CN110271377A - Method, system, equipment and the storage medium of automotive suspension sharp turn compensation - Google Patents
Method, system, equipment and the storage medium of automotive suspension sharp turn compensation Download PDFInfo
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- CN110271377A CN110271377A CN201910599600.7A CN201910599600A CN110271377A CN 110271377 A CN110271377 A CN 110271377A CN 201910599600 A CN201910599600 A CN 201910599600A CN 110271377 A CN110271377 A CN 110271377A
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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
- B60G17/0152—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
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—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
-
- 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
- B60G17/0195—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 regulation being combined with other vehicle control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
-
- 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
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/914—Height Control System
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention provides method, system, equipment and the storage mediums of the compensation of automotive suspension sharp turn, method includes the following steps: positioning vehicle location in real time, and other vehicles that the same lane before being located at this vehicle travels in the same direction are established into a wagon flow group, and acquire other vehicle driving positions adjacent with this vehicle；Whether the vehicle in prediction wagon flow group will collide, and evade route if so, planning as a purpose with a wherein adjacent lane；According to steering direction of the route based on this vehicle current lane is evaded, reduce the height of the Independent adjustable suspension for the wheel being located on the inside of steering direction, increases the height of the Independent adjustable suspension for the wheel being located on the outside of steering direction；Whether the vehicle in detection wagon flow group collides, if so, carrying out turning to the adjacent lane reached as a purpose according to route is evaded.The present invention can provide additional power steering for urgent avoidance situation, and auxiliary vehicle realizes urgent avoidance.
Description
Technical field
The present invention relates to traveling control fields, specifically, being related to the method for automotive suspension sharp turn compensation, system, equipment
And storage medium.
Background technique
Since air suspension is born from 19th-century mid-term, it experienced the development in a century, experienced " pneumatic spring-
Air suspension-air bag compound suspension-Semi-active air suspension-center inflation/deflation suspension (i.e. ECAS electronic control air suspension system
System) " etc. a variety of change types.Bogie, motor bus, car and railway automobile are just used in nineteen fifties
On.External advanced motor bus almost all uses air suspension at present, and heavy duty truck has been reached using the ratio of air suspension
80% or more, application amount of the air suspension on light-duty vehicle is also rising rapidly.Part car also gradually installs and uses air
Suspension, in some special vehicles (such as to shockproof more demanding measuring truck, ambulance, extraordinary military vehicle and the container of requirement
Transport vehicle etc.) on, the use of air suspension is almost unique selection.
Air suspension working principle is exactly compressed air to be formed with air compressor, and compressed air is sent to spring and is subtracted
It shakes in the air chamber of device, changes the height of vehicle with this.Level sensor is equipped near front wheels and rear wheels, by water
The output signal of flat height sensor, air suspension control unit judge the variation of bodywork height, then control compressor and row
Air valve makes spring-compressed or elongation, to play the effect of damping.
But in the urgent avoidance of vehicle, steering wheel is actively beaten by auto-pilot controller system or driver
To realize urgent avoidance, current automotive suspension is difficult to provide help to zig zag.
Therefore, the present invention provides method, system, equipment and the storage mediums of a kind of compensation of automotive suspension sharp turn.
Summary of the invention
For the problems of the prior art, the purpose of the present invention is to provide the method for automotive suspension sharp turn compensation, system,
Equipment and storage medium can be directed to height and the rigidity of urgent avoidance situation appropriate adjustment suspension to improve the inclination of vehicle
Angle provides additional power steering, final that vehicle is assisted to realize urgent avoidance to increase steering angle.
The embodiment of the present invention provides a kind of method of automotive suspension sharp turn compensation, for being furnished with the vehicle of adjustable suspension,
The following steps are included:
S110, the vehicle location for positioning this vehicle in real time, and by be located at this vehicle before same lane travel in the same direction other
Vehicle establishes a wagon flow group, and acquires other vehicle driving positions adjacent with this vehicle in the lane of two sides adjacent with the lane；
Whether the vehicle in S120, the prediction wagon flow group will collide, if so, S130 is thened follow the steps, if it is not,
Then follow the steps S170；
S130, other vehicle driving positions in adjacent two sides lane are based on, are advised as a purpose with a wherein adjacent lane
It plans and keeps away route；
S140, evade steering direction of the route based on this vehicle current lane according to, reduce and be located at the steering direction
The height of the Independent adjustable suspension of the wheel of inside increases the Independent adjustable suspension for the wheel being located on the outside of the steering direction
Highly；
Whether the vehicle in S150, the detection wagon flow group collides, if so, S160 is thened follow the steps, if it is not, then holding
Row step S170；
S160, evade route according to and turn to and reach adjacent lane as a purpose, return step S110；With
And
S170, the Independent adjustable suspension reply initial position, return step S120.
Preferably, in the step S110, by be located at this vehicle carry out direction on same lane travel in the same direction at least two
Vehicle establishes a wagon flow group, and acquires other vehicles in the lane of two sides adjacent with the lane with this following distance less than 200 meters
Traveling-position.
Preferably, in the step S120 the following steps are included:
S121, according to the spacing of any pair adjacent two cars in front and back in the wagon flow group and the speed difference of two cars,
Obtain collision time of origin；
S122, judge whether the collision time of origin is less than preset threshold, if so, S130 is thened follow the steps, if it is not, then
Execute step S170.
Preferably, the value range of the preset threshold is 0 second to 5 seconds.
Preferably, in the step S130,
As starting point, default evade is planned in adjacent two sides lane as a purpose for S131, the current lane based on this vehicle
Route；
S132, by it is described it is default evade in route in the lane of two sides not one Chong Die with other vehicle driving positions make
To evade route.
Preferably, in the step S140, the gas for needing to reduce the Independent adjustable suspension discharge of height certainly passes through
Connecting pipe is passed into the Independent adjustable suspension for needing to increase height.
Preferably, the collision time of origin is smaller, needs to reduce the Independent adjustable suspension discharge gas of height certainly
Speed and need to increase the Independent adjustable suspension of height certainly and be passed through the speed of gas and all accelerate.
The embodiment of the present invention also provides a kind of system of automotive suspension sharp turn compensation, the automotive suspension sharp turn compensation
System includes:
Positioning acquisition module, positions the vehicle location of this vehicle in real time, and will be located at the same lane row in the same direction before this vehicle
Other vehicles sailed establish a wagon flow group, and acquire other vehicle rows adjacent with this vehicle in the lane of two sides adjacent with the lane
Sail position；
First judgment module, predicts whether the vehicle in the wagon flow group will collide, if so, executing route rule
Module is drawn, if it is not, then executing suspension replys module；
Route planning module, based on other vehicle driving positions in adjacent two sides lane, using a wherein adjacent lane as
Evade route in destination；
Suspension adjusts module, evades steering direction of the route based on this vehicle current lane according to described, reduces described in being located at
The height of the Independent adjustable suspension of wheel on the inside of steering direction, the independence for increasing the wheel being located on the outside of the steering direction can
Adjust the height of suspension；
Whether the second judgment module, the vehicle detected in the wagon flow group collide, and evade steering mould if so, executing
Block, if it is not, then executing suspension replys module；
Evade steering module, carries out turning to the adjacent lane reached as a purpose according to the route of evading, it is fixed to return
Position acquisition module；And
Suspension replys module, and the Independent adjustable suspension replys initial position, return step first judgment module.
The embodiment of the present invention also provides a kind of equipment of automotive suspension sharp turn compensation, comprising:
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to execute above-mentioned automotive suspension sharp turn compensation via the executable instruction is executed
Method the step of.
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, described program is held
The step of method of above-mentioned automotive suspension sharp turn compensation is realized when row.
The purpose of the present invention is to provide method, system, equipment and the storage medium of the compensation of automotive suspension sharp turn, Neng Gouzhen
Height and rigidity to urgent avoidance situation appropriate adjustment suspension provide additional power steering to improve the angle of heel of vehicle,
It is final that vehicle is assisted to realize urgent avoidance to increase steering angle.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon.
Fig. 1 is the flow chart of the method for automotive suspension sharp turn compensation of the invention.
Fig. 2 to 10 is the schematic diagram of the implementation process of the method for automotive suspension sharp turn compensation of the invention.
Figure 11 is the module diagram of the system of automotive suspension sharp turn compensation of the invention.
Figure 12 is the structural schematic diagram of the equipment of automotive suspension sharp turn compensation of the invention.And
Figure 13 is the structural schematic diagram of the computer readable storage medium of one embodiment of the invention.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein.On the contrary, thesing embodiments are provided so that the present invention will
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.It is identical attached in figure
Icon note indicates same or similar structure, thus will omit repetition thereof.
Fig. 1 is the flow chart of the method for automotive suspension sharp turn compensation of the invention.As shown in Figure 1, the embodiment of the present invention
A kind of method of automotive suspension sharp turn compensation is provided, for being furnished with the vehicle of adjustable suspension, comprising the following steps:
S110, the vehicle location for positioning this vehicle in real time, and by be located at this vehicle before same lane travel in the same direction other
Vehicle establishes a wagon flow group, and acquires other vehicle driving positions adjacent with this vehicle in the lane of two sides adjacent with the lane.
Whether the vehicle in S120, prediction wagon flow group will collide, if so, S130 is thened follow the steps, if it is not, then holding
Row step S170.
S130, other vehicle driving positions in adjacent two sides lane are based on, are advised as a purpose with a wherein adjacent lane
It plans and keeps away route.
S140, basis evade steering direction of the route based on this vehicle current lane, reduce the vehicle being located on the inside of steering direction
The height of the Independent adjustable suspension of wheel increases the height of the Independent adjustable suspension for the wheel being located on the outside of steering direction.
Whether the vehicle in S150, detection wagon flow group collides, if so, S160 is thened follow the steps, if it is not, then executing step
Rapid S170.
S160, basis evade route and carry out turning to the adjacent lane reached as a purpose, return step S110.And
S170, Independent adjustable suspension reply initial position, return step S120.
The present invention can adjust before being turned to previously according to the direction for evading route for urgent avoidance situation
The height of whole each Independent adjustable suspension, improves the angle of heel of vehicle, and the zig zag well in advance for that may occur is equipped, so as to
Additional power steering is provided in zig zag, it is final that vehicle is assisted to realize urgent avoidance to increase steering angle.
It is especially noted that the present invention is not to be adjusted according to steering direction solely simply when needing to turn to
The height of adjustable suspension is found, is not what wink was sent out because the height of Independent adjustable suspension needs certain time, so needing urgency
Go the height for promptly adjusting Independent adjustable suspension late in time when turning again, it can not be effective to being provided when taking a sudden turn
(operation of zig zag is a very urgent state to power steering, according to the tune of Independent adjustable suspension conventional in current vehicle
Whole speed is all obviously without the speed of so fast response and completion adjustment).So the present invention creatively pass through road conditions with
And the prediction of wagon flow, judge that may be occurred evades route, before the collision occurs, in advance hangs the Independent adjustable of vehicle
Frame is adjusted to optimum to the state for evading route steering, and the zig zag may then to occur carries out the beam worker of steering completely
Make.So the present invention can actually be adapted to all vehicles, height to urgent avoidance situation appropriate adjustment suspension and just
It spends to improve the angle of heel of vehicle, the technical solution of additional power steering is provided, there is the applicability and reality outstanding of prevention
With value.
In a preferred embodiment, in step S110, the same lane that will be located on this vehicle progress direction travels in the same direction
At least two vehicles establish a wagon flow group, and acquire in the lane of two sides adjacent with the lane with this following distance less than 200 meters
Other vehicles traveling-position, but not limited to this, can be adjusted according to the demand of safety with this following distance.This implementation
In example, each wagon flow group can be two cars perhaps three vehicles or four vehicles etc., be not limited.
In a preferred embodiment, in step S120 the following steps are included:
S121, according to the spacing of any pair adjacent two cars in front and back in wagon flow group and the speed difference of two cars, obtain
Collide time of origin.
S122, judge to collide whether time of origin is less than preset threshold, if so, S130 is thened follow the steps, if it is not, then executing
Step S170, but not limited to this.It can also be using the technological means of other judgement collision time of origins of this field.
In a preferred embodiment, the value range of preset threshold is 0 second to 5 seconds, and but not limited to this.
In a preferred embodiment, in step S130,
As starting point, default evade is planned in adjacent two sides lane as a purpose for S131, the current lane based on this vehicle
Route.
S132, default will evade in route in the lane of two sides not one Chong Die with other vehicle driving positions as rule
Keep away route.
In a preferred embodiment, in step S140, need to reduce the gas of the Independent adjustable suspension discharge of height certainly
It is passed by connecting pipe in the Independent adjustable suspension for needing to increase height, to accelerate the adjusting speed of Independent adjustable suspension
Degree.
In a preferred embodiment, collision time of origin is smaller, needs to reduce the Independent adjustable suspension discharge of height certainly
The speed that the speed of gas and the Independent adjustable suspension for needing to increase height certainly are passed through gas is all accelerated, so as in zig zag
When, bigger inclination angle is provided, bigger power steering is obtained.
Fig. 2 to 10 is the schematic diagram of the implementation process of the method for automotive suspension sharp turn compensation of the invention.As shown in Fig. 2,
Five vehicle A, vehicle B, vehicle C, vehicle D, vehicle E vehicles travel on three adjacent lanes in the same direction 11,12,13 respectively.This
In embodiment, five vehicles of vehicle A, B, C, D, E are all the intelligent vehicles with car networking system.Using vehicle C as this vehicle, vehicle
The car networking system of C positions the vehicle location of vehicle C, and the vehicle that the same lane before being located at this vehicle is travelled in the same direction in real time
A and vehicle B establishes a wagon flow group, and acquires other vehicle drivings adjacent with this vehicle in the lane of two sides adjacent with the lane
Position.Predict whether vehicle A and vehicle B in wagon flow group will collide by car networking system, according to vehicle A and vehicle
The spacing of B and the speed difference of two cars obtain collision time of origin.And judge to collide whether time of origin is less than default threshold
It is worth, in the present embodiment, preset threshold is 5 seconds,
As shown in figure 3, when vehicle A and vehicle B has the tendency that collide, also, vehicle A and vehicle B may be touched
When the collision time of origin hit was less than 5 seconds, based on other vehicle driving positions in adjacent two sides lane 11,13, with a wherein phase
Adjacent lane is planned as a purpose evades route.Current lane based on this vehicle C is as starting point, and adjacent two sides lane is as mesh
Ground plan respectively, obtain default evading route G and evading route H.Default will evade in route in the lane of two sides not with its
He evades route at a conduct of vehicle driving position overlapping, then evades route H and taken because of Chong Die with the position of vehicle D
Disappear, leaves behind and evade route G.
It is left-hand rotation according to route G is evaded based on the steering direction of this vehicle current lane, then as shown in Figure 4, wherein vehicle
The two sides of front axle 21 are respectively equipped with the near front wheel 22 and off-front wheel 23, and the first Independent adjustable suspension 24 is connected to a left side for front axle 21
Side, the second Independent adjustable suspension 25 are connected to the right side of front axle 21, and in the present embodiment, vehicle C can reduce to be located at once to be turned to
The height of the Independent adjustable suspension of wheel on the inside of direction increases the Independent adjustable suspension for the wheel being located on the outside of steering direction
Height reduces the height of the first Independent adjustable suspension 24, meanwhile, increase the height of the second Independent adjustable suspension 25.Similarly,
As shown in Figure 5, wherein the two sides of the rear axle 31 of vehicle are respectively equipped with left rear wheel 32 and off hind wheel 33, and third Independent adjustable is outstanding
Frame 34 is connected to the left side of rear axle 31, and the 4th Independent adjustable suspension 35 is connected to the right side of rear axle 31, in the present embodiment, vehicle
C can reduce the height of third Independent adjustable suspension 34 at once, meanwhile, increase the height of the 4th Independent adjustable suspension 35, so that
The state for being conducive to quickly turn to the left is integrally formed in vehicle C.In the present embodiment, the Independent adjustable for needing to reduce height certainly is outstanding
The gas of frame discharge is passed into the Independent adjustable suspension for needing to increase height by connecting pipe.Collision time of origin is got over
It is small, it needs to reduce the speed of the Independent adjustable suspension discharge gas of height certainly and needs to increase the Independent adjustable suspension of height certainly
The speed for being passed through gas is all accelerated.
As shown in fig. 6, then basis evades route G and carries out turning to arrival conduct when detection vehicle A and vehicle B collides
The adjacent lane of destination, as shown in Fig. 7,8,9, since vehicle C has integrally been in the shape for being conducive to quickly turn to the left
State, so the posture of vehicle C can obtain additional power steering F, power steering F's when being turned in this state
Under help, it is capable of increasing steering angle, it is final that vehicle is assisted to realize urgent avoidance.
As shown in Figure 10, vehicle C by the above process, can be conducive to Independent adjustable suspension after this collision occurs for front truck
Preprepared posture obtains additional power steering F, and steering is rapidly completed, and avoids the vehicle A and vehicle to collide
B substantially increases the safety of vehicle C, and after reaching vehicle C, then the Independent adjustable suspension of vehicle C replys initial position, after
It continues and sails.
The purpose of the present invention is to provide the methods of automotive suspension sharp turn compensation suitably to adjust for urgent avoidance situation
The height and rigidity of whole suspension provide additional power steering, to increase steering angle, finally to improve the angle of heel of vehicle
Vehicle is assisted to realize urgent avoidance.
Figure 11 is the module diagram of the system of automotive suspension sharp turn compensation of the invention.As shown in figure 11, of the invention
Embodiment also provides a kind of system of automotive suspension sharp turn compensation, for realizing the method that above-mentioned automotive suspension sharp turn compensates,
Automotive suspension sharp turn compensation system 5 include:
Positioning acquisition module 51 positions the vehicle location of this vehicle in real time, and the same lane before being located at this vehicle is in the same direction
Other vehicles of traveling establish a wagon flow group, and acquire other vehicles adjacent with this vehicle in the lane of two sides adjacent with the lane
Traveling-position；
First judgment module 52, predicts whether the vehicle in wagon flow group will collide, if so, executing route planning
Module 53, if it is not, then executing suspension replys module 57；
Route planning module 53, based on other vehicle driving positions in adjacent two sides lane, with wherein adjacent lane work
Evade route for destination；
Suspension adjusts module 54, according to steering direction of the route based on this vehicle current lane is evaded, reduces and is located at steering side
The height of the Independent adjustable suspension of wheel inwardly increases the height of the Independent adjustable suspension for the wheel being located on the outside of steering direction
Degree；
Whether the second judgment module 55, the vehicle detected in wagon flow group collide, and evade steering module if so, executing
56, if it is not, then executing suspension replys module 57；
Evade steering module 56, carries out turning to the adjacent lane reached as a purpose, restoring to normal position according to route is evaded
Acquisition module 51；And
Suspension replys module 57, and Independent adjustable suspension replys initial position, return step first judgment module 52.
The purpose of the present invention is to provide the systems of automotive suspension sharp turn compensation, can suitably adjust for urgent avoidance situation
The height and rigidity of whole suspension provide additional power steering, to increase steering angle, finally to improve the angle of heel of vehicle
Vehicle is assisted to realize urgent avoidance.
The embodiment of the present invention also provides a kind of equipment of automotive suspension sharp turn compensation, including processor.Memory, wherein depositing
Contain the executable instruction of processor.Wherein, processor is configured to be performed automotive suspension urgency via execution executable instruction
The step of method of curved compensation.
As it appears from the above, height and rigidity that the embodiment can be directed to urgent avoidance situation appropriate adjustment suspension are to improve vehicle
Angle of heel, additional power steering is provided, it is final that vehicle is assisted to realize urgent avoidance to increase steering angle.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or
Program product.Therefore, various aspects of the invention can be embodied in the following forms, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as " circuit ", " module " or " platform ".
Figure 12 is the structural schematic diagram of the equipment of automotive suspension sharp turn compensation of the invention.Root is described referring to Figure 12
According to the electronic equipment 600 of the embodiment of the invention.The electronic equipment 600 that Figure 12 is shown is only an example, is not answered
Any restrictions are brought to the function and use scope of the embodiment of the present invention.
As shown in figure 12, electronic equipment 600 is showed in the form of universal computing device.The component of electronic equipment 600 can be with
Including but not limited to: at least one processing unit 610, at least one storage unit 620, connection different platform component (including are deposited
Storage unit 620 and processing unit 610) bus 630, display unit 640 etc..
Wherein, storage unit is stored with program code, and program code can be executed with unit 610 processed, so that processing is single
Member 610 executes various exemplary implementations according to the present invention described in this specification above-mentioned electronic prescription circulation processing method part
The step of mode.For example, processing unit 610 can execute step as shown in fig. 1.
Storage unit 620 may include the readable medium of volatile memory cell form, such as Random Access Storage Unit
(RAM) 6201 and/or cache memory unit 6202, it can further include read-only memory unit (ROM) 6203.
Storage unit 620 can also include program/utility with one group of (at least one) program module 6205
6204, such program module 6205 includes but is not limited to: operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.
Bus 630 can be to indicate one of a few class bus structures or a variety of, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use any bus structures in a variety of bus structures
Local bus.
Electronic equipment 600 can also be with one or more external equipments 700 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, can also be enabled a user to one or more equipment interact with the electronic equipment 600 communicate, and/or with make
Any equipment (such as the router, modulation /demodulation that the electronic equipment 600 can be communicated with one or more of the other calculating equipment
Device etc.) communication.This communication can be carried out by input/output (I/O) interface 650.Also, electronic equipment 600 can be with
By network adapter 660 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network,
Such as internet) communication.Network adapter 660 can be communicated by bus 630 with other modules of electronic equipment 600.It should
Understand, although not shown in the drawings, other hardware and/or software module can be used in conjunction with electronic equipment 600, including but unlimited
In: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and number
According to backup storage platform etc..
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, program is performed reality
The step of method of existing automotive suspension sharp turn compensation.In some possible embodiments, various aspects of the invention may be used also
In the form of being embodied as a kind of program product comprising program code, when program product is run on the terminal device, program generation
Code is each according to the present invention described in this specification above-mentioned electronic prescription circulation processing method part for executing terminal device
The step of kind illustrative embodiments.
As it appears from the above, height and rigidity that the embodiment can be directed to urgent avoidance situation appropriate adjustment suspension are to improve vehicle
Angle of heel, additional power steering is provided, it is final that vehicle is assisted to realize urgent avoidance to increase steering angle.
Figure 13 is the structural schematic diagram of computer readable storage medium of the invention.With reference to shown in Figure 13, basis is described
The program product 800 for realizing the above method of embodiments of the present invention can be deposited using portable compact disc is read-only
Reservoir (CD-ROM) and including program code, and can be run on terminal device, such as PC.However, of the invention
Program product is without being limited thereto, and in this document, readable storage medium storing program for executing can be any tangible medium for including or store program, should
Program can be commanded execution system, device or device use or in connection.
Program product can be using any combination of one or more readable mediums.Readable medium can be readable signal Jie
Matter or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or partly lead
System, device or the device of body, or any above combination.More specific example (the non exhaustive column of readable storage medium storing program for executing
Table) it include: the electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only storage
Device (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
Computer readable storage medium may include in a base band or as carrier wave a part propagate data-signal,
In carry readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetic signal,
Optical signal or above-mentioned any appropriate combination.Readable storage medium storing program for executing can also be any readable Jie other than readable storage medium storing program for executing
Matter, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or and its
The program of combined use.The program code for including on readable storage medium storing program for executing can transmit with any suitable medium, including but not
It is limited to wireless, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
The program for executing operation of the present invention can be write with any combination of one or more programming languages
Code, programming language include object oriented program language-Java, C++ etc., further include conventional process
Formula programming language-such as " C " language or similar programming language.Program code can be calculated fully in user
It executes in equipment, partly execute on a user device, executing, as an independent software package partially in user calculating equipment
Upper part executes on a remote computing or executes in remote computing device or server completely.It is being related to remotely counting
In the situation for calculating equipment, remote computing device can pass through the network of any kind, including local area network (LAN) or wide area network
(WAN), it is connected to user calculating equipment, or, it may be connected to external computing device (such as utilize ISP
To be connected by internet).
To sum up, the purpose of the present invention is to provide automotive suspension sharp turn compensation method, system, equipment and storage medium,
Height and the rigidity of urgent avoidance situation appropriate adjustment suspension can be directed to improve the angle of heel of vehicle, additional steering is provided
Power-assisted, it is final that vehicle is assisted to realize urgent avoidance to increase steering angle.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (10)
1. a kind of method of automotive suspension sharp turn compensation, for being furnished with the vehicle of the Independent adjustable suspension of corresponding each wheel,
It is characterized in that, comprising the following steps:
S110, the vehicle location for positioning this vehicle in real time, and other vehicles that the same lane before being located at this vehicle is travelled in the same direction
A wagon flow group is established, and acquires other vehicle driving positions adjacent with this vehicle in the lane of two sides adjacent with the lane；
Whether the vehicle in S120, the prediction wagon flow group will collide, if so, S130 is thened follow the steps, if it is not, then holding
Row step S170；
S130, other vehicle driving positions in adjacent two sides lane are based on, are planned as a purpose with a wherein adjacent lane
Keep away route；
S140, evade steering direction of the route based on this vehicle current lane according to, reduce and be located on the inside of the steering direction
Wheel Independent adjustable suspension height, increase be located at the steering direction on the outside of wheel Independent adjustable suspension height
Degree；
Whether the vehicle in S150, the detection wagon flow group collides, if so, S160 is thened follow the steps, if it is not, then executing step
Rapid S170；
S160, evade route according to and turn to and reach adjacent lane as a purpose, return step S110；And
S170, the Independent adjustable suspension reply initial position, return step S120.
2. the method for automotive suspension sharp turn compensation according to claim 1, it is characterised in that:, will in the step S110
At least two vehicles that the same lane on direction travels in the same direction are carried out positioned at this vehicle and establish a wagon flow group, and are acquired and the vehicle
The traveling-position of other vehicles in the adjacent two sides lane in road with this following distance less than 200 meters.
3. the method for automotive suspension sharp turn compensation according to claim 1, it is characterised in that: include in the step S120
Following steps:
S121, according to the spacing of any pair adjacent two cars in front and back in the wagon flow group and the speed difference of two cars, obtain
Collide time of origin；
S122, judge whether the collision time of origin is less than preset threshold, if so, S130 is thened follow the steps, if it is not, then executing
Step S170.
4. the method for automotive suspension sharp turn compensation according to claim 3, it is characterised in that: the value of the preset threshold
Range is 0 second to 5 seconds.
5. the method for automotive suspension sharp turn compensation according to claim 4, it is characterised in that: in the step S130,
As starting point, adjacent two sides lane, which plans to preset as a purpose, evades route for S131, the current lane based on this vehicle；
S132, by it is described it is default evade in route in the lane of two sides not one Chong Die with other vehicle driving positions as rule
Keep away route.
6. the method for automotive suspension sharp turn compensation according to claim 5, it is characterised in that: in the step S140, from
The gas for needing to reduce the Independent adjustable suspension discharge of height is passed by connecting pipe needs to increase the only of height
It stands in adjustable suspension.
7. the method for automotive suspension sharp turn compensation according to claim 6, it is characterised in that: the collision time of origin is got over
It is small, it needs to reduce the speed of the Independent adjustable suspension discharge gas of height certainly and needs to increase the Independent adjustable of height certainly
The speed that suspension is passed through gas is all accelerated.
8. a kind of system of automotive suspension sharp turn compensation characterized by comprising
Positioning acquisition module positions the vehicle location of this vehicle in real time, and the same lane before being located at this vehicle is travelled in the same direction
Other vehicles establish a wagon flow group, and acquire other vehicle driving positions adjacent with this vehicle in the lane of two sides adjacent with the lane
It sets；
First judgment module, predicts whether the vehicle in the wagon flow group will collide, if so, executing route planning mould
Block, if it is not, then executing suspension replys module；
Route planning module, based on other vehicle driving positions in adjacent two sides lane, as a purpose with a wherein adjacent lane
Evade route in ground；
Suspension adjusts module, evades steering direction of the route based on this vehicle current lane according to described, reduces and be located at the steering
The height of the Independent adjustable suspension of wheel on the inside of direction, the Independent adjustable for increasing the wheel being located on the outside of the steering direction are outstanding
The height of frame；
Whether the second judgment module, the vehicle detected in the wagon flow group collide, and evade steering module if so, executing,
If it is not, then executing suspension replys module；
Evade steering module, carries out turning to the adjacent lane reached as a purpose according to the route of evading, restoring to normal position is adopted
Collect module；And
Suspension replys module, and the Independent adjustable suspension replys initial position, return step first judgment module.
9. a kind of equipment of automotive suspension sharp turn compensation characterized by comprising
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to come any one of perform claim requirement 1 to 7 institute via the execution executable instruction
The step of stating the method for automotive suspension sharp turn compensation.
10. a kind of computer readable storage medium, for storing program, which is characterized in that described program is performed realization power
Benefit require any one of 1 to 7 described in automotive suspension sharp turn compensation method the step of.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910599600.7A CN110271377A (en) | 2019-07-04 | 2019-07-04 | Method, system, equipment and the storage medium of automotive suspension sharp turn compensation |
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|---|---|---|---|
| CN201910599600.7A CN110271377A (en) | 2019-07-04 | 2019-07-04 | Method, system, equipment and the storage medium of automotive suspension sharp turn compensation |
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Application publication date: 20190924 |