CN106183691A - One takes aim at formula Active suspension and control method thereof in advance - Google Patents
One takes aim at formula Active suspension and control method thereof in advance Download PDFInfo
- Publication number
- CN106183691A CN106183691A CN201610834890.5A CN201610834890A CN106183691A CN 106183691 A CN106183691 A CN 106183691A CN 201610834890 A CN201610834890 A CN 201610834890A CN 106183691 A CN106183691 A CN 106183691A
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- Prior art keywords
- speed
- advance
- control method
- active suspension
- ecu
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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
- B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- 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
-
- 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
- B60G17/01933—Velocity, e.g. relative velocity-displacement sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/20—Spring action or springs
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention belongs to vehicle active safety field, relate to one and take aim at formula Active suspension and control method thereof in advance.During the method, laser radar (1) and velocity sensor (2) gather road surface ahead information and respectively from car speed, then these information are transferred to ECU (3) and carry out decision-making, control stiffness tuning unit (4) and damping regulation unit (5) realizes good ride comfort, speed-reduction prompting device (6) can also be triggered simultaneously, if driver does not the most take deceleration measure, (3) by Braking mode, maintain it in a constant vehicle speed range, thus improve the comfortableness that vehicle travels.Present invention firstly provides the method improving vehicle ride performance by road ahead information, secondary operation and prompting flow process, in addition we also contemplate driver characteristics, driver can arrange threshold speed voluntarily, also there is the advantages such as exploitability, can be used for vehicle active safety field to improve ride comfort.
Description
Technical field:
The invention belongs to vehicle active safety field, be specifically related to one and take aim at formula Active suspension and control method thereof in advance.
Background technology:
Automobile ride is the important performance of automobile, and it not only affects the comfortableness of occupant, task performance and healthy,
Also directly affecting the dynamic property of automobile, economical and control stability etc., therefore the requirement to automobile ride the most more comes
The highest.
Active suspension has become as the important method solving this problem, but just can make anti-when it only acts on road surface
Should, there is the hysteresis quality of time, and when above having a small rut and speed higher, not only ride comfort is bad, and easily endanger
Danger, but if able to take aim at road surface ahead information in advance by laser radar, and quickly in real time, road surface ahead can be effectively detected
Situation also realizes the real-time rigidity changing Active suspension and damping by ECU, sends deceleration to driver simultaneously and reminds letter
Number remind driver to take brake measure, if driver does not takes deceleration measure, the most automatically implement braking, so can be effectively
Reduce probability and raising ride performance that vehicle accident occurs.
For the defect overcoming above-mentioned prior art to exist, it is an object of the invention to provide one and take aim at formula Active suspension in advance
And control method, driver is reminded by the present invention based on detection road ahead information, and Braking mode and change are actively
The rigidity of suspension and damping, thus improve driving safety and ride comfort, there is higher practicality and realizability.
In order to achieve the above object, the present invention adopts the following technical scheme that
One takes aim at formula Active suspension in advance, including laser radar (1), the velocity sensor being fixed in transmission case (2), goes back
There are ECU (3), also rigidity adjuster (4) and damping adjustment device (5), also speed-reduction prompting device (6) and brake (7),
Described laser radar (1) is connected by CAN line with ECU device (3) with velocity sensor (2), rigidity adjuster (4), resistance
Buddhist nun's adjusting means (5), brake (7) is connected by CAN line with ECU device (3), speed-reduction prompting device (6) and ECU device (3)
It is connected by CAN line.
Further, laser radar (1) is arranged in headlight for vehicles position, and is connected with a rotary type base, with reality
Existing 360 degree of scannings.
Further, velocity sensor is placed in transmission case, compares wheel speed sensors, adds the standard of tachometric survey
Really property.
Further, ECU device (3) is arranged in driving cabin, and after glove box, front have fire wall, after have glove box,
On have instrument desk mounting rail, under have Wheelhouse panel, the mounting bracket that has been also its specialized designs, ventilate, shock insulation.
Further, rigidity adjuster (4), as preferably, use the contitech air that natural frequency change is little
Suspension.
A kind of pre-control method taking aim at formula Active suspension, comprises the following steps:
1) obtain road roughness and speed by laser radar (1) and velocity sensor (2), these information are inputted
In ECU, then judging whether road roughness exceedes predetermined threshold value, if exceeding, then continuing to judge that speed is low speed, middle height
Speed, if low speed, then controls suspension and makes to damp less, and spring is softer；If high speed, then control suspension and make damping big
A bit, spring is more firmly；If being not above unevenness threshold value, the most do not take any action；
2) judging whether speed exceedes threshold value by ECU, if being not above threshold value, the most not starting speed-reduction prompting device；
If exceeding threshold value, then start speed-reduction prompting device, then judge whether driver takes deceleration measure, if taking deceleration measure,
Then closing speed-reduction prompting device, if not taking deceleration measure, then starting brake, carry out braking and make vehicle deceleration.
Further, speed-reduction prompting device (6) can be started time in one little field of predetermined threshold, and field size is
With the change of speed dependent adaptive.
Further, rigidity adjuster (4) is arranged in beyond vehicle frame, and 4 air springs are evenly distributed on vehicle bridge
And between vehicle frame.
Further, it is judged that whether speed is low speed, during high speed, driver can arrange threshold speed, it is contemplated that drives
The person's of sailing driving performance.
Compared with prior art, the present invention has a following useful technique effect:
The present invention accepts road roughness and speed by laser radar and wheel speed sensors, and this situation is issued ECU,
Judged whether to need to carry out Active suspension rigidity and damping regulation by ECU and carry out slowing down and remind, when above road roughness
When having larger fluctuation and speed higher, on the one hand send early warning by deceleration system for prompting, in order to make driver's Reduced Speed Now, if
Driver does not takes deceleration measure；On the other hand by being adjusted realizing improving ride comfort to the rigidity of suspension and damping
Purpose.The present invention can collect road surface ahead information in advance, it is possible to achieve the pre-action of Active suspension, thus improves automobile
Ride performance and safety, also unevenness judgment threshold uses the adaptive threshold relevant to speed, the most also uses
Two grades of early warning perform system, first remind driver to slow down, if driver does not takes any action, automatically trigger brakes and come
Slowing down, also have and different speed ranks is used different stiffness and damping control methods, also driver can arrange speed voluntarily
Level threshold, it is contemplated that driver characteristics, also can realize repacking on the basis of existing automobile, practical.
Accompanying drawing explanation
Fig. 1 is the overall structural representation of the present invention
Fig. 2 is the workflow schematic diagram of the control method of the present invention
Wherein, 1 laser radar 2 wheel speed sensors 3ECU device 4 rigidity adjuster 5 damping adjustment device 6 slows down
Alarm set 7 brake
Detailed description of the invention
1. seeing Fig. 1, one takes aim at formula Active suspension and control method thereof in advance, is being characterised by, including laser radar (1),
The velocity sensor (2) being fixed in transmission case, also ECU (3), also rigidity adjuster (4) and damping adjustment device
(5), also speed-reduction prompting device (6) and brake (7), described laser radar (1) and velocity sensor (2) and ECU device
(3) being connected by CAN line, rigidity adjuster (4), damping adjustment device (5), brake (7) and ECU device (3) pass through CAN
Line is connected, and speed-reduction prompting device (6) is connected by CAN line with ECU device (3).
2. see Fig. 2, a kind of pre-control method taking aim at formula Active suspension, comprise the following steps
1) obtain road roughness and speed by laser radar (1) and velocity sensor (2), these information are inputted
In ECU, then judging whether road roughness exceedes predetermined threshold value, if exceeding, then continuing to judge that speed is low speed, middle height
Speed, if low speed, then controls suspension and makes to damp less, and spring is softer；If high speed, then control suspension and make damping big
A bit, spring is more firmly；If being not above unevenness threshold value, the most do not take any action；
2) judging whether speed exceedes threshold value by ECU, if being not above threshold value, the most not starting speed-reduction prompting device；
If exceeding threshold value, then start speed-reduction prompting device, then judge whether driver takes deceleration measure, if taking deceleration measure,
Then closing speed-reduction prompting device, if not taking deceleration measure, then starting brake, carry out braking and make vehicle deceleration.
Claims (9)
1. take aim at formula Active suspension and a control method thereof in advance, be characterised by, including laser radar (1), be fixed on variator
Velocity sensor (2) in shell, also ECU (3), also rigidity adjuster (4) and damping adjustment device (5), also have and slow down
Alarm set (6) and brake (7), described laser radar (1) passes through CAN line with velocity sensor (2) with ECU device (3)
Being connected, rigidity adjuster (4), damping adjustment device (5), brake (7) is connected by CAN line with ECU device (3), slows down
Alarm set (6) is connected by CAN line with ECU device (3).
One the most according to claim 1 takes aim at formula Active suspension and control method thereof in advance, it is characterised in that laser radar
(1) it is arranged in headlight for vehicles position, and is connected with a rotary type base, to realize 360 degree of scannings.
One the most according to claim 1 takes aim at formula Active suspension and control method thereof in advance, it is characterised in that by velocity pick-up
Device is placed in transmission case, compares wheel speed sensors, adds the accuracy of tachometric survey.
One the most according to claim 1 takes aim at formula Active suspension and control method thereof in advance, it is characterised in that by ECU device
(3) being arranged in driving cabin, after glove box, front have fire wall, after have glove box, above have instrument desk mounting rail, under have wheel
Mounting bracket that cover plate has been also its specialized designs, ventilates, shock insulation.
One the most according to claim 1 takes aim at formula Active suspension and control method thereof in advance, it is characterised in that stiffness tuning fills
Putting (4) uses natural frequency to change little contitech air suspension.
6. take aim at formula Active suspension and control method thereof in advance for one kind, it is characterised in that comprise the following steps:
1) obtain road roughness and speed by laser radar (1) and velocity sensor (2), these information are input to
In ECU, then judging whether road roughness exceedes predetermined threshold value, if exceeding, then continuing to judge that speed is low speed, middle height
Speed, if low speed, then controls suspension and makes to damp less, and spring is softer；If high speed, then control suspension and make damping big
A bit, spring is more firmly；If being not above unevenness threshold value, the most do not take any action；
2) judging whether speed exceedes threshold value by ECU, if being not above threshold value, the most not starting speed-reduction prompting device；If it is super
Cross threshold value, then starting speed-reduction prompting device, then judge whether driver takes deceleration measure, if taking deceleration measure, then closing
Closing speed-reduction prompting device, if not taking deceleration measure, then starting brake, carry out braking and make vehicle deceleration.
One the most according to claim 5 takes aim at formula Active suspension and control method thereof in advance, it is characterised in that at predetermined threshold
Speed-reduction prompting device (6) can be started time in one small neighbourhood, and field size changes with speed dependent adaptive.
One the most according to claim 6 takes aim at formula Active suspension and control method thereof in advance, it is characterised in that stiffness tuning fills
Put (4) to be arranged in beyond vehicle frame, and 4 air springs are evenly distributed between vehicle bridge and vehicle frame.
One the most according to claim 6 takes aim at formula Active suspension and control method thereof in advance, it is characterised in that judge that speed is
No for low speed, during high speed, driver can arrange threshold speed, it is contemplated that driver characteristic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610834890.5A CN106183691A (en) | 2016-09-21 | 2016-09-21 | One takes aim at formula Active suspension and control method thereof in advance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610834890.5A CN106183691A (en) | 2016-09-21 | 2016-09-21 | One takes aim at formula Active suspension and control method thereof in advance |
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| Publication Number | Publication Date |
|---|---|
| CN106183691A true CN106183691A (en) | 2016-12-07 |
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|---|---|---|---|
| CN201610834890.5A Pending CN106183691A (en) | 2016-09-21 | 2016-09-21 | One takes aim at formula Active suspension and control method thereof in advance |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108357318A (en) * | 2018-01-29 | 2018-08-03 | 燕山大学 | A kind of intelligent preview control method for the suspension of emergency management and rescue vehicle |
| CN108944328A (en) * | 2018-04-04 | 2018-12-07 | 燕山大学 | A kind of Vehicle Active Suspension control method that single line laser radar Longitudinal is taken aim in advance |
| CN108973574A (en) * | 2018-08-12 | 2018-12-11 | 苏州青科艾莉电子科技有限公司 | A kind of ride height control method and apparatus based on pavement grade |
| CN109606052A (en) * | 2018-11-28 | 2019-04-12 | 江苏大学 | A kind of multi-mode damped control system based on car networking |
| CN110154666A (en) * | 2019-04-28 | 2019-08-23 | 西安理工大学 | A kind of vehicle suspension system of achievable road condition predicting is adaptively counter to push away control method |
| CN110509737A (en) * | 2018-05-22 | 2019-11-29 | 郑州宇通客车股份有限公司 | A kind of adaptive electronic controlled suspension control system and method |
| CN110877509A (en) * | 2019-12-11 | 2020-03-13 | 西安科技大学 | Active suspension vision pre-aiming control method based on improved fruit fly algorithm |
| CN111873744A (en) * | 2020-07-15 | 2020-11-03 | 吉林大学 | Active suspension pre-aiming control method based on camera sensor road surface information identification |
| CN112895832A (en) * | 2021-01-29 | 2021-06-04 | 中国北方车辆研究所 | Vehicle posture and damping adjustment control method |
| WO2021207967A1 (en) * | 2020-04-15 | 2021-10-21 | 深圳职业技术学院 | Method for actively adjusting vehicle suspension on basis of road surface condition, and vehicle |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108357318A (en) * | 2018-01-29 | 2018-08-03 | 燕山大学 | A kind of intelligent preview control method for the suspension of emergency management and rescue vehicle |
| CN108944328B (en) * | 2018-04-04 | 2021-07-27 | 燕山大学 | Single-line laser radar longitudinal pre-aiming vehicle active suspension control method |
| CN108944328A (en) * | 2018-04-04 | 2018-12-07 | 燕山大学 | A kind of Vehicle Active Suspension control method that single line laser radar Longitudinal is taken aim in advance |
| CN110509737A (en) * | 2018-05-22 | 2019-11-29 | 郑州宇通客车股份有限公司 | A kind of adaptive electronic controlled suspension control system and method |
| CN108973574A (en) * | 2018-08-12 | 2018-12-11 | 苏州青科艾莉电子科技有限公司 | A kind of ride height control method and apparatus based on pavement grade |
| CN109606052A (en) * | 2018-11-28 | 2019-04-12 | 江苏大学 | A kind of multi-mode damped control system based on car networking |
| CN110154666A (en) * | 2019-04-28 | 2019-08-23 | 西安理工大学 | A kind of vehicle suspension system of achievable road condition predicting is adaptively counter to push away control method |
| CN110877509A (en) * | 2019-12-11 | 2020-03-13 | 西安科技大学 | Active suspension vision pre-aiming control method based on improved fruit fly algorithm |
| CN110877509B (en) * | 2019-12-11 | 2021-04-30 | 西安科技大学 | Active suspension vision pre-aiming control method based on improved fruit fly algorithm |
| WO2021207967A1 (en) * | 2020-04-15 | 2021-10-21 | 深圳职业技术学院 | Method for actively adjusting vehicle suspension on basis of road surface condition, and vehicle |
| CN111873744A (en) * | 2020-07-15 | 2020-11-03 | 吉林大学 | Active suspension pre-aiming control method based on camera sensor road surface information identification |
| CN112895832A (en) * | 2021-01-29 | 2021-06-04 | 中国北方车辆研究所 | Vehicle posture and damping adjustment control method |
| CN112895832B (en) * | 2021-01-29 | 2022-10-28 | 中国北方车辆研究所 | Vehicle posture and damping adjustment control method |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161207 |
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