CN109455053A - A kind of automotive self-adaptive rear suspension control system and control method - Google Patents
A kind of automotive self-adaptive rear suspension control system and control method Download PDFInfo
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- CN109455053A CN109455053A CN201811332465.1A CN201811332465A CN109455053A CN 109455053 A CN109455053 A CN 109455053A CN 201811332465 A CN201811332465 A CN 201811332465A CN 109455053 A CN109455053 A CN 109455053A
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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
- B60G17/019—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D17/00—Means on vehicles for adjusting camber, castor, or toe-in
-
- 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
- B60G2400/40—Steering conditions
- B60G2400/41—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/14—Photo or light sensitive means, e.g. Infrared
- B60G2401/142—Visual Display Camera, e.g. LCD
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/90—Single sensor for two or more measurements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to a kind of automotive self-adaptive rear suspension control system and control methods, including steering wheel angle sensor, wheel speed sensors, MCU processing module, image capture module, mode selection module, miniature electric steering linkage motor and power supply；Steering wheel angle sensor, wheel speed sensors, image capture module, mode selection module and miniature electric steering linkage motor are connect with MCU processing module electric signal；Power supply is the power supply of entire control system.The technical program is to replace prenex pull rod with miniature electric steering linkage on the basis of existing automobile multi link rear suspension structure, pass through detection tire abrasion condition when speed is higher, trailing wheel toe-in value is adjusted to improve tire eccentric wear, for rear-guard and 4-wheel driven car, it can significantly alter rear wheel angle when vehicle is stranded, improve vehicle and get rid of poverty ability or steering capability.
Description
Technical field
The invention belongs to automobile suspension system technical field, particularly relate to a kind of automotive self-adaptive rear suspension control system and
Control method.
Background technique
Automotive suspension refers to a kind of structure of connection vehicle body and wheel, mainly includes subframe, sway bar, lower control
Arm, pull rod, trailing arm, spring, damper and rubber bushing etc..The main function of suspension is to absorb automobile wheel in the process of moving
The shock and vibration being subject to, guarantee the traveling of automobile balance, to improve the comfort of driving and seating.Common at present is riding
Vehicle rear suspension wheel is non-steering wheels, and its kinetic characteristics has been fixed when new car production is offline, works as suspension frame structure
It will lead to wheel power characteristic when part is by blastic deformation and change and cause tire eccentric wear；For rear wheel drive or four-wheel
The automobile of driving, when rear-wheel ability of getting rid of poverty is limited when muddy road conditions are stranded for vehicle.To solve the above problems, it designs
A kind of adaptive rear suspension becomes urgent.
Automobile rear suspension system relatively advanced at present can only realize that rear-wheel is slightly turned to reach during vehicle movement
To raising intact stability and handling purpose.This kind of rear-suspension system cannot achieve by adjusting rear-wheel condition improvement wheel in real time
Tire eccentric wear state, and the ability of getting rid of poverty of vehicle can not be improved.
Summary of the invention
The object of the present invention is to provide a kind of automotive self-adaptive rear suspension control system and control methods, to solve existing skill
The rear overhang rack of art cannot achieve by adjusting rear-wheel state in real time to improve tire eccentric wear and can not improve getting rid of poverty for vehicle
The problem of ability.
The present invention is achieved by the following technical solutions:
A kind of automotive self-adaptive rear suspension control system, including steering wheel angle sensor, wheel speed sensors, MCU processing
Module, image capture module, mode selection module, miniature electric steering linkage motor and power supply；
The steering wheel angle sensor, the wheel speed sensors, described image acquisition module, the mode selection module
And the miniature electric steering linkage motor is connect with the MCU processing module electric signal；
The power supply is the power supply of entire control system.
AD conversion is provided between the steering wheel angle sensor, the wheel speed sensors and the MCU processing module
Module, the steering wheel angle sensor and the wheel speed sensors are first connect with the AD conversion module electric signal, will be simulated
Signal is converted to digital signal and passes to the MCU processing module.
Described image acquisition module includes video camera, image processing module and module of target detection；
The video camera is connect with described image processing module electric signal, described image processing module and the target detection
Modular telecommunications number connection, the module of target detection are connect with the MCU processing module electric signal；
The video camera passes sequentially through acquired image information at image processing module, module of target detection and MCU
It manages module and determines tire wear state and toeing-in angle.
The video camera is installed in car body and wheel packet.
D/A conversion module is also disposed between the MCU processing module and the miniature electric steering linkage motor
And signal amplification module.
The mode selection module includes automatic mode, manually mode in the same direction and manual reverse mode.
A kind of automotive self-adaptive rear suspension control control method, comprising the following steps:
(1) when vehicle is started to work, MCU processing module detects the real-time vehicle running speed of wheel speed sensors detection；
If real-time speed is lower than setting speed per hour, execution (2) step is jumped；
If real-time speed is higher than setting speed per hour, execution (5) step is jumped；
(2) operating mode, respectively automatic mode, manually mode in the same direction or manual reverse mode are manually selected；
(3) judge whether current operation mode is automatic mode, if then jumping execution (5) step, if not then jumping
Execute (4) step；
(4) judge whether system current operation mode is manual mode in the same direction, if then steering wheel rotation, rear-wheel and front-wheel
Steering direction is identical, if it is not, then steering wheel rotation, rear-wheel are contrary with front-wheel steer；
(5) judge whether tire occurs eccentric wear by the tire image that camera is shot, jump execution if eccentric wear occurs
(6) step, if otherwise jumping execution (1) step；
(6) judge whether tire is inside eccentric wear, if miniature electric pull rod motor is then driven to make wheel to positive toe-in
Directional trim, if otherwise driving miniature electric pull rod motor makes wheel to toe-out directional trim.
The beneficial effects of the present invention are:
The technical program is to turn to prenex pull rod with miniature electric on the basis of existing automobile multi link rear suspension structure
Pull rod replaces, and when speed is higher by detection tire abrasion condition, adjusts trailing wheel toe-in value to improve tire eccentric wear, for rear
It drives and 4-wheel driven car, can significantly alter rear wheel angle when vehicle is stranded, improve vehicle and get rid of poverty ability or steering capability.
Detailed description of the invention
Fig. 1 is rear suspension control system schematic diagram of the present invention；
Fig. 2 is rear suspension control method flow chart of the present invention.
Specific embodiment
Carry out the technical solution that the present invention will be described in detail by the following examples, embodiment below is merely exemplary, only
It can be used to explanation and illustration technical solution of the present invention, and be not to be construed as the limitation to technical solution of the present invention.
The present invention provides a kind of automotive self-adaptive rear suspension control system, as shown in Figure 1, including that steering wheel angle senses
Device, wheel speed sensors, AD conversion module, MCU processing module, video camera, image processing module, module of target detection, mode choosing
Select module, D/A conversion module, signal amplification module, miniature electric steering linkage motor and power supply.
Steering wheel angle sensor and wheel speed sensors are connect with AD conversion module electric signal, for detecting vehicle driving
Speed and steering wheel rotational angle and the analog signal that will test is converted to digital signal by AD conversion module and is sent to MCU
Processing module.
Video camera, module of target detection and image processing module electric signal connect, and video camera is mounted in car body and wheel packet, use
In real-time detection tire wear state, image information passes sequentially through image processing module, module of target detection and MCU processing mould again
Block determines tire wear state and toeing-in angle.
AD conversion module, module of target detection, mode selection module, D/A conversion module and MCU processing module electric signal connect
It connects；D/A conversion module, miniature electric steering linkage motor are connect with signal amplification module electric signal, and D/A conversion module sends out MCU
Digital controlled signal out is converted into analog signal, and will control signal amplification by signal amplification module to control miniature electric
Steering linkage movement, is realized and steering front wheel linked steering；
Affiliated mode selection module mainly includes Three models: automatic mode, manually mode in the same direction and manual reverse mode,
For the operating mode of control system；Power supply is powered to entire control system.
The application also provides a kind of automotive self-adaptive rear suspension control control method, as shown in Figure 2, comprising the following steps:
(1) when vehicle is started to work, MCU processing module detects the real-time vehicle running speed of wheel speed sensors detection；
If real-time speed is lower than setting speed per hour, execution (2) step is jumped；
If real-time speed is higher than setting speed per hour, execution (5) step is jumped；
(2) operating mode, respectively automatic mode, manually mode in the same direction or manual reverse mode are manually selected；
(3) judge whether current operation mode is automatic mode, if then jumping execution (5) step, if not then jumping
Execute (4) step；
(4) judge whether system current operation mode is manual mode in the same direction, if then steering wheel rotation, rear-wheel and front-wheel
Steering direction is identical, if it is not, then steering wheel rotation, rear-wheel are contrary with front-wheel steer；
(5) judge whether tire occurs eccentric wear by the tire image that camera is shot, jump execution if eccentric wear occurs
(6) step, if otherwise jumping execution (1) step；
(6) judge whether tire is inside eccentric wear, if miniature electric pull rod motor is then driven to make wheel to positive toe-in
Directional trim, if otherwise driving miniature electric pull rod motor makes wheel to toe-out directional trim, to reduce tire wear
Or improve undue tire wear state.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And deformation, the scope of the present invention is by appended claims and its equivalent limits.
Claims (7)
1. a kind of automotive self-adaptive rear suspension control system, which is characterized in that sensed including steering wheel angle sensor, wheel speed
Device, MCU processing module, image capture module, mode selection module, miniature electric steering linkage motor and power supply；
The steering wheel angle sensor, the wheel speed sensors, described image acquisition module, the mode selection module and institute
Miniature electric steering linkage motor is stated to connect with the MCU processing module electric signal；
The power supply is the power supply of entire control system.
2. automotive self-adaptive rear suspension control system according to claim 1, which is characterized in that the steering wheel angle passes
AD conversion module, the steering wheel angle sensor are provided between sensor, the wheel speed sensors and the MCU processing module
And the wheel speed sensors are first connect with the AD conversion module electric signal, are converted analog signals into digital signal and are passed to institute
State MCU processing module.
3. automotive self-adaptive rear suspension control system according to claim 1, which is characterized in that described image acquisition module
Including video camera, image processing module and module of target detection；
The video camera is connect with described image processing module electric signal, described image processing module and the module of target detection
Electric signal connection, the module of target detection are connect with the MCU processing module electric signal；
Acquired image information is passed sequentially through image processing module, module of target detection and MCU and handles mould by the video camera
Block determines tire wear state and toeing-in angle.
4. automotive self-adaptive rear suspension control system according to claim 3, which is characterized in that the video camera is installed on
In car body and wheel packet.
5. automotive self-adaptive rear suspension control system according to claim 1, which is characterized in that handle mould in the MCU
D/A conversion module and signal amplification module are also disposed between block and the miniature electric steering linkage motor.
6. automotive self-adaptive rear suspension control system according to claim 1, which is characterized in that the mode selection module
Including automatic mode, manual mode and manual reverse mode in the same direction.
7. a kind of automotive self-adaptive rear suspension controls control method, using any one of the claims 1 to 6 control system,
Characterized by comprising the following steps:
(1) when vehicle is started to work, MCU processing module detects the real-time vehicle running speed of wheel speed sensors detection；
If real-time speed is lower than setting speed per hour, execution (2) step is jumped；
If real-time speed is higher than setting speed per hour, execution (5) step is jumped；
(2) operating mode, respectively automatic mode, manually mode in the same direction or manual reverse mode are manually selected；
(3) judge whether current operation mode is automatic mode, if then jumping execution (5) step, if not then jumping execution
(4) step；
(4) judge whether system current operation mode is manual mode in the same direction, if then steering wheel rotation, rear-wheel and front-wheel steer
Direction is identical, if it is not, then steering wheel rotation, rear-wheel are contrary with front-wheel steer；
(5) judge whether tire occurs eccentric wear by the tire image that camera is shot, jump execution (6) if eccentric wear occurs
Step, if otherwise jumping execution (1) step；
(6) judge whether tire is inside eccentric wear, if miniature electric pull rod motor is then driven to make wheel to positive prenex direction
Fine tuning, if otherwise driving miniature electric pull rod motor makes wheel to toe-out directional trim.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811332465.1A CN109455053B (en) | 2018-11-09 | 2018-11-09 | Automobile self-adaptive rear suspension control system and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811332465.1A CN109455053B (en) | 2018-11-09 | 2018-11-09 | Automobile self-adaptive rear suspension control system and control method |
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| Publication Number | Publication Date |
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| CN109455053A true CN109455053A (en) | 2019-03-12 |
| CN109455053B CN109455053B (en) | 2020-07-28 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113335011A (en) * | 2021-07-21 | 2021-09-03 | 中国第一汽车股份有限公司 | Control method for vehicle getting rid of poverty, vehicle and storage medium |
| CN115056620A (en) * | 2022-08-18 | 2022-09-16 | 中国第一汽车股份有限公司 | Soft terrain escaping method and device for vehicle and vehicle |
| CN115257923A (en) * | 2022-08-18 | 2022-11-01 | 长城汽车股份有限公司 | Control method and device for vehicle escaping and vehicle |
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| CN108629363A (en) * | 2017-03-16 | 2018-10-09 | 通用汽车环球科技运作有限责任公司 | The method and system of vehicle tyre analysis is carried out using the video camera being installed on vehicle |
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| CN101875370A (en) * | 2009-12-11 | 2010-11-03 | 奇瑞汽车股份有限公司 | Automotive self-adaptive intelligent steering system |
| US20170023444A1 (en) * | 2014-03-14 | 2017-01-26 | Robert Bosch Gmbh | Method and device for checking the wheel suspension of a vehicle |
| CN108068569A (en) * | 2016-11-16 | 2018-05-25 | 天津泰正机械有限公司 | A kind of active vibration damping type electric automobile chassis |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113335011A (en) * | 2021-07-21 | 2021-09-03 | 中国第一汽车股份有限公司 | Control method for vehicle getting rid of poverty, vehicle and storage medium |
| CN115056620A (en) * | 2022-08-18 | 2022-09-16 | 中国第一汽车股份有限公司 | Soft terrain escaping method and device for vehicle and vehicle |
| CN115257923A (en) * | 2022-08-18 | 2022-11-01 | 长城汽车股份有限公司 | Control method and device for vehicle escaping and vehicle |
| CN115257923B (en) * | 2022-08-18 | 2023-11-03 | 长城汽车股份有限公司 | Vehicle getting rid of poverty control method and device and vehicle |
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| CN109455053B (en) | 2020-07-28 |
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Address after: 230601 No. 99 Ziyun Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Anhui Jianghuai Automobile Group Limited by Share Ltd Address before: 230601 No. 669 Shixin Road, Taohua Industrial Park, Hefei City, Anhui Province Applicant before: Anhui Jianghuai Automobile Group Limited by Share Ltd |
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