CN107303791A - A kind of vehicle active suspension vehicle body attitude control system - Google Patents
A kind of vehicle active suspension vehicle body attitude control system Download PDFInfo
- Publication number
- CN107303791A CN107303791A CN201610249697.5A CN201610249697A CN107303791A CN 107303791 A CN107303791 A CN 107303791A CN 201610249697 A CN201610249697 A CN 201610249697A CN 107303791 A CN107303791 A CN 107303791A
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- China
- Prior art keywords
- vehicle
- information
- vehicle body
- road surface
- suspension
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- Pending
Links
Classifications
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- 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
- B60G17/0162—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 mainly during a motion involving steering operation, e.g. cornering, overtaking
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- 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
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/052—Pneumatic spring characteristics
- B60G17/0523—Regulating distributors or valves for pneumatic springs
- B60G17/0525—Height adjusting or levelling valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/15—Fluid spring
- B60G2202/152—Pneumatic spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/80—Interactive suspensions; arrangement affecting more than one suspension unit
- B60G2204/83—Type of interconnection
- B60G2204/8304—Type of interconnection using a fluid
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- 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
- B60G2400/05—Attitude
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- 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
- B60G2400/208—Speed of wheel rotation
-
- 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
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- 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
- B60G2500/204—Pressure regulating valves for air-springs
- B60G2500/2041—Pressure regulating valves for air-springs for variable volume air springs, e.g. using accumulators as expansion chambers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
Abstract
The present invention proposes a kind of vehicle active suspension vehicle body attitude control system, including sonar or laser sensor on vehicle body；Also include four height of chassis above ground sensors installed in the vehicle body left and right sides；The rotary speed information of left and right wheel is respectively obtained by left and right abs sensor, control unit is calculated the speed of vehicle and whether turned and radius of turn information by the speed discrepancy of left and right wheel；Vehicle uses air suspension；The elevation information of stiffness parameters and height sensor output when control unit is dispatched from the factory according to suspension calculates the weight of vehicle, and the speed of combination weight, information of road surface, elevation information, vehicle and whether turn and radius of turn information, left and right air bag inflation/deflation is controlled to adjust vehicle body attitude, to ensure the level of vehicle body attitude during any road surface straight-line travelling, or vehicle body attitude tilts certain angle when any road surface is turned, centripetal force needed for turn inside diameter is provided, the security and comfortableness of vehicle is improved.
Description
Technical field
The present invention relates to technical field of vehicle, more particularly to a kind of vehicle active suspension vehicle body attitude control system.
Background technology
Automobile is when turning, due to centripetal force effect, vehicle body can produce certain inclination, especially tractor-trailer, and the consequence that body sway is caused is more serious, and great potential safety hazard is brought to driver and pedestrian, while also causing tire eccentric wear, reduces the life-span of tire；Simultaneously when vehicle traveling is in different flat road surfaces, uneven road surface greatly reduces comfortableness.
Therefore, how to provide it is a kind of in uneven road surface or turning for stablizing the control system of car body, be current urgent problem to be solved.
The content of the invention
The present invention proposes a kind of vehicle active suspension vehicle body attitude control system, solves the problems, such as the body gesture that turn inside diameter or Uneven road are caused.
The technical proposal of the invention is realized in this way：A kind of vehicle active suspension vehicle body attitude control system, including the sonar or laser sensor on vehicle body, the detection direction of sonar or laser sensor is consistent with vehicle forward direction, the information of road surface in one segment distance of sensing front, and exports the information of road surface that detects to control unit.
Also include four height sensors beside four suspensions are installed, and obtained elevation information is output to control unit.
The rotary speed information of left and right wheel is respectively obtained by left and right abs sensor, and is sent to control unit, whether control unit is calculated the speed of vehicle and turned and radius of turn information by the speed discrepancy of left and right wheel.
Vehicle uses air suspension, and control unit is controlled to air suspension inflation/deflation, to control the height of vehicle frame.
The elevation information of stiffness parameters and height sensor output when control unit is dispatched from the factory according to suspension calculates the weight of vehicle, and the speed of combination weight, information of road surface, elevation information, vehicle and whether turn and radius of turn information, left and right air bag inflation/deflation is controlled to adjust vehicle body attitude, to ensure the level of vehicle body attitude during any road surface straight-line travelling, or vehicle body attitude tilts certain angle there is provided the centripetal force needed for turn inside diameter when any road surface is turned.
Alternatively, the information of road surface includes the unevenness and the range information corresponding with gradient on road surface.
Alternatively, vehicle suspension uses air suspension, and the left air bag of left suspension is connected by left magnetic valve with gas receiver, and the right air bag of right suspension is connected by right magnetic valve with the gas receiver.
Control unit according to the information of road surface of acquisition, weight, whether turn and radius of turn and speed information, being turned on or off for left magnetic valve and/or right magnetic valve is controlled, by controlling left and right sides air bag inflation/deflation to adjust vehicle body attitude.
The beneficial effects of the invention are as follows：（1）By controlling left and right sides suspension bags inflation/deflation to adjust vehicle body attitude, simple in construction, cost is low, good to the correction effect at car body inclination angle, it is possible to increase security and comfortableness during turn inside diameter；（2）Particularly with tractor-trailer, the air suspension for pulling part can be adjusted in real time, roadability and security is improved, and greatly reduced due to pulling the potential safety hazard that part is difficult to control to cause.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, the required accompanying drawing used in embodiment or description of the prior art will be briefly described below, apparently, drawings in the following description are only some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation of vehicle active suspension vehicle body attitude control system of the invention.
Fig. 2 is a kind of electric control theory block diagram of vehicle active suspension vehicle body attitude control system of the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made belongs to the scope of protection of the invention.
The vehicle active suspension vehicle body attitude control system of the present invention is described in detail with reference to Figure of description.
As depicted in figs. 1 and 2, the vehicle body attitude control system of the present invention, including the sonar on vehicle body 10 or laser sensor 18, the detection direction of sonar or laser sensor 18 is consistent with vehicle forward direction, information of road surface in one segment distance of sensing front, and export the information of road surface that detects and arrive control unit 20, angle of inclination and corresponding distance of the above-mentioned information of road surface including road surface etc.；Also include being arranged on four height sensors beside 10 4 suspensions of vehicle body, the elevation information of vehicle is obtained by chassis-height sensor 17；The rotating speed of left wheel 13 and right wheel 14 is respectively obtained by left abs sensor 15 and right abs sensor 16, and it is sent to control unit 20, control unit 20 is calculated by the speed discrepancy of left and right wheelses learns whether vehicle turns and the information such as radius of turn, car speed；Vehicle suspension uses air suspension, and the left air bag of left suspension 11 is connected by left magnetic valve 21 with gas receiver 23, and the right air bag of right suspension 12 is connected by right magnetic valve 22 with gas receiver 23, and left and right air bag is by inflation/deflation to adjust the posture of car body；The elevation information that stiffness parameters and height sensor 17 when control unit 20 is dispatched from the factory according to suspension are exported calculates the weight of vehicle, and the speed of combination weight, information of road surface, elevation information, vehicle and whether turn and radius of turn information, control being turned on or off for left magnetic valve 21 and/or right magnetic valve 22, by controlling left and right air bag inflation/deflation to adjust the posture of car body, during turning, tilt vehicle body attitude, to provide the centripetal force needed for vehicle, so that security and comfortableness during improving turn inside diameter；During uneven road surface straight-line travelling, make vehicle body attitude level, to improve the comfortableness of passenger.
The vehicle active suspension vehicle body attitude control system of the present invention, by controlling left and right air bag inflation/deflation to adjust vehicle body attitude, simple in construction, cost is low, good to the correction effect at car body inclination angle, it is possible to increase security and comfortableness during turn inside diameter；Particularly with tractor-trailer, the air suspension for pulling part can be adjusted in real time, roadability and security is improved, and greatly reduced due to pulling the potential safety hazard that part is difficult to control to cause.The level of vehicle vehicle body attitude when uneven road surface is travelled can be also kept simultaneously, improve riding comfort.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection.
Claims (3)
1. a kind of vehicle active suspension vehicle body attitude control system, it is characterized in that, including the sonar or laser sensor on vehicle body, the detection direction of sonar or laser sensor is consistent with vehicle forward direction, the information of road surface in one segment distance of front is obtained, and exports the information of road surface that detects to control unit；Also include four height sensors beside four suspensions are installed, and obtained elevation information is output to control unit；The rotary speed information of left and right wheel is respectively obtained by left and right abs sensor, and is sent to control unit, whether control unit is calculated the speed of vehicle and turned and radius of turn information by the speed discrepancy of left and right wheel；Vehicle uses air suspension, and control unit is controlled to air suspension inflation/deflation, to control the height of vehicle frame；The elevation information of stiffness parameters and height sensor output when control unit is dispatched from the factory according to suspension calculates the weight of vehicle, and the speed of combination weight, information of road surface, elevation information, vehicle and whether turn and radius of turn information, left and right air bag inflation/deflation is controlled to adjust vehicle body attitude, to ensure the level of vehicle body attitude during any road surface straight-line travelling, or vehicle body attitude tilts certain angle there is provided the centripetal force needed for turn inside diameter when any road surface is turned.
2. vehicle active suspension vehicle body attitude control system as claimed in claim 1, it is characterised in that the information of road surface includes the unevenness and the range information corresponding with gradient on road surface.
3. vehicle active suspension vehicle body attitude control system as claimed in claim 1, it is characterized in that, vehicle suspension uses air suspension, and the left air bag of left suspension is connected by left magnetic valve with gas receiver, and the right air bag of right suspension is connected by right magnetic valve with the gas receiver；Control unit according to the information of road surface of acquisition, weight, whether turn and radius of turn and speed information, being turned on or off for left magnetic valve and/or right magnetic valve is controlled, by controlling left and right sides air bag inflation/deflation to adjust vehicle body attitude.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610249697.5A CN107303791A (en) | 2016-04-21 | 2016-04-21 | A kind of vehicle active suspension vehicle body attitude control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610249697.5A CN107303791A (en) | 2016-04-21 | 2016-04-21 | A kind of vehicle active suspension vehicle body attitude control system |
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| Publication Number | Publication Date |
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| CN107303791A true CN107303791A (en) | 2017-10-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610249697.5A Pending CN107303791A (en) | 2016-04-21 | 2016-04-21 | A kind of vehicle active suspension vehicle body attitude control system |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108422825A (en) * | 2018-03-15 | 2018-08-21 | 中国农业大学 | Agri-vehicle job platform pre-detection active leveling system and leveling method |
| CN108891222A (en) * | 2018-06-15 | 2018-11-27 | 浙江路得坦摩汽车部件股份有限公司 | Electric suspension system adjusts the method and electric suspension system of the state of motor vehicle |
| CN108973577A (en) * | 2018-08-12 | 2018-12-11 | 苏州青科艾莉电子科技有限公司 | A kind of bodywork height regulation method of the road vehicle based on road surface |
| CN109109597A (en) * | 2018-08-29 | 2019-01-01 | 北京汽车股份有限公司 | Vehicle Suspension Control System and automobile |
| CN109466269A (en) * | 2018-10-29 | 2019-03-15 | 江苏大学 | A kind of bend based on car networking takes aim at air suspension control system and method in advance |
| CN109649108A (en) * | 2019-01-23 | 2019-04-19 | 李良杰 | Pavement self-adaptive vehicle shock absorber |
| CN110171263A (en) * | 2019-05-19 | 2019-08-27 | 瑞立集团瑞安汽车零部件有限公司 | A kind of bend identification and overall height adjusting method for ECAS system |
| CN110605946A (en) * | 2018-06-15 | 2019-12-24 | 蔚来汽车有限公司 | Active suspension adjustment system and method and vehicle |
| CN110654195A (en) * | 2018-06-29 | 2020-01-07 | 比亚迪股份有限公司 | Vehicle, vehicle suspension system and adjusting method and device thereof |
| CN110962519A (en) * | 2019-11-25 | 2020-04-07 | 福建省汽车工业集团云度新能源汽车股份有限公司 | Active suspension control method with intelligent adjusting function for electric automobile |
| CN111137090A (en) * | 2018-11-05 | 2020-05-12 | 宝沃汽车（中国）有限公司 | Active suspension system and vehicle |
| CN111290407A (en) * | 2020-03-30 | 2020-06-16 | 新石器慧通（北京）科技有限公司 | Autonomous vehicle and steering adjustment method thereof |
| CN111409534A (en) * | 2020-03-31 | 2020-07-14 | 扬州中集通华专用车有限公司 | Transport tank car with balance system |
| CN112428763A (en) * | 2020-12-14 | 2021-03-02 | 山东思迈尔智能科技有限公司 | Automatic adjusting method for trailer lift bridge and vehicle body balance based on air suspension |
| CN112428762A (en) * | 2020-12-14 | 2021-03-02 | 山东思迈尔智能科技有限公司 | Automatic trailer body height and body balance adjusting method based on air suspension |
| CN112693271A (en) * | 2021-02-24 | 2021-04-23 | 山东思迈尔智能科技有限公司 | Remote trailer body height adjusting method |
| CN113954595A (en) * | 2021-11-19 | 2022-01-21 | 广州小鹏汽车科技有限公司 | Control method and device for air suspension, vehicle and storage medium |
| WO2022184059A1 (en) * | 2021-03-02 | 2022-09-09 | 华为技术有限公司 | Detection method and related device |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108422825A (en) * | 2018-03-15 | 2018-08-21 | 中国农业大学 | Agri-vehicle job platform pre-detection active leveling system and leveling method |
| CN108422825B (en) * | 2018-03-15 | 2020-07-24 | 中国农业大学 | Pre-detection active leveling system and method for agricultural vehicle operation platform |
| CN108891222A (en) * | 2018-06-15 | 2018-11-27 | 浙江路得坦摩汽车部件股份有限公司 | Electric suspension system adjusts the method and electric suspension system of the state of motor vehicle |
| CN108891222B (en) * | 2018-06-15 | 2021-10-01 | 浙江路得坦摩汽车部件股份有限公司 | Method for adjusting state of motor vehicle by electric control suspension system and electric control suspension system |
| CN110605946A (en) * | 2018-06-15 | 2019-12-24 | 蔚来汽车有限公司 | Active suspension adjustment system and method and vehicle |
| CN110654195B (en) * | 2018-06-29 | 2021-12-07 | 比亚迪股份有限公司 | Vehicle, vehicle suspension system and adjusting method and device thereof |
| CN110654195A (en) * | 2018-06-29 | 2020-01-07 | 比亚迪股份有限公司 | Vehicle, vehicle suspension system and adjusting method and device thereof |
| CN108973577A (en) * | 2018-08-12 | 2018-12-11 | 苏州青科艾莉电子科技有限公司 | A kind of bodywork height regulation method of the road vehicle based on road surface |
| CN109109597A (en) * | 2018-08-29 | 2019-01-01 | 北京汽车股份有限公司 | Vehicle Suspension Control System and automobile |
| CN109466269A (en) * | 2018-10-29 | 2019-03-15 | 江苏大学 | A kind of bend based on car networking takes aim at air suspension control system and method in advance |
| CN109466269B (en) * | 2018-10-29 | 2021-11-23 | 江苏大学 | Control method of curve pre-aiming air suspension control system based on Internet of vehicles |
| CN111137090B (en) * | 2018-11-05 | 2021-09-07 | 宝沃汽车（中国）有限公司 | Active suspension system and vehicle |
| CN111137090A (en) * | 2018-11-05 | 2020-05-12 | 宝沃汽车（中国）有限公司 | Active suspension system and vehicle |
| CN109649108A (en) * | 2019-01-23 | 2019-04-19 | 李良杰 | Pavement self-adaptive vehicle shock absorber |
| CN110171263A (en) * | 2019-05-19 | 2019-08-27 | 瑞立集团瑞安汽车零部件有限公司 | A kind of bend identification and overall height adjusting method for ECAS system |
| CN110962519A (en) * | 2019-11-25 | 2020-04-07 | 福建省汽车工业集团云度新能源汽车股份有限公司 | Active suspension control method with intelligent adjusting function for electric automobile |
| CN110962519B (en) * | 2019-11-25 | 2022-11-25 | 福建省汽车工业集团云度新能源汽车股份有限公司 | Active suspension control method with intelligent adjusting function for electric automobile |
| CN111290407A (en) * | 2020-03-30 | 2020-06-16 | 新石器慧通（北京）科技有限公司 | Autonomous vehicle and steering adjustment method thereof |
| CN111290407B (en) * | 2020-03-30 | 2023-09-15 | 新石器慧通（北京）科技有限公司 | Automatic driving vehicle and steering adjustment method thereof |
| CN111409534A (en) * | 2020-03-31 | 2020-07-14 | 扬州中集通华专用车有限公司 | Transport tank car with balance system |
| CN112428762A (en) * | 2020-12-14 | 2021-03-02 | 山东思迈尔智能科技有限公司 | Automatic trailer body height and body balance adjusting method based on air suspension |
| CN112428763A (en) * | 2020-12-14 | 2021-03-02 | 山东思迈尔智能科技有限公司 | Automatic adjusting method for trailer lift bridge and vehicle body balance based on air suspension |
| CN112428763B (en) * | 2020-12-14 | 2022-03-25 | 山东思迈尔智能科技有限公司 | Automatic adjusting method for trailer lift bridge and vehicle body balance based on air suspension |
| CN112428762B (en) * | 2020-12-14 | 2022-03-29 | 山东思迈尔智能科技有限公司 | Automatic trailer body height and body balance adjusting method based on air suspension |
| CN112693271A (en) * | 2021-02-24 | 2021-04-23 | 山东思迈尔智能科技有限公司 | Remote trailer body height adjusting method |
| WO2022184059A1 (en) * | 2021-03-02 | 2022-09-09 | 华为技术有限公司 | Detection method and related device |
| CN113954595A (en) * | 2021-11-19 | 2022-01-21 | 广州小鹏汽车科技有限公司 | Control method and device for air suspension, vehicle and storage medium |
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