CN112109515A - Storage medium, and method and device for controlling vehicle active suspension - Google Patents
Storage medium, and method and device for controlling vehicle active suspension Download PDFInfo
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- CN112109515A CN112109515A CN202010898134.5A CN202010898134A CN112109515A CN 112109515 A CN112109515 A CN 112109515A CN 202010898134 A CN202010898134 A CN 202010898134A CN 112109515 A CN112109515 A CN 112109515A
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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
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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
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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
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- Vehicle Body Suspensions (AREA)
Abstract
The embodiment of the application discloses a storage medium, and a control method and device for a vehicle active suspension. The method comprises the following steps: when it is monitored that the target vehicle runs on a preset target running road section, acquiring first suspension parameter information of each wheel of the target vehicle on the target running road section; the first suspension parameter information is obtained by calculation according to pre-acquired first road surface information corresponding to the target driving road section; determining first driving state information of a target vehicle; determining a first suspension parameter correction strategy of each wheel on the target driving road section according to the first driving state information; correcting the first suspension parameter information according to a first suspension parameter correction strategy to obtain second suspension parameter information; and adjusting the suspension parameters of each wheel according to the second suspension parameter information. According to the technical scheme, the suspension parameters of each wheel can be quickly adjusted, the reaction speed of the suspension is improved, the accuracy of suspension parameter adjustment is improved, and the riding comfort of a user is further improved.
Description
Technical Field
The invention relates to the field of automobile control, in particular to a storage medium, and a method and a device for controlling an active suspension of a vehicle.
Background
Nowadays, the economy continues to increase steadily, the automobile industry is also developing rapidly, and comfortable and intelligent automobiles are increasingly favored by people. The automotive suspension is a general term for an elastic coupling device between an automobile body and wheels, and has great influence on the running stability, smoothness and comfort of an automobile. The passive suspension adopted by the traditional automobile cannot meet the requirement of people on comfort under various road conditions due to the non-adjustability of the passive suspension, and the active suspension is favored by people due to the characteristic of adjustability of the active suspension. Compared with a passive suspension, the active suspension has more master control performance, can actively adjust the damping parameters and the rigidity parameters of the suspension, and effectively improves the comfort of people taking automobiles.
At present, the damping of the active suspension is generally adjusted by inputting the road load into a preset adjusting system according to the road load to which the wheels are subjected during the running of the vehicle. The adjusting method has high requirements on the control model in practical application, needs to spend a large amount of cost to establish the control model, has a limited adjusting range and cannot cope with the road surface with great mutability. Or predicting the running track characteristics of each wheel in the running process of the vehicle to further acquire the optimal damping parameter and stiffness parameter of the active suspension, and adjusting the damping parameter and the stiffness parameter of the active suspension at a preset lag time. However, when the vehicle runs at a high speed, the performance parameters of the active suspension and the road surface characteristics cannot be quickly matched due to the delay of the control system and the response delay of the adjusting system, so that the riding comfort of the whole vehicle is influenced to a certain extent.
Disclosure of Invention
The embodiment of the application aims to provide a storage medium, and a control method and device for a vehicle active suspension, so as to solve the problems that in the prior art, the adjustment effect on the vehicle active suspension is poor, and the riding comfort of the whole vehicle is poor.
In order to solve the above technical problem, the embodiment of the present application is implemented as follows:
in one aspect, an embodiment of the present application provides a method for controlling an active suspension of a vehicle, including:
when monitoring that a target vehicle runs on a preset target running road section, acquiring first suspension parameter information of each wheel of the target vehicle on the target running road section; the first suspension parameter information is obtained by calculation according to first road information which is obtained in advance and corresponds to the target running road section; the first suspension parameter information comprises suspension stiffness and/or suspension damping;
determining first driving state information of the target vehicle;
determining a first suspension parameter correction strategy of each wheel on the target driving road section according to the first driving state information;
correcting the first suspension parameter information according to the first suspension parameter correction strategy to obtain second suspension parameter information; and adjusting the suspension parameters of each wheel according to the second suspension parameter information.
In another aspect, an embodiment of the present application provides a control device for an active suspension of a vehicle, including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring first suspension parameter information of each wheel of a target vehicle on a preset target driving road section when the target vehicle is monitored to drive on the preset target driving road section; the first suspension parameter information is obtained by calculation according to first road information which is obtained in advance and corresponds to the target running road section; the first suspension parameter information comprises suspension stiffness and/or suspension damping;
a first determination module for determining first driving state information of the target vehicle;
the second determining module is used for determining a first suspension parameter correction strategy of each wheel on the target driving road section according to the first driving state information;
the correction and adjustment module is used for correcting the first suspension parameter information according to the first suspension parameter correction strategy to obtain second suspension parameter information; and adjusting the suspension parameters of each wheel according to the second suspension parameter information.
In another aspect, an embodiment of the present application provides a control device for a vehicle active suspension, which includes a processor and a memory electrically connected to the processor, where the memory stores a computer program, and the processor is configured to call and execute the computer program from the memory to implement the control method for the vehicle active suspension.
In still another aspect, an embodiment of the present application provides a storage medium for storing a computer program, where the computer program is executed by a processor to implement the control method for an active suspension of a vehicle.
By adopting the technical scheme of the embodiment of the invention, when the situation that the target vehicle runs on the preset target running road section is monitored, the first suspension parameter information (comprising suspension rigidity and/or suspension damping) of each wheel on the target running road section is obtained through pre-calculation, the first running state information of the target vehicle is determined, the first suspension parameter correction strategy of each wheel on the target running road section is further determined according to the first running state information, the first suspension parameter information is corrected according to the first suspension parameter correction strategy, the second suspension parameter information is obtained, and the suspension parameters of each wheel are further adjusted according to the second suspension parameter information. Therefore, according to the technical scheme, the calculated amount of the target vehicle in the running process is greatly reduced by calculating the suspension parameter information of the target vehicle in advance, so that the suspension parameters of each wheel can be quickly adjusted, and the reaction speed of the suspension is improved. In addition, the suspension parameter information of each wheel can be corrected according to the running state information of the target vehicle, so that the corrected suspension parameter information is matched with the running state of the target vehicle, the accuracy of suspension parameter adjustment is improved, and the riding comfort of a user is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic flow chart diagram of a method of controlling an active suspension of a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of an active suspension control apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart diagram of a method of controlling an active suspension of a vehicle according to another embodiment of the present invention;
FIG. 4 is a schematic block diagram of a control apparatus for a vehicle active suspension according to an embodiment of the present invention;
fig. 5 is a schematic block diagram of a control apparatus for an active suspension of a vehicle according to another embodiment of the present invention.
Detailed Description
The embodiment of the application provides a storage medium, and a control method and device for a vehicle active suspension, and aims to solve the problems that in the prior art, the adjustment effect on the vehicle active suspension is poor, and the riding comfort of a whole vehicle is poor.
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic flowchart of a control method of an active suspension of a vehicle according to an embodiment of the present invention, which is applicable to an active suspension control unit provided in a target vehicle, as shown in fig. 1, and includes the steps of:
s102, when it is monitored that the target vehicle runs on a preset target running road section, first suspension parameter information of each wheel of the target vehicle on the target running road section is obtained.
The first suspension parameter information is calculated according to first road information corresponding to a target driving road section acquired in advance, and the first suspension parameter information calculated in advance can be stored in a vehicle storage unit built in the target vehicle in advance. The first road information may include road height, road spectrum, etc., and the first suspension parameter information may include suspension stiffness, suspension damping, etc.
The method for acquiring the first road information corresponding to the target travel section may be: first, a target travel section of a target vehicle is determined, which can be determined by monitoring an application having a trip creation function, for example, when it is monitored that new trip information is created in a calendar, the target travel section can be determined according to the trip information. The determination time of the target driving road section is not limited, and only needs to be determined before the target vehicle drives, for example, the target driving road section can be determined immediately after the travel information is monitored, and the target driving road section can also be determined within a preset time before the target vehicle starts. And secondly, acquiring a digital electronic road map corresponding to the target driving road section from the network side, wherein the acquired digital electronic road map can be stored in a vehicle storage unit in advance, and the next step can be executed immediately when the acquired digital electronic road map is acquired. And thirdly, analyzing the digital electronic road map corresponding to the target driving road section prestored in the vehicle storage unit to determine first road information corresponding to the target driving road section.
When the first suspension parameter information is calculated according to the first road surface information, the first suspension parameter information can be obtained by calculating the road surface height, the road spectrum and other information in the first road surface information through a control algorithm. The control algorithm includes, but is not limited to, a suspension adaptive control algorithm, a suspension fuzzy control algorithm, a neural network control algorithm and the like, and the first suspension parameter information can also be calculated through fusion of a plurality of control algorithms to achieve a more accurate calculation result. The above-mentioned several control algorithms belong to the prior art, and the specific implementation process of each algorithm is not described herein.
And S104, determining first running state information of the target vehicle.
The first driving state information may include information such as a steering wheel angle, a steering wheel torque, a lateral acceleration, a longitudinal acceleration, and a vehicle speed. Various items of information may be collected by sensors installed inside the subject vehicle. For example, the steering wheel angle can be acquired by a steering wheel angle sensor; the steering wheel torque can be acquired through a steering wheel torque sensor; the transverse acceleration and the longitudinal acceleration can be acquired by a yaw angular velocity sensor; the vehicle speed can be acquired by a vehicle speed sensor.
In this embodiment, when the target vehicle travels on the target travel section, the first travel state information of the target vehicle is not constant, and the first travel state information of the target vehicle changes when there are situations such as passing a vehicle ahead, changing lanes, and sudden braking.
And S106, determining a first suspension parameter correction strategy of each wheel on the target driving road section according to the first driving state information of the target vehicle.
In this embodiment, since the first driving state information of the target vehicle may cause different loads borne by each wheel, it is necessary to determine, for each wheel, a first suspension parameter correction strategy of each wheel on the target driving section, so that the active suspension control effect of the target vehicle is more accurate.
The first suspension parameter modification strategy may include increasing or decreasing the suspension parameter for each wheel.
S108, correcting the first suspension parameter information according to the first suspension parameter correction strategy to obtain second suspension parameter information; and adjusting the suspension parameters of each wheel according to the second suspension parameter information.
By adopting the technical scheme of the embodiment of the invention, when the situation that the target vehicle runs on the preset target running road section is monitored, the first suspension parameter information (comprising suspension rigidity and/or suspension damping) of each wheel on the target running road section is obtained through pre-calculation, the first running state information of the target vehicle is determined, the first suspension parameter correction strategy of each wheel on the target running road section is further determined according to the first running state information, the first suspension parameter information is corrected according to the first suspension parameter correction strategy, the second suspension parameter information is obtained, and the suspension parameters of each wheel are further adjusted according to the second suspension parameter information. Therefore, according to the technical scheme, the calculated amount of the target vehicle in the running process is greatly reduced by calculating the suspension parameter information of the target vehicle in advance, so that the suspension parameters of each wheel can be quickly adjusted, and the reaction speed of the suspension is improved. In addition, the suspension parameter information of each wheel can be corrected according to the running state information of the target vehicle, so that the corrected suspension parameter information is matched with the running state of the target vehicle, the accuracy of suspension parameter adjustment is improved, and the riding comfort of a user is improved.
In one embodiment, to improve the accuracy of suspension parameter adjustments, the road surface information may be analyzed in segments. Therefore, the following method can be adopted to obtain the first road surface information of the target driving road section where the target vehicle is located in advance, and then calculate the first suspension parameter information:
firstly, a target driving section of a target vehicle is determined, and a digital electronic road map corresponding to the target driving section is obtained from a network side.
And secondly, analyzing the digital electronic road map of the target driving road section, and determining first road information corresponding to the target driving road section.
And thirdly, segmenting the first road information corresponding to the target driving road section according to the preset unit road section length to obtain a plurality of sub road sections.
The sub-road sections respectively correspond to respective road surface information, and the value of the unit road section length can be set according to actual requirements, such as 5 km.
And finally, calculating first suspension parameter information corresponding to each sub-road section according to the road surface information corresponding to each sub-road section.
In this step, the first suspension parameter information corresponding to each sub-segment may be stored in advance in a vehicle storage unit built in the target vehicle. When it is monitored that the target vehicle runs on a preset target running road section, first suspension parameter information of the corresponding sub-road section is obtained according to the running road section of the target vehicle. For example, assuming that the target vehicle is currently traveling within the sub-link a on the target traveling link, the first suspension parameter information corresponding to the sub-link a may be acquired from the vehicle storage unit, and preferably, the first suspension parameter information corresponding to the sub-link a may be acquired before the target vehicle travels into the sub-link a.
In this embodiment, the first suspension parameter information corresponding to each sub-road section is calculated in a segmented manner, so that the first suspension parameter information of the corresponding sub-road section can be subsequently acquired according to the traveling road section of the target vehicle, and therefore the suspension parameters of each wheel of the target vehicle can be adjusted more accurately.
In this embodiment, assuming that the target vehicle travels in the sub-road segment a on the target travel road segment and the first suspension parameter information corresponding to the sub-road segment a has been acquired from the vehicle storage unit, the first suspension parameter information corresponding to the sub-road segment a acquired by the vehicle storage unit may also be deleted when the target vehicle exits the sub-road segment a (e.g., enters the sub-road segment B after the sub-road segment a), thereby saving the storage space of the vehicle storage unit.
In one embodiment, before determining the first driving state information of the target vehicle, it may be determined whether the actual road information corresponding to the target driving section acquired in real time is consistent with the first road information corresponding to the target driving section acquired in advance, and the subsequent operation may be determined based on whether the actual road information is consistent with the first road information.
Based on the method, the second road information (namely the actual road information) corresponding to the target driving road section can be collected in real time in the driving process of the target vehicle, and whether the second road information is consistent with the first road information or not can be judged in real time. If yes, S104 is continuously executed, i.e., the first driving state information of the target vehicle is determined. The second road information includes information such as road height (i.e., a correspondence table between different geographic coordinate positions and the road height at the position), road spectrum (road spectrum, which refers to road spectrum for short, and power spectral density curve of road unevenness).
In this embodiment, in the driving process of the target vehicle, the second road surface information corresponding to the target driving road section may be collected in real time by using a vehicle-mounted camera and/or a laser radar installed in the target vehicle. Wherein, in order to ensure road surface information acquisition's accuracy, on-vehicle camera or laser radar can install in higher position, like the roof. The types and the use methods of the vehicle-mounted camera and the laser radar are not limited in the present application.
For example, the three-dimensional laser radar sensor is used for acquiring second road surface information corresponding to the target driving road section in real time, and if the second road surface information comprises the actual road surface height, the actual road surface height can be compared with the road surface height in the first road surface information, so that whether the actual road surface height and the road surface height are consistent or not can be judged. In one embodiment, a comparison threshold may be set for whether the road surface heights are consistent, and if the comparison threshold is 1 cm, it is determined that the second road surface information is consistent with the first road surface information when the difference between the actual road surface height and the road surface height in the first road surface information is not more than 1 cm.
In one embodiment, after the second road information is judged to be consistent with the first road information, a first suspension parameter correction strategy of each wheel on the target driving road section is determined according to the first driving state information, and load information and road impact information of a suspension corresponding to each wheel are respectively determined according to the first driving state information; and secondly, determining a correction strategy of the suspension stiffness corresponding to each wheel according to the load information, and determining a correction strategy of the suspension damping corresponding to each wheel according to the road surface impact information.
In one embodiment, only one of the load information or the road surface impact information of the suspension corresponding to each wheel may be acquired, and then the correction strategy of the suspension parameter corresponding to each wheel may be determined according to the load information or the road surface impact information.
In one embodiment, if the second route information and the first route information are not consistent, the following steps a1-A3 may be performed:
step a1, the vehicle speed of the target vehicle is controlled and adjusted according to the second road surface information.
In this step, a vehicle speed adjustment mode for the target vehicle may be determined according to the second road surface information, where the vehicle speed adjustment mode includes a vehicle speed adjustment value, a vehicle speed adjustment direction (such as adjusting the vehicle speed up or down), and the like; and controlling the speed of the target vehicle to correspondingly adjust according to the speed adjusting mode.
The vehicle speed adjusting value can be a vehicle speed adjusting percentage, a vehicle speed adjusting amplitude or a vehicle speed adjusting target value and the like. For example, if the vehicle speed adjustment value is 60% of the vehicle speed adjustment percentage, the vehicle speed is adjusted to 60% of the original vehicle speed according to the vehicle speed adjustment direction after the vehicle speed adjustment direction of the target vehicle at a certain time is determined. For another example, if the vehicle speed adjustment value is a target vehicle speed adjustment value of 60km/h, the vehicle speed can be adjusted from the original vehicle speed of 80km/h to 60km/h according to the vehicle speed adjustment direction after the vehicle speed adjustment direction is determined.
Step A2, calculating third suspension parameter information of each wheel on the target driving road section according to the second road surface information; and determining second driving state information of the target vehicle; and determining a second suspension parameter correction strategy of each wheel on the target driving section according to the second driving state information.
In this embodiment, if the second road information is not consistent with the first road information, the suspension parameter information may be recalculated according to the second road information collected in real time without using the first suspension parameter information calculated in advance.
Wherein the second road surface information may be analyzed and the third suspension parameter information may be calculated according to the method of calculating the first suspension parameter in S102.
The second driving state information may include information of a steering wheel angle, a steering wheel torque, a lateral acceleration, a longitudinal acceleration, a vehicle speed, and the like; the third suspension parameter information may include suspension stiffness and suspension damping, or one of suspension stiffness and suspension damping. The second driving state information of the target vehicle may be acquired by a sensor installed inside the target vehicle. For example, the steering wheel angle can be acquired by a steering wheel angle sensor; the steering wheel torque can be acquired through a steering wheel torque sensor; the transverse acceleration and the longitudinal acceleration can be acquired by a yaw angular velocity sensor; the vehicle speed can be acquired by a vehicle speed sensor.
In the step, load information and road surface impact information corresponding to each wheel can be determined through the second running state information, and then a second suspension parameter correction strategy of each wheel on the target running section is determined.
Step A3, correcting the third suspension parameter information according to the second suspension parameter correction strategy to obtain fourth suspension parameter information; and adjusting the suspension parameters of each wheel according to the fourth suspension parameter information.
The second suspension parameter modification strategy may include increasing or decreasing the suspension parameter for each wheel.
When the target vehicle travels on the target travel section, the actual road surface information may be different from the first road surface information acquired in advance due to road repair, road obstacle, or the like, and the travel state information of the target vehicle may also be changed. For this situation, in the present embodiment, the suspension parameter information of each wheel can be recalculated according to the actual road surface information, the second suspension parameter modification strategy of each wheel on the target driving section is determined according to the second driving state information of the target vehicle, and then the recalculated third suspension parameter information is modified according to the second suspension parameter modification strategy, so that the suspension parameter of each wheel of the target vehicle can be comprehensively considered based on the actual road surface information and the driving state information of the target vehicle, thereby further ensuring the accuracy of adjusting the suspension parameter of each wheel, and improving the comfort of the user in riding.
Fig. 2 is a schematic structural view of an active suspension control apparatus according to an embodiment of the present invention. As shown in fig. 2, the active suspension control apparatus includes a wheel, a suspension stiffness adjusting module, a suspension damping adjusting module, a sensor module, and an active suspension control unit 30, a vehicle control unit 40, and an electronic brake control module 50.
Wherein the wheels include a front left wheel 10FL, a front right wheel 10FR, a rear left wheel 10RL and a rear right wheel 10 RR; the suspension stiffness adjusting module comprises a left front wheel stiffness adjusting unit 31FL, a right front wheel stiffness adjusting unit 31FR, a left rear wheel stiffness adjusting unit 31RL and a right rear wheel stiffness adjusting unit 31 RR; the suspension damping adjustment module comprises a front left wheel damping adjustment unit 32FL, a front right wheel damping adjustment unit 32FR, a rear left wheel damping adjustment unit 32RL and a rear right wheel damping adjustment unit 32 RR; the sensor modules include a vehicle speed sensor 33, a yaw rate sensor 34, a steering wheel angle sensor 35, and a steering wheel torque sensor 36. The suspension damping adjusting device, the suspension stiffness adjusting device, the vehicle control unit 40 and the electronic brake control module 50 are respectively connected with the active suspension control unit 30.
The active suspension control unit 30 controls suspension parameters corresponding to each wheel through a suspension damping adjustment device capable of adjusting suspension damping of each wheel under the control of the active suspension control unit and a suspension stiffness adjustment device capable of adjusting suspension stiffness of each wheel under the control of the active suspension control unit. The vehicle speed sensor 33, the yaw rate sensor 34, the steering wheel angle sensor 35, and the steering wheel torque sensor 36 are connected to the active suspension control unit, respectively, so that the active suspension control unit 30 can directly read data collected by the sensors. When the vehicle speed needs to be adjusted, the active suspension control unit 30 sends vehicle speed adjustment information to the vehicle controller 40, so that the vehicle controller 40 controls the electronic brake control module 50 to adjust the vehicle speed.
Fig. 3 is a schematic flow chart of a control method of an active suspension of a vehicle according to another embodiment of the present invention, and as shown in fig. 3, the control method of the active suspension of the vehicle can be applied to the active suspension control device shown in fig. 2, and includes the following steps:
s301, determining a target driving road section of the target vehicle, and determining first road information corresponding to the target driving road section.
The first road information may include road height, road spectrum, and the like. After the target driving road section of the target vehicle is determined, the digital electronic road map corresponding to the target driving road section can be obtained from the network side, and the first road information corresponding to the target driving road section is determined by analyzing the digital electronic road map.
And S302, calculating first suspension parameter information of each wheel on the target driving section according to the first road surface information, and storing the first suspension parameter information locally.
The first suspension parameter information can be stored locally, the local storage unit can be a vehicle storage unit built in the target vehicle, and the first suspension parameter information comprises suspension stiffness and suspension damping.
And S303, when it is monitored that the target vehicle runs on the target running road section, acquiring second road surface information corresponding to the target running road section in real time, and determining running state information of the target vehicle.
The second road information may include road spectrum, road surface height, and the like. The second road information can be acquired by a built-in laser radar sensor and/or a vehicle-mounted camera of the target vehicle in real time.
The driving state information may include information on a steering wheel angle, a steering wheel torque, a lateral acceleration, a longitudinal acceleration, a vehicle speed, and the like. The driving state information may be acquired by a sensor installed inside the target vehicle. For example, the steering wheel angle can be acquired by a steering wheel angle sensor; the steering wheel torque can be acquired through a steering wheel torque sensor; the transverse acceleration and the longitudinal acceleration can be acquired by a yaw angular velocity sensor; the vehicle speed can be acquired by a vehicle speed sensor.
S304, judging whether the second road information is consistent with the first road information; if not, executing S305; if yes, go to step S307.
And S305, determining a speed adjusting mode of the target vehicle according to the second road surface information, and controlling the speed of the target vehicle to adjust according to the speed adjusting mode.
The vehicle speed adjusting mode comprises a vehicle speed adjusting value and a vehicle speed adjusting direction (such as increasing or decreasing the vehicle speed).
And S306, calculating third suspension parameter information of each wheel on the target driving road section according to the second road surface information.
Wherein the third suspension parameter information includes suspension damping and suspension stiffness.
And S307, determining a suspension parameter correction strategy of each wheel on the target driving road section according to the driving state information of the target vehicle.
The suspension parameter correction strategy may include, among other things, increasing or decreasing the suspension parameter for each wheel.
And S308, correcting the suspension parameter information according to the suspension parameter correction strategy, and adjusting the suspension parameters of each wheel according to the corrected suspension parameter information.
And when the second road surface information is consistent with the first road surface information, correcting the first suspension parameter information calculated in the step S302 according to a suspension parameter correction strategy. And under the condition that the second road surface information is inconsistent with the first road surface information, correcting the third suspension parameter information obtained by calculation in the step S306 according to a suspension parameter correction strategy.
Taking a specific scenario as an example, an implementation of the control method for the vehicle active suspension provided in this embodiment is described.
In one embodiment, a target vehicle obtains first road surface information of a target travel section from a network side in advance, and determines first suspension parameter information of each wheel on the target travel section. When a target vehicle runs on a target running road section, supposing that the target vehicle drives into a right curve at a high speed at a certain moment, first running state information (including a steering wheel angle, a steering wheel torque, a transverse acceleration, a longitudinal acceleration and vehicle speed information) of the target vehicle is obtained, a first suspension parameter correction strategy is calculated according to the first running state information, and the first suspension parameter information is corrected according to the first suspension parameter correction strategy to obtain second suspension parameter information. And adjusting the suspension parameters of each wheel according to the second suspension parameter information. Specifically, when the vehicle enters a right-side curve, the load and road impact of the suspension corresponding to the right-side wheel are increased, and the load and road impact of the suspension corresponding to the left-side wheel are reduced, so that the suspension stiffness and suspension damping of the right front wheel and the right rear wheel are increased, and the suspension stiffness and suspension damping of the left front wheel and the left rear wheel are reduced, so that the load and road impact of the suspensions corresponding to the left wheel and the right wheel are balanced, discomfort of a user caused by centrifugal force is relieved, and the lateral stability of the vehicle is enhanced.
In another embodiment, the actual road information on the target driving section is not consistent with the first road information acquired in advance due to road repair, and in this case, when the target vehicle drives into the road repair section, the vehicle speed of the target vehicle may be controlled to decrease to a predetermined vehicle speed adjustment target value of 60 km/h. And then, based on the actual road surface information and the running state information of the target vehicle, the suspension parameters of the wheels are adjusted, so that when the target vehicle runs into a road repairing section, the riding discomfort of a user caused by poor road surface conditions can be effectively relieved. In this embodiment, the manner of adjusting the suspension parameters of each wheel based on the actual road surface information and the driving state information of the target vehicle is the same as that in the above embodiment, and will not be described again here.
Therefore, by adopting the technical scheme of the embodiment of the invention, the calculated amount of the target vehicle in the driving process is greatly reduced by calculating the suspension parameter information of the target vehicle in advance, so that the suspension parameters of each wheel can be quickly adjusted, and the reaction speed of the suspension is improved. In addition, the suspension parameter information of each wheel can be corrected according to the running state information of the target vehicle, so that the corrected suspension parameter information is matched with the running state of the target vehicle, the accuracy of suspension parameter adjustment is improved, and the riding comfort of a user is improved. In addition, under the condition that the actual road surface information is different from the pre-acquired first road surface information, the actual road surface information of the target driving road section can be acquired again, and the suspension parameters of the wheels are adjusted according to the actual road surface information and the driving state information of the target vehicle, so that the actual road surface information can be considered by the suspension parameters of the wheels of the target vehicle, the accuracy of adjusting the suspension parameters of the wheels is further improved, and the comfort of a user in riding is improved.
In summary, embodiments of the present application have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may be advantageous.
Based on the same idea, the embodiment of the present application further provides a control device for an active suspension of a vehicle.
Fig. 4 is a schematic block diagram of a control apparatus for an active suspension of a vehicle according to an embodiment of the present invention. As shown in fig. 4, the control device of the active suspension of the vehicle includes:
the acquiring module 410 is configured to acquire first suspension parameter information of each wheel of the target vehicle on a preset target driving road section when it is monitored that the target vehicle drives on the preset target driving road section; the first suspension parameter information is obtained by calculation according to pre-acquired first road surface information corresponding to the target driving road section; the first suspension parameter information comprises suspension stiffness and/or suspension damping;
a first determination module 420 for determining first driving state information of the target vehicle;
a second determining module 430, configured to determine a first suspension parameter modification strategy for each wheel on the target driving road segment according to the first driving state information;
the correcting and adjusting module 440 is configured to correct the first suspension parameter information according to the first suspension parameter correction strategy to obtain second suspension parameter information; and adjusting the suspension parameters of each wheel according to the second suspension parameter information.
In one embodiment, the apparatus further comprises:
the acquisition module is used for acquiring second road surface information corresponding to the target driving road section in real time in the driving process of the target vehicle before the first driving state information of the target vehicle is determined;
the judging module is used for judging whether the second road surface information is consistent with the first road surface information;
and the execution module is used for executing the step of determining the first running state information of the target vehicle if the first running state information of the target vehicle is determined.
In one embodiment, the apparatus further comprises:
the vehicle speed adjusting module is used for controlling the vehicle speed of the target vehicle to adjust according to the second road information if the second road information is inconsistent with the first road information after judging whether the second road information is consistent with the first road information;
the calculation module is used for calculating third suspension parameter information of each wheel on the target driving road section according to the second road surface information; and determining second driving state information of the target vehicle; determining a second suspension parameter correction strategy of each wheel on the target driving section according to the second driving state information;
the adjusting module is used for correcting the third suspension parameter information according to the second suspension parameter correction strategy to obtain fourth suspension parameter information; and adjusting the suspension parameters of each wheel according to the fourth suspension parameter information.
In one embodiment, the vehicle speed adjustment module includes:
the first determining unit is used for determining a speed adjusting mode of the target vehicle according to the second road surface information; the vehicle speed adjusting mode comprises a vehicle speed adjusting value and/or a vehicle speed adjusting direction;
and the control unit is used for controlling the speed of the target vehicle to carry out corresponding adjustment according to the speed adjustment mode.
In one embodiment, the apparatus further comprises:
the system comprises a downloading module, a processing module and a control module, wherein the downloading module is used for acquiring a digital electronic road map corresponding to a target driving road section from a network side before acquiring first suspension parameter information of each wheel of a target vehicle on the target driving road section when the condition that the target vehicle drives on the preset target driving road section is monitored;
the analysis module is used for analyzing the digital electronic road map so as to determine the first road information corresponding to the target driving road section;
and the calculating and storing module is used for calculating and storing the first suspension parameter information of each wheel on the target driving road section according to the first road information.
In one embodiment, the first driving state information comprises at least one of: steering wheel angle, steering wheel torque, lateral acceleration, longitudinal acceleration, vehicle speed.
In one embodiment, the second determining module 430 includes:
a second determination unit configured to determine load information and/or road surface impact information of suspensions corresponding to the wheels, respectively, based on the first running state information;
a third determining unit that determines a correction strategy for the suspension stiffness corresponding to the wheel, based on the load information; and/or determining a correction strategy of the suspension damping corresponding to the wheel according to the road surface impact information.
It should be understood by those skilled in the art that the control device for the active suspension of the vehicle can be used to implement the control method for the active suspension of the vehicle described above, and the detailed description thereof should be similar to the description of the method, and therefore, in order to avoid complexity, the detailed description thereof is omitted.
Based on the same idea, the embodiment of the present application further provides a control device for an active suspension of a vehicle, as shown in fig. 5. The control device for the active suspension of the vehicle may have a relatively large difference due to different configurations or performances, and may include one or more processors 501 and a memory 502, where the memory 502 may store one or more stored applications or data. Memory 502 may be, among other things, transient or persistent storage. The application program stored in memory 502 may include one or more modules (not shown), each of which may include a series of computer executable instructions in a control for the vehicle's active suspension. Still further, the processor 501 may be configured to communicate with the memory 502 to execute a series of computer-executable instructions in the memory on a control device of the vehicle's active suspension. The control device for the vehicle active suspension may also include one or more power sources 503, one or more wired or wireless network interfaces 504, one or more input-output interfaces 505, and one or more keyboards 506.
In particular, in the present embodiment, the control device for the vehicle active suspension includes a memory 502 and one or more programs, wherein the one or more programs are stored in the memory 502, and the one or more programs may include one or more modules, and each module may include a series of computer-executable instructions in the control device for the vehicle active suspension, and the one or more programs configured to be executed by the one or more processors 501 include computer-executable instructions for:
when monitoring that a target vehicle runs on a preset target running road section, acquiring first suspension parameter information of each wheel of the target vehicle on the target running road section; the first suspension parameter information is obtained by calculation according to first road information which is obtained in advance and corresponds to the target running road section; the first suspension parameter information comprises suspension stiffness and/or suspension damping;
determining first driving state information of the target vehicle;
determining a first suspension parameter correction strategy of each wheel on the target driving road section according to the first driving state information;
correcting the first suspension parameter information according to the first suspension parameter correction strategy to obtain second suspension parameter information; and adjusting the suspension parameters of each wheel according to the second suspension parameter information.
Optionally, the computer executable instructions, when executed, may further cause the processor to:
before determining first running state information of the target vehicle, acquiring second road surface information corresponding to the target running road section in real time in the running process of the target vehicle;
judging whether the second road information is consistent with the first road information;
if so, executing the step of determining the first running state information of the target vehicle.
Optionally, the computer executable instructions, when executed, may further cause the processor to:
after judging whether the second road information is consistent with the first road information or not, if the second road information is inconsistent with the first road information, controlling the speed of the target vehicle to adjust according to the second road information;
calculating third suspension parameter information of each wheel on the target driving road section according to the second road surface information; and determining second driving state information of the target vehicle; determining a second suspension parameter correction strategy of each wheel on the target driving section according to the second driving state information;
correcting the third suspension parameter information according to the second suspension parameter correction strategy to obtain fourth suspension parameter information; and adjusting the suspension parameters of each wheel according to the fourth suspension parameter information.
Optionally, the computer executable instructions, when executed, may further cause the processor to:
determining a speed adjusting mode of the target vehicle according to the second road surface information; the vehicle speed adjusting mode comprises a vehicle speed adjusting value and/or a vehicle speed adjusting direction;
and controlling the speed of the target vehicle to correspondingly adjust according to the speed adjusting mode.
Optionally, the computer executable instructions, when executed, may further cause the processor to:
when monitoring that a target vehicle runs on a preset target running road section, acquiring a digital electronic road map corresponding to the target running road section from a network side before acquiring first suspension parameter information of each wheel of the target vehicle on the target running road section;
analyzing the digital electronic road map to determine the first road information corresponding to the target driving road section;
and calculating and storing the first suspension parameter information of each wheel on the target driving section according to the first road surface information.
Optionally, the first driving state information includes at least one of: steering wheel angle, steering wheel torque, lateral acceleration, longitudinal acceleration, vehicle speed.
Optionally, the computer executable instructions, when executed, may further cause the processor to:
respectively determining load information and/or road surface impact information of the suspension corresponding to each wheel according to the first running state information;
determining a correction strategy of the suspension stiffness corresponding to the wheel according to the load information; and/or determining a correction strategy of the suspension damping corresponding to the wheel according to the road surface impact information.
An embodiment of the present application also proposes a storage medium storing one or more computer programs, where the one or more computer programs include instructions that, when executed by an electronic device including a plurality of application programs, enable the electronic device to execute the above-mentioned control method for an active suspension of a vehicle, and are specifically configured to execute:
when monitoring that a target vehicle runs on a preset target running road section, acquiring first suspension parameter information of each wheel of the target vehicle on the target running road section; the first suspension parameter information is obtained by calculation according to first road information which is obtained in advance and corresponds to the target running road section; the first suspension parameter information comprises suspension stiffness and/or suspension damping;
determining first driving state information of the target vehicle;
determining a first suspension parameter correction strategy of each wheel on the target driving road section according to the first driving state information;
correcting the first suspension parameter information according to the first suspension parameter correction strategy to obtain second suspension parameter information; and adjusting the suspension parameters of each wheel according to the second suspension parameter information.
Optionally, the instructions, when executed by an electronic device comprising a plurality of applications, may further perform:
before determining first running state information of the target vehicle, acquiring second road surface information corresponding to the target running road section in real time in the running process of the target vehicle;
judging whether the second road information is consistent with the first road information;
if so, executing the step of determining the first running state information of the target vehicle.
Optionally, the instructions, when executed by an electronic device comprising a plurality of applications, may further perform:
after judging whether the second road information is consistent with the first road information or not, if the second road information is inconsistent with the first road information, controlling the speed of the target vehicle to adjust according to the second road information;
calculating third suspension parameter information of each wheel on the target driving road section according to the second road surface information; and determining second driving state information of the target vehicle; determining a second suspension parameter correction strategy of each wheel on the target driving section according to the second driving state information;
correcting the third suspension parameter information according to the second suspension parameter correction strategy to obtain fourth suspension parameter information; and adjusting the suspension parameters of each wheel according to the fourth suspension parameter information.
Optionally, the instructions, when executed by an electronic device comprising a plurality of applications, may further perform:
determining a speed adjusting mode of the target vehicle according to the second road surface information; the vehicle speed adjusting mode comprises a vehicle speed adjusting value and/or a vehicle speed adjusting direction.
Optionally, the instructions, when executed by an electronic device comprising a plurality of applications, may further perform:
when monitoring that a target vehicle runs on a preset target running road section, acquiring a digital electronic road map corresponding to the target running road section from a network side before acquiring first suspension parameter information of each wheel of the target vehicle on the target running road section;
analyzing the digital electronic road map to determine the first road information corresponding to the target driving road section;
and calculating and storing the first suspension parameter information of each wheel on the target driving section according to the first road surface information.
Optionally, the first driving state information includes at least one of: steering wheel angle, steering wheel torque, lateral acceleration, longitudinal acceleration, vehicle speed.
Optionally, the instructions, when executed by an electronic device comprising a plurality of applications, may further perform:
respectively determining load information and/or road surface impact information of the suspension corresponding to each wheel according to the first running state information;
determining a correction strategy of the suspension stiffness corresponding to the wheel according to the load information; and/or determining a correction strategy of the suspension damping corresponding to the wheel according to the road surface impact information.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functionality of the units may be implemented in one or more software and/or hardware when implementing the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method of controlling an active suspension of a vehicle, comprising:
when monitoring that a target vehicle runs on a preset target running road section, acquiring first suspension parameter information of each wheel of the target vehicle on the target running road section; the first suspension parameter information is obtained by calculation according to first road information which is obtained in advance and corresponds to the target running road section; the first suspension parameter information comprises suspension stiffness and/or suspension damping;
determining first driving state information of the target vehicle;
determining a first suspension parameter correction strategy of each wheel on the target driving road section according to the first driving state information;
correcting the first suspension parameter information according to the first suspension parameter correction strategy to obtain second suspension parameter information; and adjusting the suspension parameters of each wheel according to the second suspension parameter information.
2. The method of claim 1, wherein prior to determining the first travel state information of the target vehicle, further comprising:
acquiring second road surface information corresponding to the target driving road section in real time in the driving process of the target vehicle;
judging whether the second road information is consistent with the first road information;
if so, executing the step of determining the first running state information of the target vehicle.
3. The method of claim 2, wherein after determining whether the second routing information and the first routing information are consistent, the method further comprises:
if the second road information is inconsistent with the first road information, controlling the speed of the target vehicle to adjust according to the second road information;
calculating third suspension parameter information of each wheel on the target driving road section according to the second road surface information; and determining second driving state information of the target vehicle; determining a second suspension parameter correction strategy of each wheel on the target driving section according to the second driving state information;
correcting the third suspension parameter information according to the second suspension parameter correction strategy to obtain fourth suspension parameter information; and adjusting the suspension parameters of each wheel according to the fourth suspension parameter information.
4. The method of claim 3, wherein said controlling the speed of the target vehicle to adjust based on the second road surface information comprises:
determining a speed adjusting mode of the target vehicle according to the second road surface information; the vehicle speed adjusting mode comprises a vehicle speed adjusting value and/or a vehicle speed adjusting direction;
and controlling the speed of the target vehicle to correspondingly adjust according to the speed adjusting mode.
5. The method according to claim 2, wherein before acquiring first suspension parameter information of each wheel of a target vehicle on a preset target driving section when the target vehicle is monitored to drive on the target driving section, the method further comprises:
acquiring a digital electronic road map corresponding to the target driving road section from a network side;
analyzing the digital electronic road map to determine the first road information corresponding to the target driving road section;
and calculating and storing the first suspension parameter information of each wheel on the target driving section according to the first road surface information.
6. The method of claim 1, wherein the first travel state information comprises at least one of: steering wheel angle, steering wheel torque, lateral acceleration, longitudinal acceleration, vehicle speed.
7. The method of claim 6, wherein determining a first suspension parameter modification strategy for each wheel on the target travel segment based on the first travel state information comprises:
respectively determining load information and/or road surface impact information of the suspension corresponding to each wheel according to the first running state information;
determining a correction strategy of the suspension stiffness corresponding to the wheel according to the load information; and/or determining a correction strategy of the suspension damping corresponding to the wheel according to the road surface impact information.
8. A control apparatus for an active suspension of a vehicle, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring first suspension parameter information of each wheel of a target vehicle on a preset target driving road section when the target vehicle is monitored to drive on the preset target driving road section; the first suspension parameter information is obtained by calculation according to first road information which is obtained in advance and corresponds to the target running road section; the first suspension parameter information comprises suspension stiffness and/or suspension damping;
a first determination module for determining first driving state information of the target vehicle;
the second determining module is used for determining a first suspension parameter correction strategy of each wheel on the target driving road section according to the first driving state information;
the correction and adjustment module is used for correcting the first suspension parameter information according to the first suspension parameter correction strategy to obtain second suspension parameter information; and adjusting the suspension parameters of each wheel according to the second suspension parameter information.
9. A control device for a vehicle active suspension, comprising a processor and a memory electrically connected with the processor, wherein the memory stores a computer program, and the processor is used for calling and executing the computer program from the memory to realize the control method for the vehicle active suspension according to any one of claims 1 to 7.
10. A storage medium for storing a computer program which, when executed by a processor, implements a method of controlling an active suspension of a vehicle as claimed in any one of claims 1 to 7.
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| CN202010898134.5A CN112109515A (en) | 2020-08-31 | 2020-08-31 | Storage medium, and method and device for controlling vehicle active suspension |
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