invention is communicated by car networking, a kind of air that can be pre-adjusted overall height when driving is devised
Suspension control system can obtain the road information in front according to car networking, realize after calculating target overall height to vehicle body
Height is pre-adjusted, and realizes the intelligent control of height of car.
Detailed description of the invention
Fig. 1 is a kind of hardware block diagram of air suspension car height controlling system based on car networking of the present invention；
Fig. 2 is a kind of process of the control method of air suspension car height controlling system based on car networking of the present invention
Figure；
Fig. 3 is the calculation method flow chart of inflation/deflation moment computing module in Fig. 2.
Specific embodiment
Referring to Fig. 1, a kind of air suspension car height controlling system based on car networking of the present invention is communicated by car networking
Module, vehicle height sensor, GPS module, acceleration transducer, vehicle speed sensor, car-mounted terminal ECU and inflation/deflation solenoid valve block
At car-mounted terminal ECU therein is by road roughness computing module, message processing module, target overall height judgment module, inflation/deflation
Moment computing module, overall height integrated manipulator, overall height integrated control drive module composition.Acceleration transducer and vehicle speed sensor
Output end connect with the input terminal of road roughness computing module, vehicle height sensor, GPS module and road roughness calculate mould
The output end of block is connect with message processing module input terminal, and message processing module is bi-directionally connected with car networking communication module, information
The output end of processing module is also respectively connected with the input terminal of target overall height judgment module and inflation/deflation moment computing module, target carriage
High judgment module connects the input terminal of overall height integrated manipulator, overall height integrated control with the output end of inflation/deflation moment computing module
The output end of device connects inflation/deflation solenoid valve through overall height integrated control drive module.
Vehicle speed sensor is used to acquire the automobile's instant velocity v information of this vehicle, and sends Uneven road for automobile's instant velocity v information
Spend computing module.
Acceleration transducer is used to acquire the unsprung mass acceleration a of vehicleiInformation, wherein i=fl, fr, rl, rr, divide
Do not represent front left, front right, rear left, rear right unsprung mass vertical acceleration, and by unsprung mass acceleration aiInformation is sent to
Road roughness computing module.
Road roughness computing module receives unsprung mass acceleration a from acceleration transduceriInformation and from speed sense
Device receives automobile's instant velocity v information, and current road surface then is calculated not according to built-in road roughness on-line identification method
Pingdu Gd0(n0) information, then by current road roughness Gd0(n0) information is sent to message processing module.
GPS module is used to obtain the vehicle location, vehicle heading and average speed of this vehicleInformation, then by this vehicle
Vehicle position information, vehicle heading and average speedInformation is sent to message processing module.
Vehicle height sensor is used to acquire the real-time overall height H information of vehicle, and sends information processing for real-time overall height H information
Module.
Message processing module acquires the current road roughness G that road roughness computing module obtainsd0(n0) information,
This vehicle vehicle location, vehicle heading and the average speed that GPS module obtainsInformation, vehicle height sensor obtain bodywork height
The vehicle location of this vehicle and vehicle heading information are sent car networking communication module by H information, message processing module.
Car networking communication module receives this vehicle vehicle location and transmits information that message processing module is sent, and then will
The vehicle position information and vehicle heading information of itself and other communication automobiles received in car networking communication context carry out
Compare, to judge whether other communication automobiles are consistent with this vehicle in the road ahead and driving direction of this vehicle.For convenience of narration,
Other communication automobiles in the road ahead that car networking communication network and this vehicle travel in the same direction and travel in this vehicle will be met below
Referred to as front vehicle in the same direction；This vehicle vehicle position information and traveling side that car networking communication module is sent according to message processing module
Front vehicle in the same direction is filtered out to information, then passes through the car networking acquisition front front vehicle position in the same direction that vehicle obtains in the same direction
It sets and road surface ahead unevenness Gd1(n0) information, and by front vehicle position information in the same direction and road surface ahead unevenness Gd1(n0) letter
Breath is sent to message processing module.
Message processing module receives the front vehicle position information in the same direction that car networking communication module is sent and road surface ahead not
Pingdu Gd1(n0) information, road roughness computing module send current road unevenness Gd0(n0) information, GPS module send
The vehicle location and average speed of this vehicleInformation, vehicle height sensor send bodywork height H information, then by bodywork height H,
Average speedWith the road roughness G in frontd1(n0) information is transferred to target overall height judgment module, the vehicle position by this vehicle
It sets, average speedInflation/deflation moment computing module is transferred to the vehicle position information of front vehicle in the same direction.
Target overall height judgment module receives bodywork height H, the average speed that message processing module is sentWith the road in front
Face unevenness Gd1(n0) information, the optimum target overall height H under road ahead traveling is obtained according to overall height judgment ruleaInformation,
Then by optimum target overall height HaInformation is sent to overall height integrated manipulator.
Inflation/deflation start time computing module receives the vehicle location, average speed of this vehicle that message processing module is sentVehicle location, the current road unevenness G of front vehicle in the same directiond0(n0) and road surface ahead unevenness Gd1(n0) information, then
T information at the time of obtaining beginning inflation/deflation according to built-in algorithm, sends overall height integrated control for inflation/deflation moment t information
Device.
Overall height integrated manipulator receives the optimum target overall height H that target overall height judgment module is sentaWhen information and inflation/deflation
The inflation/deflation moment t information that die sinking block is sent, exports car height controlling signal and the inflation/deflation moment controls signal to the integrated control of overall height
Drive module processed.
Overall height integrated control drive module receives the car height controlling signal and inflation/deflation moment that overall height integrated manipulator is sent
Signal, output inflation/deflation solenoid valve control signal to inflation/deflation solenoid valve are controlled, inflation/deflation solenoid valve executes corresponding movement, just
It can control bodywork height.
Referring to fig. 2, a kind of air suspension car height controlling system based on car networking of the present invention carries out car height controlling
Specific step is as follows:
Step 1: acceleration transducer will monitor the unsprung mass acceleration a of this vehicle in real timei(i=fl, fr, rl, rr) letter
Breath monitors the automobile's instant velocity v information of this vehicle in real time with vehicle speed sensor, and is transferred to road roughness computing module, Uneven road
Computing module is spent according to unsprung mass acceleration ai(i=fl, fr, rl, rr) and automobile's instant velocity v information calculate current road surface
Unevenness Gd0(n0) information, road roughness calculation method built in road roughness computing module is CN referring to patent publication No.
104309435A, entitled " a kind of road roughness on-line identification system and method " document in the method recorded.
Step 2: the current road roughness G that this vehicle is calculated road roughness computing moduled0(n0) information,
GPS module is by the vehicle location, vehicle heading and average speed of this vehicleInformation, vehicle height sensor are high by real-time vehicle body
Degree H information is transferred to message processing module.
Step 3: the vehicle location of this vehicle and driving direction are transferred to car networking communication module, Che Lian by message processing module
Net communication module judges that vehicle joins according to that whether can scan the communication signal of other vehicles within the scope of car networking communication network
Whether there are other vehicles in Netcom's news network range, if without other vehicles, car networking communication within the scope of car networking communication network
Module continues the scanning that other vehicle communication signals are carried out within the scope of communication network；It is arrived if can be scanned in vehicle communication network
The communication signal of other vehicles then receives the vehicle position information and vehicle heading information of other communication automobiles；Car networking
The Ben Cheche that communication module receives the vehicle location of other communication automobiles and transmits information and message processing module are sent
Position and transmits information, according to this vehicle vehicle location, this vehicle transmits information, other communication automobiles vehicle location
Judge whether other communication automobiles are in road ahead and driving direction and this in car networking communication network with transmits information
Vehicle is consistent, if in car networking communication network other communication automobiles driving direction is opposite with the driving direction of this vehicle or other vehicles
Vehicle location at the vehicle location rear of this vehicle, then car networking communication module continues to carry out other within the scope of communication network
The scanning of vehicle communication signal；If car networking communication network has other communication automobiles and this vehicle to travel in the same direction and in this vehicle traveling
Road ahead, then car networking communication module further communicates other communication automobiles.
Car networking communication module judges within the scope of communication network before road according to the vehicle location and driving direction of this vehicle
Whether side has the vehicle travelled in the same direction, meets the vehicle of condition if it exists, then the vehicle of front vehicle in the same direction is obtained by car networking
Position and its road surface ahead unevenness Gd1(n0) information, and by the Uneven road of the vehicle location of front vehicle in the same direction and acquisition
Spend information Gd1(n0) it is transferred to message processing module.
Step 4: message processing module obtains the vehicle location of this vehicle, average speedBodywork height H, current road are not
Pingdu Gd0(n0) information, the vehicle location of front vehicle in the same direction and road surface ahead unevenness Gd1(n0) information, then by vehicle body height
Spend H, average speedWith the road roughness G in frontd1(n0) information is transferred to target overall height judgment module, by the vehicle of this vehicle
Position, average speedVehicle location, the current road unevenness G of front vehicle in the same directiond0(n0) and road surface ahead unevenness Gd1
(n0) information is transferred to inflation/deflation moment computing module.
Step 5: target overall height judgment module receives bodywork height H, average speedWith the road roughness G in frontd1
(n0) information, optimum target overall height H is determined according to built-in judgment rulea, then by optimum target overall height HaInformation is transferred to vehicle
Highly integrated controller.
The judgment rule of target overall height judgment module is as follows:
According to GB7031 " Vehicular vibration input --- road surface Pingdu representation method ", the road roughness information of input is turned
Pavement grade is turned to, by road surface ahead unevenness Gd1(n0) information conversion road surface ahead grade.The following table 1 is road roughness information
Corresponding pavement grade:
Table 1
In table 1: n0It is the inverse of wavelength for reference frequency, indicates to include several wavelength in every meter of length；Gd(n0)
For reference frequency n0Under Road Surface Power Spectrum Density value, referred to as road roughness coefficient.
Target overall height control module is by road surface ahead grade and average speedThe best overall height table of control the following table 2 is found out most
Good target overall height Ha, then by current overall height H and optimal target overall height HaIt is compared: if H=Ha, then continue to obtain
Road surface ahead grade and Ben Che average speedInformation；If H ≠ Ha, then optimum target overall height H is exportedaInformation is controlled to overall height is integrated
Device processed.
It is below 5 gears by target carriage high setting, wherein being from low to high low level, secondary low level, middle position, secondary high-order, height
Position:
Table 2
Step 6: inflation/deflation moment computing module receives the vehicle location of this vehicle, average speedWith front vehicle in the same direction
Vehicle position information determines air spring inflation/deflation start time according to built-in calculation method, when then starting inflation/deflation
It carves information and is transferred to overall height integrated manipulator.
Referring to Fig. 3, the inflation/deflation moment calculation method of computing module is as follows:
Inflation/deflation start time computing module receives the position (x from the front that message processing module obtains vehicle in the same direction1,
y1) information, road surface ahead unevenness Gd1(n0) information, this vehicle vehicle location (x0,y0) information, average speedInformation and current
Road roughness Gd0(n0) information.Then it according to GB 7031 " Vehicular vibration input --- road surface Pingdu representation method ", will input
Road roughness information be converted into pavement grade, current road grade is compared with road surface ahead grade, if current road
Face grade is identical as road surface ahead grade, then continues the position (x that new front vehicle in the same direction is obtained from message processing module1,y1)
Information, road surface ahead unevenness Gd1(n0) information, this vehicle vehicle location (x0,y0) information, average speedInformation and current road
Face unevenness Gd0(n0) information；If current road grade is different from road surface ahead grade, before calculating this vehicle arrival current time
The distance of Fang Tongxiang vehicle location.
The range formula for calculating vehicle location in the same direction in front of this vehicle arrival current time is as follows:
In formula: s is the distance that this vehicle reaches current time front vehicle location in the same direction, m.
Then start to fill according to the distance calculating inflation/deflation solenoid valve that this vehicle reaches vehicle location in the same direction in front of current time
At the time of deflation, calculation formula is as follows:
In formula:For average speed, m/s；t0The time of current time front vehicle location in the same direction, s are sailed to for this garage；
t1For system operation time, s；t2For inflation/deflation solenoid valve inflation/deflation time, s；T be inflation/deflation electromagnetism decontrol beginning inflation/deflation when
It carves, s.
The output of inflation/deflation start time computing module starts inflation/deflation moment t information.
Step 7: overall height integrated manipulator receives target overall height HaInformation and inflation/deflation start time t information transmit overall height
Integration control signal is to overall height integrated control drive module.
Step 8: overall height integrated control drive module receives overall height integration control signal, transmission inflation/deflation solenoid valve control letter
Number to inflation/deflation solenoid valve, inflation/deflation solenoid valve is acted accordingly according to inflation/deflation solenoid valve control signal.
Claims (7)
1. a kind of air suspension car height controlling system based on car networking, it is characterized in that: being sensed by car networking communication module, overall height
Device, GPS module, acceleration transducer, vehicle speed sensor, car-mounted terminal ECU and inflation/deflation solenoid valve block are at the vehicle-mounted end
Hold ECU by road roughness computing module, message processing module, target overall height judgment module, inflation/deflation moment computing module, vehicle
Highly integrated controller, overall height integrated control drive module composition；
Vehicle speed sensor, which acquires the automobile's instant velocity v information of this vehicle and sends road roughness for automobile's instant velocity v information, calculates mould
Block；
Acceleration transducer acquires unsprung mass acceleration aiInformation simultaneously will be sent to road roughness computing module；
Road roughness computing module obtains current road roughness Gd0(n0) information and it is sent to message processing module；
GPS module obtains the vehicle location, vehicle heading and average speed of this vehicleInformation is simultaneously sent to information processing mould
Block；
The real-time overall height H information of vehicle height sensor acquisition vehicle is simultaneously sent to message processing module；
The vehicle location of this vehicle and vehicle heading information are sent car networking communication module, car networking by message processing module
Communication module filters out front vehicle in the same direction, acquisition front vehicle location in the same direction and road surface ahead unevenness Gd1(n0) information and will
Front vehicle position information in the same direction and road surface ahead unevenness Gd1(n0) information is sent to message processing module；
Message processing module is by bodywork height H, average speedWith the road roughness G in frontd1(n0) information is transferred to target carriage
High judgment module, by the vehicle location of this vehicle, average speedCharge and discharge is transferred to the vehicle position information of front vehicle in the same direction
Gas moment computing module；
Target overall height judgment module obtains the optimum target overall height H under road ahead travelingaInformation is simultaneously sent to the integrated control of overall height
Device processed；
Inflation/deflation start time computing module obtains t information at the time of starting inflation/deflation and is sent to overall height integrated manipulator；
Overall height integrated manipulator exports car height controlling signal and the inflation/deflation moment controls signal to overall height integrated control drive module；
Overall height integrated control drive module exports inflation/deflation solenoid valve control signal to inflation/deflation solenoid valve, inflation/deflation solenoid valve control
Bodywork height processed.
2. a kind of air suspension car height controlling system based on car networking according to claim 1, it is characterized in that: car networking
Communication module judges whether there is row in the same direction in road ahead within the scope of communication network according to the vehicle location and driving direction of this vehicle
The vehicle sailed meets the vehicle of condition if it exists, then obtains the front vehicle location of vehicle and its front in the same direction by car networking
Road roughness Gd1(n0) information.
3. a kind of air suspension car height controlling system based on car networking according to claim 1, it is characterized in that: target carriage
High judgment module is by the road roughness G in the front of inputd1(n0) information conversion road surface ahead grade, according to road surface ahead grade
And average speedObtain optimum target overall height Ha。
4. a kind of air suspension car height controlling system based on car networking according to claim 3, it is characterized in that: overall height is sentenced
Disconnected module is by current overall height H and optimum target overall height HaIt is compared, if H=Ha, then continue to obtain road surface ahead grade and this
Vehicle average speedInformation；If H ≠ Ha, then optimum target overall height H is exportedaInformation is to overall height integrated manipulator.
5. a kind of air suspension car height controlling system based on car networking according to claim 1, it is characterized in that: inflation/deflation
Start time computing module receives the position (x from the front that message processing module obtains vehicle in the same direction1,y1) information, road surface ahead
Unevenness Gd1(n0) information, this vehicle vehicle location (x0,y0) information, average speedInformation and current road unevenness Gd0(n0)
Information converts pavement grade for the road roughness information of input, current road grade and road surface ahead grade is compared
Compared with if current road grade is identical as road surface ahead grade, continuation obtains new front vehicle in the same direction from message processing module
Position (x1,y1) information, road surface ahead unevenness Gd1(n0) information, this vehicle vehicle location (x0,y0) information, average speedLetter
Breath and current road unevenness Gd0(n0) information；If current road grade is different from road surface ahead grade, according to formulaCalculate the distance s that this vehicle reaches current time front vehicle location in the same direction.
6. a kind of air suspension car height controlling system based on car networking according to claim 5, it is characterized in that: inflation/deflation
Start time computing module reaches current time front the distance s of vehicle location and calculating inflation/deflation solenoid valve in the same direction according to this vehicle
At the time of starting inflation/deflation: t=t0-(t1+t2), For average speed；t0Before sailing to current time for this garage
The time of Fang Tongxiang vehicle location；t1For the system operation time；t2For the inflation/deflation solenoid valve inflation/deflation time；T is inflation/deflation electromagnetism
At the time of decontroling beginning inflation/deflation.
7. a kind of air suspension car height controlling system based on car networking according to claim 1, it is characterized in that: overall height collection
Overall height integration control signal is received at control drive module, inflation/deflation solenoid valve control signal is transmitted to inflation/deflation solenoid valve, fills
Venting solenoid valve is acted according to inflation/deflation solenoid valve control signal to control bodywork height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811423636.1A CN109606051B (en) | 2018-11-27 | 2018-11-27 | Air suspension vehicle height control system based on Internet of vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811423636.1A CN109606051B (en) | 2018-11-27 | 2018-11-27 | Air suspension vehicle height control system based on Internet of vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109606051A true CN109606051A (en) | 2019-04-12 |
| CN109606051B CN109606051B (en) | 2021-07-20 |
Family
ID=66003955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811423636.1A Active CN109606051B (en) | 2018-11-27 | 2018-11-27 | Air suspension vehicle height control system based on Internet of vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109606051B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112092560A (en) * | 2019-06-02 | 2020-12-18 | 侯力宇 | Method and system for intelligent shock absorption control of automobile information sharing |
| CN112193010A (en) * | 2020-09-11 | 2021-01-08 | 山东泰展机电科技股份有限公司 | Air suspension system for automobile and control method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002240527A (en) * | 2001-02-19 | 2002-08-28 | Tein:Kk | Damping force adjusting device of shock absorber for vehicle, and its control program providing method |
| US20040094912A1 (en) * | 2002-09-25 | 2004-05-20 | Toshiaki Niwa | Suspension control apparatus of vehicle |
| CN102292249A (en) * | 2009-01-23 | 2011-12-21 | 戴姆勒股份公司 | Method for determining a road profile of a lane located in front of a vehicle |
| CN104851300A (en) * | 2015-01-23 | 2015-08-19 | 江苏大学 | Road condition pre-identifying system based on Internet of Things and suitable for vehicle suspension control |
| CN104882018A (en) * | 2015-05-08 | 2015-09-02 | 江苏大学 | Road operating condition pre-identification system for controlling vehicle suspension based on Internet of Vehicles |
| CN106143039A (en) * | 2016-08-23 | 2016-11-23 | 河北嘉德工程技术有限公司 | A kind of control method of air suspension overall height regulation |
| CN106494172A (en) * | 2015-09-03 | 2017-03-15 | 奥迪股份公司 | Method for determining the current horizontal location of vehicle |
-
2018
- 2018-11-27 CN CN201811423636.1A patent/CN109606051B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002240527A (en) * | 2001-02-19 | 2002-08-28 | Tein:Kk | Damping force adjusting device of shock absorber for vehicle, and its control program providing method |
| US20040094912A1 (en) * | 2002-09-25 | 2004-05-20 | Toshiaki Niwa | Suspension control apparatus of vehicle |
| CN102292249A (en) * | 2009-01-23 | 2011-12-21 | 戴姆勒股份公司 | Method for determining a road profile of a lane located in front of a vehicle |
| CN104851300A (en) * | 2015-01-23 | 2015-08-19 | 江苏大学 | Road condition pre-identifying system based on Internet of Things and suitable for vehicle suspension control |
| CN104882018A (en) * | 2015-05-08 | 2015-09-02 | 江苏大学 | Road operating condition pre-identification system for controlling vehicle suspension based on Internet of Vehicles |
| CN106494172A (en) * | 2015-09-03 | 2017-03-15 | 奥迪股份公司 | Method for determining the current horizontal location of vehicle |
| CN106143039A (en) * | 2016-08-23 | 2016-11-23 | 河北嘉德工程技术有限公司 | A kind of control method of air suspension overall height regulation |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112092560A (en) * | 2019-06-02 | 2020-12-18 | 侯力宇 | Method and system for intelligent shock absorption control of automobile information sharing |
| CN112193010A (en) * | 2020-09-11 | 2021-01-08 | 山东泰展机电科技股份有限公司 | Air suspension system for automobile and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109606051B (en) | 2021-07-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108528268B (en) | Torque adjusting method of electric automobile self-adaptive cruise system | |
| CN110239554B (en) | Method and device for real-time recognition of longitudinal gradient of vehicle-mounted road surface | |
| CN110568762B (en) | Intelligent electric vehicle formation adaptive robust control method capable of resisting communication delay | |
| CN113415116B (en) | Automatic switching method and system for operation modes of air suspension system | |
| CN109367537B (en) | Electric automobile self-adaptive cruise control system and method based on Internet of vehicles | |
| CN109532377A (en) | A kind of automobile control method, device, storage medium and automobile | |
| CN109606051A (en) | A kind of air suspension car height controlling system based on car networking | |
| CN107176004A (en) | Suspension control method, suspension control apparatus and the vehicle with the device | |
| US11407269B2 (en) | Ride height control system and method | |
| CN110789288A (en) | Active and passive switchable suspension control system and method | |
| CN106004307A (en) | Electronic control system for vehicle hanger bracket | |
| CN112549893A (en) | Intelligent electronic control suspension vibration damping system of automobile | |
| CN112164217B (en) | Automatic driving vehicle queue running management system and control method thereof | |
| CN109353178B (en) | System and method for controlling overall vehicle attitude of electric control air suspension | |
| CN104553659A (en) | Electrically controlled air suspension height adjustment control system | |
| CN110386139B (en) | Adaptive cruise control method, processor and system | |
| WO2021207967A1 (en) | Method for actively adjusting vehicle suspension on basis of road surface condition, and vehicle | |
| CN109677227B (en) | Vehicle body posture adjusting system and method based on air spring | |
| CN105150792B (en) | A kind of automatically controlled adjustable suspension system and control method based on GPS location | |
| CN109606052B (en) | Multi-mode damping control system based on internet of vehicles | |
| CN110733512A (en) | Pull type caravan side-tipping interaction early warning system and side-tipping interaction early warning method | |
| CN201998758U (en) | Rear suspension control system of electric automobile | |
| CN212313216U (en) | Self-adaptive air suspension system of commercial vehicle | |
| CN108944326B (en) | Intelligent control system and method for height of vehicle body | |
| CN109466269A (en) | A kind of bend based on car networking takes aim at air suspension control system and method in advance |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220726 Address after: 230000 Room 203, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Hefei Jiuzhou Longteng scientific and technological achievement transformation Co.,Ltd. Address before: Zhenjiang City, Jiangsu Province, 212013 Jingkou District Road No. 301 Patentee before: JIANGSU University |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221206 Address after: Room 3038, No. 16, Fuhe Road, Baigutun Town, Wuqing District, Tianjin 301700 Patentee after: Jinnuo Jinda (Tianjin) Software Technology Co.,Ltd. Address before: 230000 Room 203, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Hefei Jiuzhou Longteng scientific and technological achievement transformation Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221219 Address after: 301700 1 floor, No. 6, No. 1 Xinxing Road, Wuqing Development Zone, Wuqing District, Tianjin. Patentee after: TIANJIN SENPUJIE ELECTRONICS CO.,LTD. Address before: Room 3038, No. 16, Fuhe Road, Baigutun Town, Wuqing District, Tianjin 301700 Patentee before: Jinnuo Jinda (Tianjin) Software Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |