CN109606051B - Air suspension vehicle height control system based on Internet of vehicles - Google Patents
Air suspension vehicle height control system based on Internet of vehicles Download PDFInfo
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- CN109606051B CN109606051B CN201811423636.1A CN201811423636A CN109606051B CN 109606051 B CN109606051 B CN 109606051B CN 201811423636 A CN201811423636 A CN 201811423636A CN 109606051 B CN109606051 B CN 109606051B
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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
- B60G17/0152—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 action on a particular type of suspension unit
- B60G17/0155—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 action on a particular type of suspension unit pneumatic unit
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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
- B60G17/018—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 use of a specific signal treatment or control method
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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
- B60G17/01908—Acceleration or inclination sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses an air suspension vehicle height control system based on a vehicle network in the field of air suspension control of vehicles, which consists of a vehicle network communication module, a vehicle height sensor, a GPS module, an acceleration sensor, a vehicle speed sensor, a vehicle-mounted terminal ECU and a charging and discharging electromagnetic valve, wherein the vehicle-mounted terminal ECU consists of a road surface unevenness calculation module, an information processing module, a target vehicle height judgment module, a charging and discharging time calculation module, a vehicle height integrated controller and a vehicle height integrated control driving module; the information processing module transmits the height of the vehicle body, the average speed and the road surface unevenness information in front to the target vehicle height judging module, and transmits the vehicle position of the vehicle, the average speed and the vehicle position information of the vehicle in the same direction in front to the inflation and deflation time calculating module; road information in the front can be acquired according to the internet of vehicles, the height of the vehicle body can be pre-adjusted after the target vehicle height is calculated, and intelligent control over the height of the vehicle is achieved.
Description
Technical Field
The invention relates to the field of air suspension control of vehicles, in particular to a vehicle body height control system based on an air suspension of a vehicle networking.
Background
At present, vehicles equipped with active air suspensions perform better in terms of handling stability and ride comfort than vehicles equipped with passive suspensions. In addition, the air suspension can adjust the height of the vehicle body in real time according to the road working condition, so that the performance of the air suspension is kept in the optimal state all the time.
The document with the Chinese patent publication No. CN104882018A provides a road condition pre-identification system for vehicle suspension control based on the internet of vehicles, which is composed of a GPS module, a vehicle-mounted terminal ECU, a road information acquisition module, a vehicle information module, a near field communication module and a vehicle control module, and can transmit necessary data such as front road condition information to a control part of the vehicle suspension in advance to solve the problem of hysteresis of the real-time suspension, but the system does not relate to the use of the information of the internet of vehicles for the control of the height of a vehicle body. Chinese patent publication No. CN106143039A proposes a control method for adjusting the height of an air suspension vehicle, which can control the height of the vehicle body by a PID control strategy, and can prevent the vehicle body height from deviating from a desired target height due to over-inflation or over-deflation of an air spring, but the control method can control the vehicle body height correspondingly only after acquiring real-time parameters collected by a vehicle sensor, so that the control method has a certain time lag.
Disclosure of Invention
Aiming at the problem that the prior art cannot realize the pre-control of the height of the vehicle body, the invention provides the air suspension vehicle body height control system based on the internet of vehicles, which can enable the vehicle to finish the pre-adjustment of the height of the vehicle body according to the working condition of the road ahead in the running process.
The invention relates to an air suspension vehicle height control system based on a vehicle networking, which adopts the technical scheme that: the system consists of a vehicle networking communication module, a vehicle height sensor, a GPS module, an acceleration sensor, a vehicle speed sensor, a vehicle-mounted terminal ECU and a charging and discharging electromagnetic valve, wherein the vehicle-mounted terminal ECU consists of a road surface unevenness calculation module, an information processing module, a target vehicle height judgment module, a charging and discharging time calculation module, a vehicle height integrated controller and a vehicle height integrated control driving module; the vehicle speed sensor collects the instantaneous vehicle speed v information of the vehicle and sends the instantaneous vehicle speed v information to the road surface unevenness calculating module; acceleration sensor collects unsprung mass acceleration aiInformation is sent to a road surface unevenness calculating module; the road surface irregularity calculation module obtains the current road surface irregularity Gd0(n0) The information is sent to an information processing module; the GPS module acquires the vehicle position, the vehicle running direction and the average vehicle speed of the vehicle
The information is sent to an information processing module; the vehicle height sensor collects real-time vehicle height H information of the vehicle and sends the information to the information processing module; the information processing module sends the vehicle position and the vehicle driving direction information of the vehicle to the internet of vehicles communication module, the internet of vehicles communication module screens out the front vehicles in the same direction, and collects the positions of the front vehicles in the same direction and the unevenness G of the front road surfaced1(n0) Information and the position information of the front co-directional vehicle and the front road surface unevenness Gd1(n0) The information is sent to an information processing module; the information processing module is used for calculating the height H of the vehicle body and the average vehicle speed
Unevenness G of road surface aheadd1(n0) The information is transmitted to a target vehicle height judging module to judge the vehicle position and the vehicle level of the vehicleAverage speed
The vehicle position information of the vehicle in the same direction as the front vehicle is transmitted to the air charging and discharging time calculation module; the target vehicle height judging module obtains the optimal target vehicle height H under the running of the front roadaThe information is sent to the vehicle height integrated controller; the inflation and deflation starting time calculation module obtains information of the time t for starting inflation and deflation and sends the information to the vehicle height integrated controller; the vehicle height integrated controller outputs a vehicle height control signal and a control signal at the air charging and discharging moment to the vehicle height integrated control driving module; the vehicle height integrated control driving module outputs control signals of the charging and discharging electromagnetic valves to the charging and discharging electromagnetic valves, and the charging and discharging electromagnetic valves control the height of the vehicle body.
The invention designs an air suspension control system capable of pre-adjusting the vehicle height in the driving process based on the communication of the internet of vehicles, which can acquire road information in front according to the internet of vehicles, pre-adjust the vehicle height after calculating the target vehicle height, and realize intelligent control of the vehicle height.
Drawings
FIG. 1 is a hardware block diagram of an air suspension vehicle height control system based on a vehicle networking according to the invention;
FIG. 2 is a flow chart of a control method of an air suspension vehicle height control system based on a vehicle networking, which is disclosed by the invention;
fig. 3 is a flowchart of a calculation method of the charge/discharge time calculation module in fig. 2.
Detailed Description
Referring to fig. 1, the air suspension vehicle height control system based on the internet of vehicles comprises an internet of vehicles communication module, a vehicle height sensor, a GPS module, an acceleration sensor, a vehicle speed sensor, a vehicle-mounted terminal ECU and a charging and discharging electromagnetic valve, wherein the vehicle-mounted terminal ECU comprises a road surface unevenness calculation module, an information processing module, a target vehicle height judgment module, a charging and discharging time calculation module, a vehicle height integrated controller and a vehicle height integrated control driving module. The output ends of the acceleration sensor and the vehicle speed sensor are connected with the input end of the road surface unevenness calculating module, the vehicle height sensor, the output ends of the GPS module and the road surface unevenness calculating module are connected with the input end of the information processing module, the information processing module is in two-way connection with the vehicle networking communication module, the output end of the information processing module is also respectively connected with the target vehicle height judging module and the input end of the charging and discharging time calculating module, the output ends of the target vehicle height judging module and the charging and discharging time calculating module are connected with the input end of the vehicle height integrated controller, and the output end of the vehicle height integrated controller is connected with the charging and discharging electromagnetic valve through the vehicle height integrated control driving module.
The vehicle speed sensor is used for acquiring the instantaneous vehicle speed v information of the vehicle and sending the instantaneous vehicle speed v information to the road surface unevenness calculating module.
The acceleration sensor is used for acquiring unsprung mass acceleration a of the vehicleiInformation, where i ═ fl, fr, rl, rr represent the unsprung mass vertical accelerations front left, front right, rear left, rear right, respectively, and the unsprung mass acceleration aiThe information is sent to a road surface irregularity calculating module.
The road surface irregularity calculation module receives unsprung mass acceleration a from the acceleration sensoriInformation and instant vehicle speed v information received from a vehicle speed sensor are obtained, and then the current road surface unevenness G is calculated according to a built-in road surface unevenness online identification methodd0(n0) Information, then the current road surface unevenness Gd0(n0) The information is sent to an information processing module.
The GPS module is used for acquiring the vehicle position, the vehicle running direction and the average vehicle speed of the vehicle
Information, and then the vehicle position information, the vehicle traveling direction and the average vehicle speed of the own vehicle
And sending the information to an information processing module.
The vehicle height sensor is used for acquiring real-time vehicle height H information of the vehicle and sending the real-time vehicle height H information to the information processing module.
Information processingModule acquisition road surface unevenness calculation module acquired current road surface unevenness Gd0(n0) Information, vehicle position, vehicle running direction and average vehicle speed of the vehicle obtained by GPS module
The information and vehicle height sensor acquires the height H information of the vehicle body, and the information processing module sends the vehicle position and the vehicle running direction information of the vehicle to the vehicle networking communication module.
The vehicle networking communication module receives the vehicle position and the driving direction information of the vehicle sent by the information processing module, and then compares the vehicle position information and the driving direction information of other communication vehicles received in the vehicle networking communication range to judge whether the other communication vehicles are in front of the road of the vehicle and the driving direction of the other communication vehicles is consistent with the vehicle. For convenience of description, other communication vehicles which are satisfied to run in the same direction as the vehicle and in front of the road on which the vehicle runs in the internet of vehicles communication network are referred to as front co-directional vehicles in the following; the vehicle networking communication module screens out front vehicles in the same direction according to the vehicle position information and the driving direction information sent by the information processing module, and then collects the positions of the front vehicles in the same direction and the front road surface unevenness G acquired by the front vehicles in the same direction through the vehicle networkingd1(n0) Information, and the position information of the front co-directional vehicle and the front road surface unevenness Gd1(n0) The information is sent to an information processing module.
The information processing module receives the front equidirectional vehicle position information and the front road surface unevenness G sent by the internet of vehicles communication moduled1(n0) Information and road surface unevenness calculation module sent current road surface unevenness Gd0(n0) Information, vehicle position and average vehicle speed of the vehicle sent by GPS module
Information, height H information of vehicle body sent by vehicle height sensor, and then height H and average speed of vehicle
Unevenness G of road surface aheadd1(n0) The information is transmitted to a target vehicle height judging module, and the vehicle position and the average vehicle speed of the vehicle are transmitted to a vehicle position and average vehicle speed judging module
And the vehicle position information of the front vehicle in the same direction is transmitted to the air charging and discharging time calculation module.
The target vehicle height judging module receives the vehicle height H and the average vehicle speed sent by the information processing module
Unevenness G of road surface aheadd1(n0) Information, according to the vehicle height judging rule, obtaining the optimum target vehicle height H under the condition of running on the front roadaInformation, then the optimum target vehicle height HaAnd sending the information to the vehicle height integrated controller.
The inflation and deflation starting time calculation module receives the vehicle position and the average vehicle speed of the vehicle sent by the information processing module
Vehicle position of front equidirectional vehicle and current road surface unevenness Gd0(n0) Unevenness G of road surface aheadd1(n0) And then, obtaining the information of the time t for starting inflation and deflation according to a built-in algorithm, and sending the information of the inflation and deflation time t to the vehicle height integrated controller.
The vehicle height integrated controller receives the optimal target vehicle height H sent by the target vehicle height judging moduleaAnd outputting a vehicle height control signal and a charging and discharging time control signal to the vehicle height integrated control driving module according to the charging and discharging time t information sent by the information and charging and discharging time module.
The vehicle height integrated control driving module receives a vehicle height control signal and a charging and discharging time control signal sent by the vehicle height integrated controller, outputs a charging and discharging electromagnetic valve control signal to the charging and discharging electromagnetic valve, and the charging and discharging electromagnetic valve executes corresponding actions so as to control the height of the vehicle body.
Referring to fig. 2, the air suspension vehicle height control system based on the internet of vehicles of the present invention specifically comprises the following steps:
step 1: the acceleration sensor will monitor the unsprung mass acceleration a of the vehicle in real timei(i ═ fl, fr, rl and rr) information and vehicle speed sensor real-time monitor the instantaneous vehicle speed v information of the vehicle, and transmit the information to the road surface unevenness calculating module, and the road surface unevenness calculating module carries out calculation according to the unsprung mass acceleration ai(i ═ fl, fr, rl, rr) and the instantaneous vehicle speed v information to calculate the current road surface roughness Gd0(n0) For information, a road surface unevenness calculation method built in the road surface unevenness calculation module is described in the document having patent publication No. CN 104309435a and entitled "an online road surface unevenness recognition system and method".
Step 2: the road surface unevenness calculation module calculates the current road surface unevenness G obtained by the vehicled0(n0) The information and GPS module is used for calculating the vehicle position, the vehicle running direction and the average vehicle speed of the vehicle
And the information and vehicle height sensor transmits the real-time vehicle height H information to the information processing module.
And step 3: the information processing module transmits the vehicle position and the driving direction of the vehicle to the Internet of vehicles communication module, the Internet of vehicles communication module judges whether other vehicles exist in the Internet of vehicles communication network range according to whether communication signals of other vehicles can be scanned in the Internet of vehicles communication network range, and if no other vehicles exist in the Internet of vehicles communication network range, the Internet of vehicles communication module continues to scan the communication signals of other vehicles in the communication network range; if the communication signals of other vehicles can be scanned in the vehicle communication network, vehicle position information and vehicle running direction information of other communication vehicles are received; the vehicle networking communication module receives vehicle position and driving direction information of other communication vehicles and vehicle position and driving direction information sent by the information processing module, judges whether the other communication vehicles in the vehicle networking communication network are in front of a road and the driving directions of the other communication vehicles are consistent with the vehicle according to the vehicle position of the vehicle, the driving direction information of the vehicle, the vehicle positions of the other communication vehicles and the driving direction information, and if the driving directions of the other communication vehicles in the vehicle networking communication network are opposite to the driving directions of the vehicle or the vehicle positions of the other vehicles are behind the vehicle position of the vehicle, the vehicle networking communication module continues to scan communication signals of the other vehicles in the communication network range; if other communication vehicles in the internet of vehicles communication network run in the same direction as the vehicle and are in front of the road on which the vehicle runs, the internet of vehicles communication module is used for further communication with other communication vehicles.
The vehicle networking communication module judges whether vehicles running in the same direction exist in front of a road in the communication network range according to the vehicle position and the running direction of the vehicle, and if the vehicles meeting the conditions exist, the vehicle position of the vehicle in the same direction in front and the unevenness G of the road surface in front of the vehicle are obtained through the vehicle networkingd1(n0) Information on the position of the vehicle in the same direction as the front and the obtained road surface unevenness information Gd1(n0) And transmitting the data to an information processing module.
And 4, step 4: the information processing module acquires the vehicle position and the average vehicle speed of the vehicle
Height H of vehicle body and unevenness G of current road surfaced0(n0) Information, vehicle position of the preceding co-directional vehicle and road surface unevenness G aheadd1(n0) Information, then the height H of the vehicle body and the average vehicle speed
Unevenness G of road surface aheadd1(n0) The information is transmitted to a target vehicle height judging module to judge the vehicle position and the average vehicle speed of the vehicle
Vehicle position of front equidirectional vehicle and current road surface unevenness Gd0(n0) Unevenness G of road surface aheadd1(n0) And transmitting the information to the air charging and discharging time calculation module.
And 5: target vehicle height determinationThe module receives the height H of the vehicle body and the average vehicle speed
Unevenness G of road surface aheadd1(n0) Information for determining the optimum target vehicle height H according to a built-in judgment ruleaThen the optimum target vehicle height HaAnd transmitting the information to the vehicle height integrated controller.
The judgment rule of the target vehicle height judgment module is as follows:
according to GB7031 'method for representing road surface flatness by inputting vehicle vibration', the input road surface unevenness information is converted into road surface grade, and the front road surface unevenness G is converted into the road surface graded1(n0) The information is converted into a front road surface grade. The following table 1 shows road surface grades corresponding to the road surface unevenness information:
TABLE 1
In table 1: n is0For reference spatial frequency, the reciprocal of the wavelength, meaning that each meter length contains several wavelengths; gd(n0) Is a reference spatial frequency n0And the lower pavement power spectral density value is called a pavement roughness coefficient.
The target vehicle height control module is used for controlling the grade of the front road surface and the average vehicle speed
Finding the optimal target vehicle height H by comparing the optimal vehicle height table of Table 2 belowaThen the current vehicle height H and the optimal target vehicle height H are combinedaAnd (3) comparison: if H ═ HaThen the grade of the front road surface and the average speed of the vehicle are continuously obtained
Information; if H is not equal to HaThen output the optimum target vehicle height HaAnd the information is sent to the vehicle height integrated controller.
The target vehicle height is set to 5 gears, wherein the target vehicle height is low, sub-low, middle, sub-high and high from low to high:
TABLE 2
Step 6: the charging and discharging time calculation module receives the vehicle position and the average vehicle speed of the vehicle
And the vehicle position information of the front vehicle in the same direction is determined according to a built-in calculation method, and then the air spring inflation and deflation starting time information is transmitted to the vehicle height integrated controller.
Referring to fig. 3, the calculation method of the charging and discharging time calculation module is as follows:
the inflation/deflation start time calculation module receives the position (x) of the front vehicle in the same direction acquired from the information processing module1,y1) Information, front road surface unevenness Gd1(n0) Information, vehicle position (x) of the vehicle0,y0) Information, average vehicle speed
Information and current road surface irregularity Gd0(n0) And (4) information. Then according to GB7031 'vehicle vibration input-road flatness representation method', converting the input road flatness information into road grade, comparing the current road grade with the front road grade, if the current road grade is the same as the front road grade, continuously obtaining the position (x) of the new front equidirectional vehicle from the information processing module1,y1) Information, front road surface unevenness Gd1(n0) Information, vehicle position (x) of the vehicle0,y0) Information, average vehicle speed
Information and current road surface irregularity Gd0(n0) Information; if the current road surface grade is different from the front road surface grade, countingAnd calculating the distance from the vehicle to the position of the vehicle in the same direction in front of the current time.
The distance formula for calculating the position of the vehicle in the same direction in front of the current time of arrival of the vehicle is as follows:
in the formula: and s is the distance m from the vehicle to the same-direction vehicle position in front of the current time.
Then, the time when the charging and discharging electromagnetic valve starts to charge and discharge air is calculated according to the distance from the vehicle to the position of the vehicle in the same direction in front of the current time, and the calculation formula is as follows:
in the formula:
is the average vehicle speed, m/s; t is t0The time s from the running of the vehicle to the position of the vehicle in the same direction in front of the current time; t is t1Is the system operating time, s; t is t2The charging and discharging time of a charging and discharging electromagnetic valve, s; t is the time when the charging and discharging electromagnetic discharge starts to charge and discharge air, s.
And the air charging and discharging starting time calculation module outputs information of the air charging and discharging starting time t.
And 7: receiving target vehicle height H by vehicle height integrated controlleraAnd transmitting the information and the information of the starting moment t of inflation and deflation to the vehicle height integrated control driving module.
And 8: the vehicle height integrated control driving module receives the vehicle height integrated control signal, transmits a charging and discharging electromagnetic valve control signal to the charging and discharging electromagnetic valve, and the charging and discharging electromagnetic valve performs corresponding actions according to the charging and discharging electromagnetic valve control signal.
Claims (7)
1. The utility model provides an air suspension car height control system based on car networking which characterized by: the system comprises a vehicle networking communication module, a vehicle height sensor, a GPS module, an acceleration sensor, a vehicle speed sensor, a vehicle-mounted terminal ECU and a charging and discharging electromagnetic valve, wherein the vehicle-mounted terminal ECU comprises a road surface unevenness calculation module, an information processing module, a target vehicle height judgment module, a charging and discharging moment calculation module, a vehicle height integrated controller and a vehicle height integrated control driving module;
the vehicle speed sensor collects the instantaneous vehicle speed v information of the vehicle and sends the instantaneous vehicle speed v information to the road surface unevenness calculating module;
acceleration sensor collects unsprung mass acceleration aiInformation is sent to a road surface unevenness calculating module;
the road surface irregularity calculation module obtains the current road surface irregularity Gd0(n0) The information is sent to an information processing module;
the GPS module acquires the vehicle position, the vehicle running direction and the average vehicle speed of the vehicle
The information is sent to an information processing module;
the vehicle height sensor collects real-time vehicle height H information of the vehicle and sends the information to the information processing module;
the information processing module sends the vehicle position and the vehicle driving direction information of the vehicle to the internet of vehicles communication module, the internet of vehicles communication module screens out the front vehicles in the same direction, and collects the positions of the front vehicles in the same direction and the unevenness G of the front road surfaced1(n0) Information and the position information of the front co-directional vehicle and the front road surface unevenness Gd1(n0) The information is sent to an information processing module;
the information processing module is used for calculating the height H of the vehicle body and the average vehicle speed
Unevenness G of road surface aheadd1(n0) The information is transmitted to a target vehicle height judging module, and the vehicle position and the average vehicle speed of the vehicle are transmitted to a vehicle position and average vehicle speed judging module
The vehicle position information of the vehicle in the same direction as the front vehicle is transmitted to the air charging and discharging time calculation module;
the target vehicle height judging module obtains the optimal target vehicle height H under the running of the front roadaThe information is sent to the vehicle height integrated controller;
the inflation and deflation starting time calculation module obtains information of the time t for starting inflation and deflation and sends the information to the vehicle height integrated controller;
the vehicle height integrated controller outputs a vehicle height control signal and a control signal at the air charging and discharging moment to the vehicle height integrated control driving module;
the vehicle height integrated control driving module outputs control signals of the charging and discharging electromagnetic valves to the charging and discharging electromagnetic valves, and the charging and discharging electromagnetic valves control the height of the vehicle body.
2. The air suspension vehicle height control system based on the internet of vehicles as claimed in claim 1, wherein: the vehicle networking communication module judges whether vehicles running in the same direction exist in front of a road in the communication network range according to the vehicle position and the running direction of the vehicle, and if the vehicles meeting the conditions exist, the vehicle position of the vehicle in the same direction in front and the unevenness G of the road surface in front of the vehicle are obtained through the vehicle networkingd1(n0) And (4) information.
3. The air suspension vehicle height control system based on the internet of vehicles as claimed in claim 1, wherein: the target vehicle height judging module inputs the front road surface unevenness Gd1(n0) Converting the front road grade according to the front road grade and the average vehicle speed
Obtaining the optimal target vehicle height Ha。
4. The air suspension vehicle height control system based on the internet of vehicles as claimed in claim 3, wherein: the vehicle height judging module is used for judging the current vehicle height H and the optimal target vehicle height HaBy comparison, if H ═ HaThen continue to obtain the front road surface grade and the vehicle levelAverage speed
Information; if H is not equal to HaThen output the optimum target vehicle height HaAnd the information is sent to the vehicle height integrated controller.
5. The air suspension vehicle height control system based on the internet of vehicles as claimed in claim 1, wherein: the inflation/deflation start time calculation module receives the position (x) of the front vehicle in the same direction acquired from the information processing module1,y1) Information, front road surface unevenness Gd1(n0) Information, vehicle position (x) of the vehicle0,y0) Information, average vehicle speed
Information and current road surface irregularity Gd0(n0) Information, current road surface irregularity G to be inputd0(n0) Converting the information into the current road surface grade, and inputting the front road surface unevenness Gd1(n0) Converting the information into a front road grade, comparing the current road grade with the front road grade, and if the current road grade is the same as the front road grade, continuously acquiring the position (x) of a new front equidirectional vehicle from the information processing module1,y1) Information, front road surface unevenness Gd1(n0) Information, vehicle position (x) of the vehicle0,y0) Information, average vehicle speed
Information and current road surface irregularity Gd0(n0) Information; if the current road surface grade is different from the front road surface grade, according to the formula
And calculating the distance s of the vehicle to the same-direction vehicle position in front of the current time.
6. According to claimThe air suspension vehicle height control system based on the Internet of vehicles as claimed in claim 5, characterized in that: the charging and discharging starting time calculation module calculates the time when the charging and discharging electromagnetic valve starts to charge and discharge air according to the distance s between the vehicle and the position of the vehicle in the same direction in front of the current time: t is t0-(t1+t2)，
Is the average vehicle speed; t is t0The time when the vehicle runs to the position of the vehicle in the same direction in front of the current time is taken; t is t1The system operation time; t is t2Charging and discharging time of a charging and discharging electromagnetic valve; t is the time when the charging and discharging electromagnetic discharge starts to charge and discharge air.
7. The air suspension vehicle height control system based on the internet of vehicles as claimed in claim 1, wherein: the vehicle height integrated control driving module receives the vehicle height integrated control signal and transmits a charging and discharging electromagnetic valve control signal to the charging and discharging electromagnetic valve, and the charging and discharging electromagnetic valve acts according to the charging and discharging electromagnetic valve control signal to control the height of the vehicle body.
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| JP2002240527A (en) * | 2001-02-19 | 2002-08-28 | Tein:Kk | Damping force adjusting device of shock absorber for vehicle, and its control program providing method |
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