CN112109513A - 能动车辆高度控制方法及装置 - Google Patents

能动车辆高度控制方法及装置 Download PDF

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CN112109513A
CN112109513A CN201911213051.1A CN201911213051A CN112109513A CN 112109513 A CN112109513 A CN 112109513A CN 201911213051 A CN201911213051 A CN 201911213051A CN 112109513 A CN112109513 A CN 112109513A
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vehicle height
vehicle
road surface
controller
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CN112109513B (zh
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孙荣日
苏泯宇
朴起弘
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National University Teaching Production And Learning Cooperation
Hyundai Motor Co
Kia Corp
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Hyundai Motor Co
Kia Motors Corp
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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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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    • 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
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    • 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
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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Abstract

一种能动车辆高度控制方法及装置，该方法可以包括针对车辆前方的道路的不平坦度固定路面轮廓；通过滤波路面轮廓形成目标车辆高度轮廓；通过控制器使用路面轮廓和目标车辆高度轮廓形成干扰轮廓；通过控制器估计干扰轮廓的车辆行为；通过控制器确定使估计的车辆行为最小化的反相控制力；以及由控制器使用反相控制力驱动致动器。

Description

能动车辆高度控制方法及装置
技术领域
本发明涉及能动地控制车身离地高度的技术。
背景技术
相关技术的电子控制悬架(Electronic Controlled Suspension，ECS)是用于实现车辆的乘坐舒适性和操纵的半能动阻尼器系统。
近来，已经提供了一种能动阻尼器系统，其能够能动地在车身和车轮之间施加力，并且该系统能够控制车辆的姿态和高度。
包括在本发明的背景技术部分中的信息仅仅是为了增强对本发明的一般背景的理解，而不能被认为是承认或任何形式的暗示该信息形成本领域技术人员已知的现有技术。
发明内容
本发明的各个方面旨在提供一种能动车辆高度控制方法，该方法针对前方的缓速脊或不平路面，能够通过驱动车辆的能动致动器来适当地控制车身的高度，从而改善车辆的乘坐舒适性并确保更稳定的车辆姿态。
鉴于本发明的一个方面，一种能动车辆高度控制方法包括以下步骤：通过传感器获得车辆前方的不平坦的道路的路面轮廓；通过对所述路面轮廓进行滤波来形成目标车辆高度轮廓；通过控制器使用所述路面轮廓和所述目标车辆高度轮廓来形成干扰轮廓；通过所述控制器来估计针对所述干扰轮廓的车辆行为；通过所述控制器来确定使所估计的车辆行为最小化的反相控制力；以及通过所述控制器使用所述反相控制力来驱动致动器。
在所述目标车辆高度轮廓的形成中，所述目标车辆高度轮廓可以通过应用前向-后向滤波器而形成，所述前向-后向滤波器以第一低通滤波器和第一延迟器、旋转器、以及第二延迟器和第二低通滤波器的顺序配置。
所述前向-后向滤波器可以通过调整截止频率、滤波器阶数以及延迟值来实现，以遵循通过使用车辆模型和所述路面轮廓而确定的最优化车辆高度轮廓。
在所述干扰轮廓的形成中，可以通过从所述路面轮廓减去所述目标车辆高度轮廓来形成所述干扰轮廓
鉴于本发明的另一方面，一种能动车辆高度控制装置，包括：视觉传感器，生成车辆前方路面的路面轮廓；前向-后向滤波器，通过对从所述视觉传感器输出的所述路面轮廓进行滤波来形成目标车辆高度轮廓；致动器，安装在所述车辆中并且被配置为调节所述车辆的高度；以及控制器，使用所述路面轮廓和所述目标车辆高度轮廓来形成干扰轮廓，估计针对所述干扰轮廓的车辆行为，确定使所估计的车辆行为最小化的反相控制力，并且通过使用所述反相控制力来驱动所述致动器。
所述前向-后向滤波器能够以第一低通滤波器和第一延迟器、旋转器以及第二延迟器和第二低通滤波器的顺序配置。
所述控制器可以被配置为通过从所述路面轮廓减去所述目标车辆高度轮廓来形成所述干扰轮廓。
根据本发明的示例性实施例，针对前方的缓速脊或不平路面，能够通过驱动车辆的能动致动器来适当地控制车身的高度，从而改善车辆的乘坐舒适性并确保更稳定的车辆姿态，从而改善车辆的商业价值。
本发明的方法和装置具有其他特征和优点，这些特征和优点将从结合于此的附图和以下详细描述中变得明显或更详细地阐述，这些附图和以下详细描述一起用于解释本发明的某些原理。
附图说明
图1是示出根据本发明的示例性实施例的能动车辆高度控制方法的示例性实施例的流程图；
图2是示出根据本发明的示例性实施例的能动车辆高度控制方法的构造的图；
图3是示出将本发明应用于ECS系统的示例的图；
图4是将本发明的前向-后向滤波器的截止频率改变时的滤波结果与路面轮廓进行比较的曲线图；
图5是将本发明的前向-后向滤波器的滤波器阶数改变时的滤波结果与路面轮廓进行比较的曲线图；
图6是将通过最优化技术确定的用于第一类不平坦的路面轮廓的最优化车辆高度轮廓和通过前向-后向滤波器滤波的目标车辆高度轮廓进行比较的曲线图；
图7是将通过最优化技术确定的用于第二类不平坦的路面轮廓的最优化车辆高度轮廓与通过前向-后向滤波器滤波的目标车辆高度轮廓进行比较的曲线图；
图8是将通过最优化技术确定的用于第三类不平坦的路面轮廓的最优化车辆高度轮廓和通过前向-后向滤波器滤波的目标车辆高度轮廓进行比较的曲线图；
图9是示出路面轮廓，以及路面轮廓的目标车辆高度轮廓和干扰轮廓的曲线图；以及
图10是示出当车辆在不平路面上行驶时通过使用路面轮廓和目标车辆高度轮廓控制车辆来最小化车辆行为的过程的框图。
可以理解，附图不一定按比例绘制，而是呈现了说明本发明基本原理的各种特征的稍微简化的表示。本文所包括的本发明的具体设计特征，包括例如具体尺寸、取向、位置和形状，将部分地由具体预期的应用和使用环境确定。
在附图中，在附图的几幅图中，附图标记表示本发明的相同或等效部分。
具体实施方式
现在将详细参考本发明的各种实施例，其示例在附图中示出并在下面描述。尽管将结合本发明的示例性实施例描述本发明，但是应当理解，本描述并不旨在将本发明限于这些示例性实施例。另一方面，本发明旨在不仅覆盖本发明的示例性实施例，而且覆盖可以包括在由所附权利要求限定的本发明的精神和范围内的各种替换、修改、等同物和其他实施例。
参见图1，本发明的能动车辆高度控制方法的示例性实施例包括：获得车辆前方的不平坦的道路的路面轮廓(S10)；通过对路面轮廓进行滤波来形成目标车辆高度轮廓(S20)；通过控制器使用路面轮廓和目标车辆高度轮廓来形成干扰轮廓(S30)；通过控制器来估计针对干扰轮廓的车辆行为(S40)；通过控制器来确定使所估计的车辆行为最小化的反相控制力(S50)；以及由控制器使用反相控制力驱动致动器(S60)。
即，经设计的本发明被配置为：通过预先使用视觉传感器等拍摄车辆前方的不平坦路面，生成不平坦的路面轮廓，通过滤波器将路面轮廓快速转换为目标车辆高度轮廓，并使用路面轮廓和目标车辆高度轮廓来控制车辆，从而最小化车辆行为，改善乘坐舒适性并确保更稳定的车辆姿态。
图2是示出实施上述能动车辆高度控制方法的能动车辆高度控制装置的结构的图。能动车辆高度控制装置可以包括：视觉传感器1，生成车辆前方的路面的路面轮廓；前向-后向滤波器3，通过对从视觉传感器1输出的路面轮廓进行滤波而形成目标车辆高度轮廓；致动器5，能够调整车辆的高度；以及控制器7，使用路面轮廓和目标车辆高度轮廓来形成干扰轮廓，估计针对干扰轮廓的车辆行为，确定使估计的车辆行为最小化的反相控制力，并且通过使用反相控制力驱动致动器。
视觉传感器1包括照相机、预览传感器等，以及具有拍摄前方的路面并基于所拍摄的图像生成不平坦的路面的轮廓的功能的传统装置。
致动器5例如可以包括能够能动控制车身与车辆的四个车轮之间的竖直力的四个致动器，或者可以是具有能动致动器的ECS系统的能动致动器。
图3是概念性地示出通过将作为本发明的示例性实施例的车辆高度控制量和通过将本发明应用于具有能动致动器的ECS系统而由ECS逻辑生成的控制量相加来控制能动致动器的示例的图。
如上所述，通过滤波而快速地获得作为车辆高度随时间变化的轮廓的目标车辆高度轮廓，被配置为当车辆在不平坦的路面上行驶时通过最小化车辆行为，来改善乘坐舒适性并确保更稳定的车辆姿态。
如图3所示，前向-后向滤波器通过对路面轮廓进行滤波来生成目标车辆高度轮廓，前向-后向滤波器以第一低通滤波器31和第一延迟器32、旋转器33以及第二延迟器34和第二低通滤波器35的顺序配置。
前向-后向滤波器可以通过调整截止频率、滤波器阶数和延迟值来实现，以遵循通过使用车辆模型和路面轮廓确定的最优化车辆高度轮廓。
最优化车辆高度轮廓是通过将配置的车辆模型与最优化车辆高度轮廓和成本一起输入到计算机、通过最优化过程获得的轮廓，其是一种车辆高度可以随着时间变化而改变的理想的轮廓，以被配置为当车辆在相应的不平路面上行驶时，通过最小化的车辆行为来改善乘坐舒适性并确保更稳定的车辆姿态。
尽管使用最优化车辆高度轮廓而不是目标车辆高度轮廓来控制车辆可能是理想的控制，但是生成最优化车辆高度轮廓的工作是通过计算机执行数小时的最优化工作来实现的，因此实际上不可能将最优化车辆高度轮廓应用于车辆。
因此，本发明使用可以通过滤波而瞬时获得的目标车辆高度轮廓来控制车辆，尽管与最优化车辆高度轮廓相比是不够的。
因此，设计执行滤波的前向-后向滤波器很重要，并且如图4和图5所示，使用通过改变滤波器的截止频率(cut-off frequency)和滤波器阶数(filter order)来改变滤波结果轮廓的形状的原理，通过多次反复试验来设计本滤波器。
作为参考，原始轮廓意味着路面轮廓，并且可以通过调节前向-后向滤波器中的延迟值来调节轮廓的最大值。
作为参考，下面是由上述方法设计的前向-后向滤波器的示例。
Figure BDA0002298672880000071
其中，
H：滤波器函数名称
z：z-算子(z-operator)
K：调谐比例常数(tuning proportional constant)
在本等式中，该项
Figure BDA0002298672880000072
是阶为4并且截止频率为2Hz的低通滤波器项，并且该项
Figure BDA0002298672880000073
示出实现200ms的延迟。
基本上，该等式的滤波器对应于第一低通滤波器31和第一延迟器32，并且能够以相同的方式配置第二延迟器34和第二低通滤波器35。
即，通过等式的滤波器处理路面轮廓，反转相位以翻转，然后通过等式的滤波器再次处理路面轮廓，生成目标车辆高度轮廓。
图6是比较通过最优化技术确定的用于第一类不平坦的路面轮廓的最优化车辆高度轮廓和通过前向-后向滤波器滤波的目标车辆高度轮廓的曲线图，其中可以看出，目标车辆高度轮廓形成得非常类似于最优化车辆高度轮廓。
第一类不平坦度是指宽度为2.0m，最大高度为0.075m的缓速脊；第二类不平坦度是指宽度为3.6m，最大高度为0.1m的缓速脊；第三类不平坦度是指宽度为6.1m，最大高度为0.125m的缓速脊。
图7和图8是分别比较如图6中的第二类不平坦度和第三类不平坦度的曲线图，其中可以看出，目标车辆高度轮廓形成为类似于最优化车辆高度轮廓。
作为参考，原始轮廓意味着路面轮廓，最优化轮廓意味着最优化车辆高度轮廓，而滤波后的意味着目标车辆高度轮廓。
在干扰轮廓的形成中，通过从路面轮廓减去目标车辆高度轮廓来形成干扰轮廓。
图9是示出形成干扰轮廓的曲线图，其中原始轮廓意味着路面轮廓，滤波后的意味着目标车辆高度轮廓，并且原始滤波后的意味着干扰轮廓。
车身的车辆高度可以根据目标车辆高度轮廓移动，因此当车辆在相应的不平路面上行驶时，最小化车辆的行为，由此可以改善乘坐舒适性并且可以确保更稳定的车辆姿态。
然而，在本发明的示例性实施例中，根据干扰轮廓来估计车辆行为，而不是如上所述的目标车辆高度轮廓、使用致动器的目标车辆高度轮廓，确定使估计的车辆行为最小化的反相控制力，并且通过反相控制力驱动致动器。
考虑到干扰轮廓，可以基于相对概念根据车辆下方的干扰轮廓来假定车辆没有移动并且路面以不平坦的形状移动。因此，上述结构基于这样的概念，即，通过将干扰轮廓考虑为输入到车辆的干扰并执行控制使得可以最小化车辆行为，能够以最稳定的姿态在相应的不平路面上驾驶车辆。
当根据干扰轮廓估计车辆行为时，控制器使用具有包括侧倾、俯仰、弹跳和四个车轮的总共七个自由度的简化车辆模型来进行车辆的控制行为。
本领域公知的技术用于在车辆模型中干扰作用时，估计车辆行为的技术，以及用于确定用于使行为最小化的反相控制力的技术。
控制器使用如上所述由此确定的反相控制力来驱动致动器，使得车辆在相应的不平路面上被驱动，并且因此，能够实现大幅改善车辆的乘坐舒适性的效果。
为了便于解释和准确定义所附权利要求。术语“较高”，“较低”，“内”，“外”，“上”，“下”，“向上”，“向下”，“前”，“后”，“背部”，“内部”，“外部”，“向内”，“向外”，“里面”，“外面”，“内”，“外”、“向前”和“向后”用于参考图中所示这些特征的位置来描述示例性实施例的特征。还应当理解，术语“连接”或其派生词是指直接连接和间接连接。
为了说明和描述的目的，已经给出了本发明的特定示例性实施例的上述描述。它们并不旨在穷举或将本发明限于所公开的精确形式，并且显然根据上述教导可以进行许多修改和变化。所选择和描述示例性实施例以解释本发明的某些原理及其实际应用，以使本领域技术人员能够制造和利用本发明的各种示例性实施例及其各种替换和修改。本发明的范围由所附权利要求及其等同物来限定。

Claims (7)

1.一种车辆高度控制方法，包括以下步骤：
通过传感器获得车辆前方的不平坦的道路的路面轮廓；
通过对所述路面轮廓进行滤波来形成目标车辆高度轮廓；
通过控制器使用所述路面轮廓和所述目标车辆高度轮廓来形成干扰轮廓；
通过所述控制器来估计针对所述干扰轮廓的车辆行为；
通过所述控制器来确定使所估计的车辆行为最小化的反相控制力；以及
通过所述控制器使用所述反相控制力来驱动致动器。
2.根据权利要求1所述的车辆高度控制方法，
其中，在所述目标车辆高度轮廓的形成中，所述目标车辆高度轮廓通过应用前向-后向滤波器而形成，所述前向-后向滤波器以第一低通滤波器和第一延迟器、旋转器、以及第二延迟器和第二低通滤波器的顺序配置。
3.根据权利要求2所述的车辆高度控制方法，
其中，所述前向-后向滤波器通过调整截止频率、滤波器阶数以及延迟值来实现，以遵循通过使用车辆模型和所述路面轮廓而确定的最优化车辆高度轮廓。
4.根据权利要求1所述的车辆高度控制方法，
其中，在所述干扰轮廓的形成中，通过从所述路面轮廓减去所述目标车辆高度轮廓来形成所述干扰轮廓。
5.一种车辆高度控制装置，包括：
视觉传感器，生成车辆的前方路面的路面轮廓；
前向-后向滤波器，通过对从所述视觉传感器输出的所述路面轮廓进行滤波来形成目标车辆高度轮廓；
致动器，安装在所述车辆中并且被配置为调节所述车辆的高度；以及
控制器，使用所述路面轮廓和所述目标车辆高度轮廓来形成干扰轮廓，估计针对所述干扰轮廓的车辆行为，确定使所估计的车辆行为最小化的反相控制力，并且通过使用所述反相控制力来驱动所述致动器。
6.根据权利要求5所述的车辆高度控制装置，
其中，所述前向-后向滤波器以第一低通滤波器和第一延迟器、旋转器以及第二延迟器和第二低通滤波器的顺序配置。
7.根据权利要求6所述的车辆高度控制装置，
其中，所述控制器被配置为通过从所述路面轮廓减去所述目标车辆高度轮廓来形成所述干扰轮廓。
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