CN108944328B - Single-line laser radar longitudinal pre-aiming vehicle active suspension control method - Google Patents

Single-line laser radar longitudinal pre-aiming vehicle active suspension control method Download PDF

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CN108944328B
CN108944328B CN201810300366.9A CN201810300366A CN108944328B CN 108944328 B CN108944328 B CN 108944328B CN 201810300366 A CN201810300366 A CN 201810300366A CN 108944328 B CN108944328 B CN 108944328B
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vehicle
data
laser radar
wheel
point cloud
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CN108944328A (en
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巩明德
王豪豪
赵丁选
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Yanshan University
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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
    • B60G17/019—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
    • B60G17/016—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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • 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
    • B60G2400/40—Steering conditions
    • B60G2400/41—Steering angle
    • 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
    • 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
    • B60G2800/16—Running
    • B60G2800/162—Reducing road induced vibrations
    • 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
    • B60G2800/20—Stationary vehicle

Abstract

The invention discloses a method for controlling active suspension of a vehicle by longitudinal pre-aiming of a single-line laser radar. Two single-line laser radars which are arranged on the axle line positions of wheels on two sides of the front of the vehicle are used for longitudinal rotary scanning, returned point cloud data, a GPS, an air pressure sensor and inertial navigation system measurement data are fused and converted to a WGS-84 coordinate system, and then outlier filtering and point cloud data serialization are carried out to form continuous road surface elevation information in front of a vehicle driving track. Meanwhile, the GPS and the inertial navigation system measure data and fuse to obtain a two-dimensional geodetic coordinate value of the wheel landing point, and the vehicle active suspension control quantity is obtained by matching the elevation information of the front track road surface. According to the invention, by adopting a longitudinal rotation scanning mode of the single-line laser radar, massive redundant topographic data beyond the vehicle running track is avoided being processed, and the real-time performance of suspension control is improved; in addition, according to data fusion of the GPS and the inertial navigation system, the land coordinate value of the wheel landing position is accurately obtained, and the precision of the vehicle suspension control quantity is improved.

Description

Single-line laser radar longitudinal pre-aiming vehicle active suspension control method
Technical Field
The invention belongs to the technical field of vehicle suspension control, and particularly relates to a method for controlling active suspension of a vehicle through longitudinal pre-aiming by a single-line laser radar.
Background
In the existing active suspension, only when road interference acts on a vehicle, suspension parameters are correspondingly adjusted, and time lag exists; the pre-aiming type active suspension can predict the excitation of the front road surface, adjust suspension parameters in advance and improve the running smoothness and the operation stability of the vehicle.
The laser radar is adopted to pre-aim the terrain in front of the vehicle to carry out active suspension control, and the scanning mode of the laser radar has great influence on the formation amount of effective point cloud data. The chinese patent name "a pre-aiming active suspension and its control method" (application number 201610834890.5) does not describe the specific scanning operation mode of the laser radar.
At present, a prealignment type active suspension control method based on a laser radar generally adopts a multi-line laser radar to be installed at the axis position of a vehicle body for transverse terrain scanning, the scanning mode obtains vehicle running track terrain data, inevitably acquires massive redundant terrain data irrelevant to vehicle suspension control, processes excessive invalid point cloud data, and deteriorates the real-time performance of suspension control; the longitude and latitude of the wheel landing point are accurately calculated, the road surface elevation information of the corresponding position can be obtained, and the control precision of the active suspension actuator is further improved.
The GPS system has high precision for positioning longitude and latitude, and has large positioning error of altitude, and the altitude error is close to dozens of meters at most along with the change of the number of accessed satellites and the difference of the positions of the GPS system.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a method for controlling the active suspension of a vehicle by longitudinal pre-aiming of a single-line laser radar, which solves the problems that the prior art needs to process irrelevant massive redundant terrain point cloud data based on transverse pre-aiming terrain of the laser radar, so that the real-time performance of suspension control is influenced, the land coordinate value of a wheel landing place is quickly and accurately obtained, and the control precision of an active suspension actuator is improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
a vehicle active suspension control method of longitudinal preview of a single line laser radar is realized by depending on a vehicle active suspension control system of longitudinal preview of the single line laser radar, wherein the system comprises an industrial personal computer, an electric control unit, a suspension actuator, an actuator controller, an angle sensor, a stepping motor, a saddle, two single line laser radars, an inertial navigation system, a GPS system and a pneumatic pressure sensor;
the industrial personal computer and the electric control unit are arranged in the vehicle body and are connected with each other; one end of the suspension actuator is connected with the axle, and the other end of the suspension actuator is connected with the vehicle body; the actuator controller is arranged in the actuator control loop and is connected with the electric control unit; the angle sensor is arranged in the vehicle steering mechanism and is connected with the electronic control unit; the stepping motor is fixedly connected with the supporting table and is controlled by the electric control unit; the angle sensor, the electric control unit, the stepping motor and the support platform form a front wheel steering follow-up platform; the two single-line laser radars are arranged at the wheel axis positions at the two sides of the front of the vehicle through the front wheel steering follow-up platform, can longitudinally rotate to scan topographic data of a running track of the front of the vehicle, and transmit acquired data to an industrial personal computer in the vehicle; the inertial navigation system is arranged near the mass center of the vehicle body; the GPS system is arranged on the vehicle roof right above the center position of the front axle of the vehicle; the air pressure sensor is arranged beside the GPS system; in the front wheel steering follow-up platform, an angle sensor acquires front wheel steering angle information, and an electric control unit reads the value of the angle sensor so as to control a stepping motor and a supporting platform to follow the steering of a front wheel;
the method comprises the following steps:
s100, collecting discrete pavement point cloud data relative to a coordinate system of a laser radar before a vehicle running track by using two single-line laser radars, reading the discrete pavement point cloud data by using an industrial personal computer, and simplifying the point cloud data relative to a coordinate value of the laser radar into a two-dimensional plane coordinate;
s200, fusing the point cloud data with GPS system data, air pressure sensor data and inertial navigation system data, and converting the point cloud data into a WGS-84 geodetic coordinate system through coordinate transformation;
s300, filtering outliers in point cloud data in a WGS-84 geodetic coordinate system;
s400, according to a fractal theory, performing continuous processing on discrete point cloud data after coordinate transformation by adopting a fractal interpolation method to form continuous road surface elevation information in front of a vehicle driving track;
s500, continuous pavement elevation information [ x ] in a certain travel range is processedW84,yW84,zW84]Storing as a database, and updating the database at regular time;
s600, only fusing GPS system data and inertial navigation system data to form longitude and latitude of the wheel landing point, and further converting the longitude and latitude into a two-dimensional coordinate value [ x ] under a WGS-84 geodetic coordinate systemW84,yW84]；
S700, matching data in a road surface elevation information database before a vehicle driving track by using two-dimensional coordinate values of wheel landings in a WGS-84 geodetic coordinate system to obtainHeight z of road surface to the location of the wheel landingW84Further obtaining the pre-aiming control quantity of the vehicle active suspension actuator;
s800, forming a control signal by the pre-aiming control quantity and transmitting the control signal to an actuator controller;
and S900, controlling the active suspension actuator to act.
Due to the adoption of the technical scheme, compared with the prior art, the active suspension control method for the vehicle with the single-line laser radar longitudinal preview has the beneficial effects that:
by means of a single-line laser radar longitudinal rotary scanning mode, irrelevant massive redundant topographic data outside the vehicle running track are avoided being processed, and instantaneity of vehicle suspension control is improved; compared with a multi-line laser radar, the single-line laser radar has higher angular resolution, and more accurate road surface elevation information of the front track of the vehicle can be obtained; the altitude information is calculated by adopting the air pressure sensor, so that the calculation precision of the road surface elevation information is improved; meanwhile, only the data of the GPS system and the inertial navigation system are fused, the land coordinate value of the wheel is accurately obtained, and the control quantity precision of the vehicle active suspension actuator is improved.
Drawings
FIG. 1 is a flow chart of a longitudinal pre-aiming control method of a single-line laser radar of the invention;
FIG. 2 is a schematic diagram of a longitudinal pre-aiming control system of the single-line laser radar of the present invention;
reference numbers in the figures: the method comprises the following steps of 1-an industrial personal computer, 2-an electronic control unit, 3-a suspension actuator, 4-an actuator controller, 5-an angle sensor, 6-a stepping motor, 7-a pallet, 8-a single-line laser radar, 9-an inertial navigation system, 10-a GPS system and 11-an air pressure sensor.
FIG. 3 is a schematic view of the vehicle body installation of the single line lidar, GPS system, barometric sensor, inertial navigation system of the present invention;
FIG. 4 is a schematic diagram of a single line lidar, GPS system, inertial navigation system reference frame of the present invention;
fig. 5 is a schematic view of the wheel footprint latitude and longitude calculation of the present invention.
FIG. 6 is a schematic diagram of the fractal interpolation theory matlab simulation selected by the invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
the invention relates to a vehicle active suspension control method of longitudinal preview of a single line laser radar, the realization of the method depends on a vehicle active suspension control system of longitudinal preview of the single line laser radar, as shown in figure 2-3, the system comprises an industrial personal computer 1, an electric control unit 2, a suspension actuator 3, an actuator controller 4, an angle sensor 5, a stepping motor 6, a saddle 7, two single line laser radars 8, an inertial navigation system 9, a GPS system 10 and an air pressure sensor 11; the industrial personal computer 1 and the electric control unit 2 are arranged in the vehicle body and are connected with each other; as shown in fig. 3, one end of the suspension actuator 3 is connected with the axle and the other end is connected with the vehicle body; the actuator controller 4 is arranged in the actuator control loop and is connected with the electric control unit 2; the angle sensor 5 is arranged in the vehicle steering mechanism and is connected with the electronic control unit 2; the stepping motor 6 is fixedly connected with the saddle 7 and is controlled by the electric control unit 2; the angle sensor 5, the electric control unit 2, the stepping motor 6 and the saddle 7 form a front wheel steering follow-up platform; as shown in fig. 4, the two single-line laser radars 8 are mounted at the wheel axis positions on the two sides of the front of the vehicle through the front wheel steering follow-up platform, can longitudinally rotate to scan topographic data of the running track of the front of the vehicle, and transmit the collected data to the industrial personal computer 1 in the vehicle; the inertial navigation system 9 is arranged near the mass center of the vehicle body; the GPS system 10 is arranged on the vehicle roof right above the center position of the front axle of the vehicle; the air pressure sensor 11 is arranged beside the GPS system 10; in the front wheel steering follow-up platform, an angle sensor 5 collects front wheel steering angle information, and an electric control unit 2 reads the value of the angle sensor 5 so as to control a stepping motor 6 and a support table 7 to follow the front wheel steering.
As shown in fig. 1, the method comprises the following steps:
s100, collecting discrete road point cloud data relative to a coordinate system of a laser radar 8 before a vehicle running track by using two single-line laser radars 8, reading the discrete road point cloud data by using an industrial personal computer 1, and simplifying the point cloud data relative to a three-dimensional coordinate value of the coordinate system of the laser radar 8 into a two-dimensional plane coordinate;
specifically, as shown in fig. 3-4, two single line laser radars 8 are installed at the wheel axis positions on the two sides of the vehicle front, the point cloud data is obtained by adopting longitudinal rotation scanning, and the point cloud data is simplified into two-dimensional plane coordinates relative to the three-dimensional coordinate value of the laser radar 8 coordinate system, and the specific conversion mode is as follows:
xL＝R·sinβ
yL＝0
zL＝R·cosβ
wherein: x is the number ofL、yLAnd zLThe coordinate values of the point cloud data on a two-dimensional plane are respectively, beta is a pitching angle, and R is a scanning effective distance.
S200, fusing the point cloud data with data of a GPS system 10, data of an air pressure sensor 11 and data of an inertial navigation system 9, and converting the point cloud data into a WGS-84 geodetic coordinate system through coordinate transformation; this coordinate transformation method is described in the on-board LiDAR scanning System positioning error Angle calibration, reference [1] auspicious, et al (2014), the contents of which are incorporated herein by reference;
according to the method described in document [1], the coordinate transformation relationship of the point cloud data to the WGS-84 geodetic coordinate system can be written as:
Figure GDA0003103229820000061
TMthe matrix element value is calculated by the mounting angle error of the laser radar reference coordinate system and the inertial navigation system reference coordinate system;
TNthe matrix element value is calculated by the measurement value of the inertial navigation system;
TWthe rotation matrix from a local horizontal coordinate system to a WGS-84 geodetic coordinate system is obtained by calculating the matrix element value from the measurement value of a GPS system;
[xGPS，yGPS,zGPS]Tthe coordinate value of the GPS system signal center under the WGS-84 geodetic coordinate system is specifically expressed as follows:
Figure GDA0003103229820000071
wherein (B, L) is latitude and longitude measured by a GPS system, a is a major semi-axis of an ellipsoid of the earth, e is a first eccentricity,
a＝6378137.0m，
e2＝0.00669437999013。
[ΔxLI，ΔyLI,ΔzLI]Tis the offset between the coordinate origin of the laser radar reference coordinate system and the coordinate origin of the inertial navigation system reference coordinate system,
[ΔxIG，ΔyIG,ΔzIG]Tis the offset between the coordinate origin of the inertial navigation system reference coordinate system and the coordinate origin of the GPS system signal center reference coordinate system,
unlike the acquisition mode of the altitude in the document [1], the altitude H in the present invention is the altitude calculated by the barometric pressure sensor, and is specifically expressed as:
Figure GDA0003103229820000072
P0＝101325Pa
Δ H is the mounting height error between the air pressure sensor and the GPS signal center.
S300, filtering outliers in the point cloud data in a WGS-84 geodetic coordinate system;
specifically, the method is realized by adopting a stateticalOutlierRemoval filter in a PCL point cloud library. Sparse outliers are generated due to errors in the laser radar measurement process, the average distance from each point to the point cloud in a certain neighborhood range is calculated, and the points with the average distance outside the standard range can be defined as outliers and removed from the point cloud set.
S400, according to a fractal theory, adopting a fractal interpolation method to continuously process discrete point cloud data after coordinate transformation to form continuous road surface elevation information in front of a vehicle driving track, wherein a matlab simulation schematic diagram of a two-dimensional fractal interpolation theory is shown in FIG. 6;
s500, continuous road surface elevation information [ x ] in a certain travel rangeW84,yW84,zW84]Storing as a database, and updating the database at regular time;
s600, only fusing GPS system data and inertial navigation system data to form longitude and latitude of the wheel landing point, and further converting the longitude and latitude into a two-dimensional coordinate value [ x ] under a WGS-84 geodetic coordinate systemW84,yW84]As shown in fig. 5, taking a two-axle vehicle as an example, the conversion process is as follows:
the latitude and longitude measured from the GPS system signal center is denoted as P1 (L)1,B1) Taking the east-north hemisphere as an example, then A, B, C, D the latitude and longitude of the four wheel landings can be expressed as:
Figure GDA0003103229820000081
Figure GDA0003103229820000091
Figure GDA0003103229820000092
Figure GDA0003103229820000093
wherein L (x)i),B(yi) Two functions (i ═ 1,2,3,4) are embodied as:
Li(xi)=(360 °· xi)/S ，
Bi(yi)=(90 °· yi )/(l/2) ，
in the formula, Li,Bi(i ═ a, B, C, D) are the longitude and latitude of the four wheel landing points, respectively; m is a wheel base; n is a wheel track; alpha is a vehicle course angle measured by an inertial navigation system; s is the circumference of the equator, and l is the arc length of the meridian;
after the longitude and latitude of the four wheel landings are obtained, the four wheel landings are converted into two-dimensional coordinate values under a WGS-84 geodetic coordinate system:
Figure GDA0003103229820000096
Figure GDA0003103229820000097
i＝A，B，C，D
s700, matching data in a road surface elevation information database before a vehicle driving track by using two-dimensional coordinate values of wheel landings in a WGS-84 geodetic coordinate system to obtain a road surface elevation z of positions of the wheel landingsW84Further obtaining the pre-aiming control quantity of the vehicle active suspension actuator;
s800, forming a control signal by the pre-aiming control quantity and transmitting the control signal to an actuator controller;
and S900, controlling the active suspension actuator to act.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.

Claims (3)

1. A vehicle active suspension control method of longitudinal preview of a single line laser radar is characterized in that the implementation of the method depends on a vehicle active suspension control system of longitudinal preview of the single line laser radar, and the system comprises an industrial personal computer, an electric control unit, a suspension actuator, an actuator controller, an angle sensor, a stepping motor, a saddle, two single line laser radars, an inertial navigation system, a GPS system and a pneumatic pressure sensor;
the industrial personal computer and the electric control unit are arranged in the vehicle body and are connected with each other; one end of the suspension actuator is connected with the axle, and the other end of the suspension actuator is connected with the vehicle body; the actuator controller is arranged in the actuator control loop and is connected with the electric control unit; the angle sensor is arranged in the vehicle steering mechanism and is connected with the electronic control unit; the stepping motor is fixedly connected with the supporting table and is controlled by the electric control unit; the angle sensor, the electric control unit, the stepping motor and the support platform form a front wheel steering follow-up platform; the two single-line laser radars are arranged at the wheel axis positions at the two sides of the front of the vehicle through the front wheel steering follow-up platform, can longitudinally rotate to scan topographic data of a running track of the front of the vehicle, and transmit acquired data to an industrial personal computer in the vehicle; the inertial navigation system is arranged near the mass center of the vehicle body; the GPS system is arranged on the vehicle roof right above the center position of the front axle of the vehicle; the air pressure sensor is arranged beside the GPS system; in the front wheel steering follow-up platform, an angle sensor acquires front wheel steering angle information, and an electric control unit reads the value of the angle sensor so as to control a stepping motor and a supporting platform to follow the steering of a front wheel;
the method comprises the following steps:
s100, collecting discrete pavement point cloud data relative to a coordinate system of a laser radar before a vehicle running track by using two single-line laser radars, reading the discrete pavement point cloud data by using an industrial personal computer, and simplifying the point cloud data relative to a coordinate value of the laser radar into a two-dimensional plane coordinate;
s200, fusing the point cloud data with GPS system data, air pressure sensor data and inertial navigation system data, and converting the point cloud data into a WGS-84 geodetic coordinate system through coordinate transformation;
s300, filtering outliers in point cloud data in a WGS-84 geodetic coordinate system;
s400, according to a fractal theory, performing continuous processing on discrete point cloud data after coordinate transformation by adopting a fractal interpolation method to form continuous road surface elevation information in front of a vehicle driving track;
s500. within a certain travel rangeContinuous road surface elevation information [ x ]W84,yW84,zW84]Storing as a database, and updating the database at regular time;
s600, only fusing GPS system data and inertial navigation system data to form longitude and latitude of the wheel landing point, and further converting the longitude and latitude into a two-dimensional coordinate value [ x ] under a WGS-84 geodetic coordinate systemW84,yW84]；
S700, matching data in a road surface elevation information database before a vehicle driving track by using two-dimensional coordinate values of wheel touchdown points in a WGS-84 geodetic coordinate system to obtain a road surface elevation z of the positions of the wheel touchdown pointsW84Further obtaining the pre-aiming control quantity of the vehicle active suspension actuator;
s800, forming a control signal by the pre-aiming control quantity and transmitting the control signal to an actuator controller;
and S900, controlling the active suspension actuator to act.
2. The active suspension control method for the single-line laser radar longitudinally aiming vehicle as claimed in claim 1, wherein the method comprises the following steps: in step S100, the three-dimensional coordinate value of the point cloud data relative to the coordinate system of the laser radar (8) is simplified into a two-dimensional plane coordinate, and the specific conversion method is as follows:
xL＝R·sinβ
yL＝0
zL＝R·cosβ
wherein: x is the number ofL、yLAnd zLThe coordinate values of the point cloud data on a two-dimensional plane are respectively, beta is a pitching angle, and R is a scanning effective distance.
3. The active suspension control method for the single-line laser radar longitudinally aiming vehicle as claimed in claim 1, wherein the method comprises the following steps: in step S600, the GPS system data and the inertial navigation system data are fused to form longitude and latitude of the wheel landing point, and further converted into a two-dimensional coordinate value in the WGS-84 geodetic coordinate system; the conversion process is as follows:
latitude and longitude representation measured by GPS system signal centerIs P1 (L)1,B1) Then A, B, C, D the latitude and longitude of the four wheel footprints may be expressed as:
Figure FDA0003103229810000031
Figure FDA0003103229810000032
Figure FDA0003103229810000033
Figure FDA0003103229810000034
wherein L (x)i),B(yi) Two functions (i ═ 1,2,3,4) are embodied as:
Figure FDA0003103229810000041
Figure FDA0003103229810000042
Li(xi)=(360 °·xi)/S ，
Bi(yi)=(90 °·yi )/(l/2) ，
in the formula, Li,Bi(i ═ a, B, C, D) are the longitude and latitude of the four wheel landing points, respectively; m is a wheel base; n is a wheel track; alpha is a vehicle course angle measured by an inertial navigation system; s is the circumference of the equator, and l is the arc length of the meridian;
after the longitude and latitude of the four wheel landings are obtained, the four wheel landings are converted into two-dimensional coordinate values under a WGS-84 geodetic coordinate system:
Figure FDA0003103229810000043
，
Figure FDA0003103229810000044
，
i＝A，B，C，D ，
wherein (B)i ,Li ) The latitude and longitude measured by the GPS system are shown in the specification, wherein a is a major semi-axis of an ellipsoid of the earth, e is a first eccentricity, a is 6378137.0m, and e is2＝0.00669437999013。
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