CN104851300B - Road condition pre-identifying system based on Internet of Things and suitable for vehicle suspension control - Google Patents
Road condition pre-identifying system based on Internet of Things and suitable for vehicle suspension control Download PDFInfo
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- CN104851300B CN104851300B CN201510034342.XA CN201510034342A CN104851300B CN 104851300 B CN104851300 B CN 104851300B CN 201510034342 A CN201510034342 A CN 201510034342A CN 104851300 B CN104851300 B CN 104851300B
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Abstract
The invention discloses a road condition pre-identifying system based on Internet of Things and suitable for vehicle suspension control. The system is composed of a vehicle terminal and a server. The vehicle terminal includes a GPS module, a road information collecting module, a vehicle information module, an ECU and a vehicle control module. The server is composed of an information exchange module, a database and an information processing module. Road information collected by vehicles moving on a road ahead is obtained through the Internet of Things and the required road condition information is collected and uploaded to a server through the vehicle terminal, so that necessary data including front road information and the like is sent to a control part of a vehicle suspension. A road condition identification result is obtained through computation by the server based on a large amount of uploaded data. The identification result in the server is sent to a target vehicle before the target vehicle reaches a target area. Therefore, a function of pre-identifying front road condition is realized and inevitable hysteretic nature of the suspension control system is improved, so that vehicle suspension control is enhanced.
Description
Technical field
The present invention relates to a kind of pre- identification system of road condition is and in particular to a kind of hanged based on the vehicle that is applied to of Internet of Things
The pre- identification system of road condition that frame controls.
Background technology
The identification of road condition has irreplaceable effect in the control of vehicle active suspension.Industry and mining city now
There are real-time working condition identification and two kinds of the pre- identification of operating mode.Wherein real-time working condition is recognized as one kind by onboard sensor gathered data simultaneously
By in-vehicle processor, the data collecting is calculated in real time and drawn the discrimination method of industry and mining city result.Real-time working condition is distinguished
Knowing the performance to sensor accuracy and processor has higher dependence, cannot avoid the delayed sex chromosome mosaicism of real-time identification simultaneously again.
The pre- identification of operating mode is then that road information is gathered by some approach such as real vehicle collection, Internet of Things and locates by one kind in advance
Reason obtains identification result, sends identification result to the identification side of target vehicle before target vehicle will reach target area
Method.The therefore pre- identification of operating mode can be very good to solve the delayed sex chromosome mosaicism that real-time identification controls.Japanese scholars Jorge Moreno
Paper in the IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS second phase in April, 2006
“Energy-Management System for a Hybrid Electric Vehicle, Using Ultra
It is proposed for the road condition prognoses system of route, it adopts reality in capacitors and Neural Networks "
Car collection data, using probability method predict the next stop road condition, but this prediction do not account for road condition with
The change of time, therefore predicts the outcome and over time can produce larger error.
Content of the invention
For real-time working condition distinguish high to sensor and processor dependency, have hysteresis quality and operating mode pre-judging method more
The newly slow, shortcoming of poor in timeliness, in conjunction with the Internet of Things developing rapidly now, the present invention proposes a kind of being suitable for based on Internet of Things
The pre- identification system of road condition controlling in vehicle suspension.By collection and the operating mode that car-mounted terminal completes data is installed to vehicle
The sharing functionality of identification result, so that server data is supplemented renewal in time, greatly reduces the pre- identification of common operating mode
Danger, server is not in mass data process, high to individual data and required precision simultaneously, the sensor to car-mounted terminal
Not high with processor dependency.
The technical solution used in the present invention is as follows：The road work being applied to vehicle suspension control based on Internet of Things for the present invention
The pre- identification system of condition is made up of car-mounted terminal server, both-way communication between car-mounted terminal server, described car-mounted terminal
Including GPS module, road information acquisition module, information of vehicles module, ECU and vehicle control module, GPS module, road information
The outfan of acquisition module and information of vehicles module connects the input of ECU respectively, and the outfan of ECU connects vehicle control module
Input, described server is made up of information exchange module, data base and message processing module, information exchange module data
Two-way communication between storehouse, two-way communication between data base and message processing module；The GPS of described GPS module Real-time Collection vehicle
Data, the longitude and latitude of extraction vehicle position and movement velocity are simultaneously transferred to ECU；Described road information acquisition module collection four
The vertical acceleration of the unsprung mass at individual wheel position and the steering angle acceleration of vehicle；Described information of vehicles module collection is real
When speed information be delivered to ECU；Described vehicle control module produces control signal after receiving the serial data that ECU transmission comes and controls
Suspension；Described ECU gathers the information of GPS module, road information acquisition module and information of vehicles module, according to collecting GPS number
It is believed that breath calculates travel direction and the crankcase ventilaton radius of curvature of this car, it is uneven that the information according to road information module calculates road
Degree and the Road turnings radius of vehicle, simultaneously by road irregularity, crankcase ventilaton radius of curvature and the real-time speed information of Ben Che
Unidirectional it is sent to vehicle control module；The road irregularity that described database purchase car-mounted terminal is uploaded onto the server, road turn
Curved radius and vehicle position information, the information after the process of storage information processing module；Described information Switching Module receives vehicle-mounted
Terminal sends the information to server and is stored to the assigned position of data base, the vehicle being uploaded according to car-mounted terminal simultaneously
Position and transmits information read, from the assigned position of data base, the information that car-mounted terminal asked and send it to vehicle-mounted
Terminal；Information is carried out described information processing module screening and ranking operation generates server data and stores to data base's regulation
Position, reading service device data, by out-of-date information deletion；Car-mounted terminal downloads road irregularity, crankcase ventilaton from server
Radius of curvature and positional information, upload road irregularity, Road turnings radius, position and transmits information.
The present invention obtains the road information of the driving vehicle collection in road ahead by Internet of Things, is adopted by car-mounted terminal
The required road condition information of collection simultaneously uploads onto the server, and can be sent to the necessary datas such as road ahead information in advance with this
The control section of vehicle suspension, carries out calculating the industry and mining city result of road using server to the mass data uploading,
Road condition information after server download process again, by distinguishing in server before target vehicle will reach target area
Know result to send to target vehicle, realize the anticipation function to road ahead operating mode.The present invention solves suspension control system not
Evitable delayed sex chromosome mosaicism, thus improving the Suspension control performance of car load, simultaneously by the process to big data to server
Solve the problems, such as in Suspension control, sensor and processor performance to be had high demands.
Below by way of the drawings and specific embodiments, the present invention is described in further detail.
Brief description
Fig. 1 is the road condition pre- identification system block diagram being applied to vehicle suspension control based on Internet of Things for the present invention.
Fig. 2 is the operational flow diagram of car-mounted terminal in Fig. 1.
Fig. 3 is the flow chart that in Fig. 1, car-mounted terminal obtains this truck position, speed and travel direction by GPS gathers module.
Fig. 4 is vertical acceleration transducer layout drawing under spring in road information acquisition module in Fig. 1.
Fig. 5 is crankcase ventilaton radius of curvature acquisition of information flow chart.
The process schematic that Fig. 6 judges for turning position point.
Specific embodiment
As shown in figure 1, road condition prognoses system of the present invention is made up of car-mounted terminal server, car-mounted terminal and service
Both-way communication between device.Wherein car-mounted terminal includes GPS（Global Positioning System, global positioning system）Mould
Block, road information acquisition module, information of vehicles module, car-mounted terminal ECU（Electronic Control Unit, Electronic Control
Unit）And vehicle control module, server is made up of information exchange module, data base and message processing module.Wherein GPS mould
The outfan of block, road information acquisition module and information of vehicles module connects the input of car-mounted terminal ECU respectively, respectively will be each
From information transmission to car-mounted terminal ECU, the outfan of car-mounted terminal ECU connect vehicle control module input, vehicle-mounted
Terminal ECU is by the information transmission processing to vehicle control module.Double between information exchange module database in server
To communication, two-way communication between data base and message processing module.
When car-mounted terminal can be communicated with server, car-mounted terminal can from server download required road irregularity,
Crankcase ventilaton radius of curvature and the positional information becoming mapping relations therewith, upload simultaneously the road irregularity that this car collects,
The information such as Road turnings radius, this truck position and Ben Che travel direction.
GPS module is used for the gps data of Real-time Collection vehicle, the effectiveness of data is analyzed simultaneously, extracts vehicle
The longitude and latitude of position and movement velocity are simultaneously transferred to car-mounted terminal ECU.
Road information acquisition module is mainly responsible for gathering the vertical acceleration of the unsprung mass at four wheel positions of this car
Degree and the steering angle acceleration of vehicle, and transmit information to car-mounted terminal ECU.
Vehicle control module completes the module to Suspension control, and this module receives the data that car-mounted terminal ECU transmission comes
Produce control signal after string and control suspension.
Information of vehicles module is mainly responsible for gathering the peculiar information of this car, includes the speed letter of this car in these information
Breath.Speed information is delivered to car-mounted terminal ECU by this module.
Car-mounted terminal ECU is the core of car-mounted terminal.Its collection GPS module, road information acquisition module and vehicle
The information of information module.Car-mounted terminal ECU calculates travel direction and the crankcase ventilaton of this car according to collecting gps data information
Radius of curvature.The radius of turn of the information calculating road roughness always according to road information module and vehicle is simultaneously counted with GPS
Count according to being calibrated, this car speed information is generated by the speed information that the transmission of information of vehicles module comes simultaneously.This car simultaneously
Also by road irregularity, crankcase ventilaton radius of curvature and the real-time speed information of Ben Che is unidirectional is sent to wagon control for mounted terminal ECU
Module.ECU is by this car calculating travel direction, road irregularity information, crankcase ventilaton radius of curvature and this truck position information
Generate this car information data string according to this corresponding relation of truck position information.
Data base is used for storing road irregularity, Road turnings radius and the vehicle position uploaded onto the server to car-mounted terminal
The information such as put, the information after storage described information processing module is processed simultaneously.
The main charge server of information exchange module and the information exchange of car-mounted terminal.It receives car-mounted terminal and sends to clothes
The information of business device, the nearest a number of serial data all car-mounted terminals being uploaded according to position corresponding relation（As previous
Article hundred, previous thousand etc.）In road irregularity and Road turnings radius information carry out time-based weighted calculation, generate clothes
The road irregularity at business device end and Road turnings radius information, simultaneously by this information and vehicle position information and transmits information
Set up correct corresponding relation, and stored to the assigned position of described data base, message processing module will reading clothes simultaneously
Business device data, will exceed a number of outdated data string（As 100 data strings after according to time sequence, 1,000 data strings
Serial data afterwards）Delete.Finally, information exchange module extracts according to the position in vehicle solicited message and transmits information
In data base, the database information in the segment distance travelling in the same direction that this position starts, sends to car-mounted terminal.
If car-mounted terminal can be communicated with server, car-mounted terminal ECU sends this car information data string to server, takes
After business device receives information, the track that vehicle in data base is located according to the vehicle location in serial data and transmits information
The one section of road in front comprise road irregularity and the serial data of Road turnings radius and corresponding positional information is sent out
Deliver to vehicle on-board terminal.After receiving information, car-mounted terminal ECU is according to the positional information of this car corresponding by server data
Road irregularity at a certain distance from this front side, Road turnings radius information and Ben Che speed information are transferred to wagon control mould
Block is to solve the lag issues of real-time control.Meanwhile under all situations that can communicate with server, car-mounted terminal will be held
The serial data that the continuous car-mounted terminal ECU by this car generates and the transmits information of this car upload onto the server.
As shown in Fig. 2, car-mounted terminal gathers this car letter by GPS module, road information module and information of vehicles module
Breath, this car information includes the letter such as this truck position, average speed, travel direction and road irregularity, crankcase ventilaton radius of curvature
Breath.There is the following aspects in the information gathering of this car：
As shown in figure 3, the step this truck position, average speed and travel direction being obtained by GPS module for car-mounted terminal
Figure.When car-mounted terminal obtains the information of this truck position, average speed and travel direction, using Chinese Patent Application No. it is
Side proposed in the patent documentation of the 200910149589.0th, entitled " Vehicular suspension control system and suspension control method "
Method.First, the GPS information of this car of GPS module Real-time Collection send this information to car-mounted terminal ECU.ECU receives this information
Afterwards, longitude and latitude (L, the B) information in GPS information is in 200910149589.0 patent documentation by Chinese Patent Application No.
Described equations turned for plane rectangular coordinates（X, y）Information, this is the positional information of this car.Obtain this truck position information
Afterwards, ECU calculates the vehicle within this certain time according in this truck position sampling point information in the sampling time of certain length
Average speed.As calculate in two seconds between first this truck position sampled point and second this truck position sampled point away from
From the distance between, second this truck position sampled point and the 3rd this truck position sampled point, calculate penultimate always
This truck position sampled point and the distance between last this truck position sampled point in two seconds, and these distances are added up,
Finally the time divided by two seconds, just can obtain the vehicle average speed in this two seconds.ECU is according in plane rectangular coordinates simultaneously
The rectangular coordinate information of sampled point be formula meter in 200910149589.0 patent documentation by Chinese Patent Application No.
Calculate this car travel direction.So far car-mounted terminal collects this truck position information, average speed information and row by GPS module
Sail directional information.
Information of vehicles module includes vehicle speed sensor, and vehicle speed sensor is arranged in by the output shaft of vehicle gear box, is
The sensor of vehicle self-carrying.Car-mounted terminal ECU gathers the real-time speed information that this signal finally obtains vehicle.
As shown in figure 4, road information acquisition module includes vertical acceleration sensor 4, car-mounted terminal passes through road information
Module and GPS module obtain road irregularity and road curve radius.Vertical acceleration sensor 4 is arranged in wheel of vehicle
In 1 other vehicle bridge 5, it is located under ride-control 3, belongs to the unsprung mass part 2 of vehicle.Therefore vertical acceleration sensor
The vertical acceleration information of 4 collection vehicle unsprung mass.The acquisition of road irregularity using Chinese Patent Application No. is
Side described in 201410581629.X, the patent documentation of entitled " a kind of road roughness on-line identification system and method "
Method.Wherein required unsprung mass acceleration signala M, x(t) provided by vertical acceleration sensor 4, required vehicle travels speed
Degree signalu m(t) provided by information of vehicles module.
As shown in Figure 5 and shown in Fig. 6, during crankcase ventilaton radius of curvature acquisition of information, car-mounted terminal is transmitted by GPS module
When the positional information coming judges that vehicle enters turning operating mode, travel direction deflection angle is more than predetermined angleLocation point C, with
When go out the radius of curvature of this crankcase ventilaton according to positional information calculationAnd record the turning angle acceleration of the vehicle in diverse location
Degree.In the road, A is this truck position, and B is a series of possible positional information collection point of vehicles.In the B of these collection points, such as
Angle between the straight line that direction when really the straight line through P collection point and P-1 collection point and vehicle are kept straight on is located
Angle is more than predetermined angleWhen then it is assumed that this collection point position be turn inside diameter point position C.So far after, car-mounted terminal from
The 3rd positional information sampled point that GPS module obtains starts, according to current location information and the front positional information recording twice,
Totally three dot position information collection points are calculating the radius through this 3 points of circle.Here, the radius so calculating is minimum
Value is as the radius of curvature of this crankcase ventilaton.Meanwhile, after obtaining turning position point C, car-mounted terminal often obtains one
The information of the angular acceleration transducer in road information module is read, with positional information sampled point pair after positional information sampled point
That answers saves as turn inside diameter angular acceleration information.
So far, car-mounted terminal completes to obtain road irregularity and road bend by road information module and GPS module
Bilge radius information.
After car-mounted terminal collects required all data, this car Information Number will be generated by information acquired above
According to string, referring to Fig. 2.Wherein this car information data string comprises vehicle location, travel direction, road irregularity and crankcase ventilaton curvature
Radius（When running into crankcase ventilaton）.Wherein, to car-mounted terminal when GPS gets this car vehicle location sampled point, that is,
The travel direction now obtaining, road irregularity and crankcase ventilaton radius information are generated this car information data string simultaneously,
Both this car information data string was a sequentially information data string based on vehicle location sampled point.To ensure the information of serial data
Corresponding relation spatially.Vehicle runs over all serial data groups based on vehicle location sampled point in journey on a road
Become one or several this car inter-area traffic interareas.These data flows are sent to clothes by the real-time communication of car-mounted terminal and server
Business device.This car information data string uploading onto the server in real time is except being also remembered as car-mounted terminal as server data source
Solicited message to server data.
In server with car-mounted terminal interactive information, described information Switching Module receives the data from car-mounted terminal
Stream, adds timestamp, with the uplink time of this data stream of labelling to first this data stream.Information exchange module also needs simultaneously
By following steps, the instant serial data receiving is extracted and processed to have come with the preservation of paired data and car-mounted terminal asked
The response asked.
First, information exchange module is uneven by the positional information in serial data, crankcase ventilaton radius of curvature information and road
Degree information sends to data base.After data base receives information, according to positional information therein according to this data stream place road
Road is by the memory headroom belonging to all for this road in the information Store receiving to data base untreated data flows.So far complete
Become the preservation of data.Secondly, information exchange module by the positional information extracting in serial data and transmits information and send to
Message processing module in server.According to these information, message processing module judges that vehicle is located after receiving these information
Road and track and average speed, then in reading database this road and track information, vehicle is advancedWill in second
The road data running over sends to information exchange module, and sends information to car-mounted terminal by information exchange module.Work as car
After mounted terminal has received information, vehicle is all advanced the by each afterwards second serverToBy the road running in second
Data is activation is to car-mounted terminal.Ensure that vehicle advancesRoad data in second all sends and avoids to car-mounted terminal simultaneously
The repetition of data is activation.So far complete the request-reply to car-mounted terminal.
Described information processing module, except when to car-mounted terminal response to the process of information and to database data
Having can also be according to the processing function of untreated data flow in following steps database outside the function of selecting to read.
First, message processing module will read all data flows with regard to a road, simultaneously according to information exchange module
The timestamp adding is ranked up.If the bar number of data flow exceedes default numerical value, then by from farthest away from present time
Data flow starts to delete data, until the data flow bar number preserving is in default valueWithin.
When server works, it will ceaselessly have new data flow to upload, often receive a data string, information
Processing module will server data be contrasted with uploading data, if uploading data to deviate server data excessively, loses
Abandon this data, even if in the case of to ensure that car-mounted terminal the data precision is not high, server still can generate more accurate
Servers' data.And when server ceaselessly receives and abandons invalid data, also by the data flow ceaselessly haveing been friends in the past quilt
Delete, often receive new data flow bar number and reach preset valueAfterwards, that is, start all of data flow is processed new to generate
Servers' data.
Situation because of road changes continuous, therefore needs before treatment data stream to be carried out distribute weight, according to when
Between nearlyer weight bigger, time more remote weight less rule distribution, to ensure that with this data finally obtaining more can press close to reality
The road conditions on border, and ensure the accuracy of data sample quantity data simultaneously.After completing weight distribution, information processing mould
Positional information in data flow is extracted by block, calculates matching road curve with method of least square, and the bending extracting
Road curvature radius information and road irregularity information are then processed according to corresponding positional information：In the plan calculating
Close and take a bit on road curve, all data points put at this in the range of certain length and width are extracted, to these data
Crankcase ventilaton radius of curvature information in point and road irregularity information carry out root mean square calculation, the data obtainingThen as this
Matching path coordinate pointServer data.Finally by dataWith matching path coordinate point according to correct corresponding relation
Generate the serial data of server end, and preserve in the internal memory that the reduced data stream of so far road is located.So far information processing mould
The processing function of untreated data flow in block database.
After the response that server completes to car-mounted terminal request, car-mounted terminal gets vehicle heading from server
FrontServer data in second.After obtaining data, car-mounted terminal ECU is according to the delay of vehicle control moduleAnd it is current
SpeedInformation, according to current vehicle location information by this Herba PlantaginisThe data message of rice and current vehicle speed information send to car
Control module.Vehicle control module starts to control suspension work according to these information, solves traditional suspension control with this
The unavoidable delay problem of system.
So far the system completes the Information Collecting ＆ Processing of car-mounted terminal and server communication, server info receive and place
Reason and the data receiver function of car-mounted terminal.
Claims (9)
1. a kind of pre- identification system of road condition being applied to vehicle suspension control based on Internet of Things, is characterized in that：By vehicle-mounted
Terminal server forms, both-way communication between car-mounted terminal server, and described car-mounted terminal includes GPS module, road letter
Breath acquisition module, information of vehicles module, ECU and vehicle control module, GPS module, road information acquisition module and information of vehicles
The outfan of module connects the input of ECU respectively, and the outfan of ECU connects the input of vehicle control module, described service
Device is made up of information exchange module, data base and message processing module, two-way communication between information exchange module database, number
According to two-way communication between storehouse and message processing module；
The gps data of described GPS module Real-time Collection vehicle, the longitude and latitude of extraction vehicle position and movement velocity are simultaneously transmitted
To ECU；
The vertical acceleration of unsprung mass at described road information acquisition module four wheel positions of collection and the steering of vehicle
Angular acceleration；
Described information of vehicles module gathers real-time speed information and is delivered to ECU；
Described vehicle control module produces control signal after receiving the serial data that ECU transmission comes and controls suspension；
Described ECU gathers the information of GPS module, road information acquisition module and information of vehicles module, according to collecting gps data
Information calculates travel direction and the crankcase ventilaton radius of curvature of this car, and the information according to road information module calculates road irregularity
And the Road turnings radius of vehicle, simultaneously by road irregularity, crankcase ventilaton radius of curvature and Ben Che real-time speed information list
To being sent to vehicle control module；
Road irregularity, Road turnings radius and vehicle location letter that described database purchase car-mounted terminal is uploaded onto the server
Breath, the information after the process of storage information processing module；
Described information Switching Module receives car-mounted terminal and sends the information to server and stored to the predetermined bits of data base
Put, the vehicle location according to car-mounted terminal upload and transmits information read car-mounted terminal from the assigned position of data base simultaneously
The information asked simultaneously sends it to car-mounted terminal；
Information is carried out described information processing module screening and ranking operation generates server data and stores to data base's regulation
Position, reading service device data, by out-of-date information deletion；
Car-mounted terminal downloads road irregularity, crankcase ventilaton radius of curvature and positional information from server, uploads road uneven
Degree, Road turnings radius, position and transmits information.
2. the pre- identification system of road condition according to claim 1, is characterized in that：Longitude and latitude in gps data is converted by ECU
For the positional information of this car, this car travel direction is gone out according to positional information calculation, adopted according to this truck position within the sampling time
Sampling point information calculates the average speed within this time.
3. the pre- identification system of road condition according to claim 1, is characterized in that：Road information acquisition module includes vertical adding
Velocity sensor, vertical acceleration transducer arrangements in the other vehicle bridge of wheel of vehicle, under ride-control, by vertical
The vertical acceleration information of acceleration transducer collection vehicle unsprung mass.
4. the pre- identification system of road condition according to claim 1, is characterized in that：Car-mounted terminal transmits by GPS module
Positional information judge vehicle enter turning operating mode when travel direction deflection angle be more than predetermined anglePositional information sampling
Point, from the beginning of the 3rd positional information sampled point of turn inside diameter, according to current location information and front positional information twice, totally three
Calculating the radius through this 3 points of circle, the radius minima calculating is described crankcase ventilaton radius of curvature to location point.
5. the pre- identification system of road condition according to claim 4, is characterized in that：Car-mounted terminal often obtains a positional information
The information of the angular acceleration transducer in road information acquisition module, guarantor corresponding with positional information sampled point is read after sampled point
Deposit as turn inside diameter steering angle acceleration information.
6. the pre- identification system of road condition according to claim 1, is characterized in that：Car-mounted terminal generates to acquired information
This car information data string, vehicle runs over all serial data compositions one based on vehicle location sampled point in journey on a road
Bar or several this car inter-area traffic interareas, these data flows send to server.
7. the pre- identification system of road condition according to claim 6, is characterized in that：Information exchange module receives from vehicle-mounted
The data flow of terminal, adds timestamp with the uplink time of this data stream of labelling to this data stream, by positional information, bending
Road curvature radius information and road irregularity information send to data base；Information exchange module is by positional information and travel direction
Information sends to message processing module, message processing module according to these information judge road that vehicle is located and track and
Average speed, the road data that vehicle is run over is sent to car-mounted terminal by information exchange module.
8. the pre- identification system of road condition according to claim 7, is characterized in that：Message processing module is by the institute of a road
Data flow is had to be ranked up according to timestamp, if the bar number of data flow exceedes default numerical value, will be from farthest away from present time
Data flow start delete data, until preserve data flow bar number within default numerical value.
9. the pre- identification system of road condition according to claim 6, is characterized in that：Message processing module is by the position in data flow
Confidence breath method of least square calculates matching road curve；Matching road curve takes a bit, a fixed length is put at this
All data points in wide scope extract and uneven to the crankcase ventilaton radius of curvature information in these data points and road
Degree information carries out root mean square calculation, the data obtainingThen as this matching road waypointServer data, by dataWith
Matching path coordinate point generates the serial data of server end according to corresponding relation.
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| CN201510034342.XA CN104851300B (en) | 2015-01-23 | 2015-01-23 | Road condition pre-identifying system based on Internet of Things and suitable for vehicle suspension control |
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| CN201510034342.XA CN104851300B (en) | 2015-01-23 | 2015-01-23 | Road condition pre-identifying system based on Internet of Things and suitable for vehicle suspension control |
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| CN104851300B true CN104851300B (en) | 2017-02-22 |
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| CN109353408B (en) * | 2018-12-06 | 2023-07-14 | 吉林大学 | Steering auxiliary system suitable for compound bend of mountain road |
| CN112092560A (en) * | 2019-06-02 | 2020-12-18 | 侯力宇 | Method and system for intelligent shock absorption control of automobile information sharing |
| CN111231967B (en) * | 2020-01-19 | 2021-06-25 | 长城汽车股份有限公司 | Vehicle chassis control method and device |
| CN114596716A (en) * | 2020-11-19 | 2022-06-07 | 常州江苏大学工程技术研究院 | Suspension road condition recognition system based on cloud computing platform and control method |
| CN112918443B (en) * | 2021-03-09 | 2022-07-12 | 一汽解放汽车有限公司 | Brake control method, device, equipment and storage medium |
| CN113252369B (en) * | 2021-06-24 | 2023-04-07 | 中国第一汽车股份有限公司 | Method for determining road parameters suitable for air suspension test |
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| US8930123B2 (en) * | 2010-11-19 | 2015-01-06 | International Business Machines Corporation | Systems and methods for determining traffic intensity using information obtained through crowdsourcing |
| TW201227381A (en) * | 2010-12-20 | 2012-07-01 | Ind Tech Res Inst | Real-time traffic situation awareness system and method |
| CN102692231B (en) * | 2011-03-24 | 2015-12-16 | 昆达电脑科技(昆山)有限公司 | Traffic information disposal route and user's set |
| CN103646553B (en) * | 2013-11-11 | 2016-08-17 | 北京信息科技大学 | Investigation system for road traffic flow and its implementation |
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