CN113276616A - Control method and device for vehicle suspension - Google Patents
Control method and device for vehicle suspension Download PDFInfo
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- CN113276616A CN113276616A CN202110696595.9A CN202110696595A CN113276616A CN 113276616 A CN113276616 A CN 113276616A CN 202110696595 A CN202110696595 A CN 202110696595A CN 113276616 A CN113276616 A CN 113276616A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
- B60G17/01908—Acceleration or inclination sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
- B60G17/01933—Velocity, e.g. relative velocity-displacement sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/052—Pneumatic spring characteristics
- B60G17/0523—Regulating distributors or valves for pneumatic springs
- B60G17/0525—Height adjusting or levelling valves
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present disclosure relates to a method and apparatus for controlling a vehicle suspension. The method comprises the following steps: acquiring vehicle speed information and road surface information of a traveling direction of a vehicle; determining a suspension adjustment rule matched with vehicle speed information and road surface information according to a preset incidence relation between the vehicle speed information and the road surface information and the suspension adjustment rule; and adjusting the height of the suspension of the vehicle according to the vehicle speed information, the road surface information and the suspension adjustment rule. Compared with the traditional method for performing complex operation processing on the acquired information to obtain the flatness of the road surface and calculating the suspension height of the wheel in real time according to the flatness, the embodiment of the disclosure is more efficient. And the time for adjusting the wheel suspension is calculated in advance according to the vehicle speed information and the road surface information, so that the road surface can respond to the upcoming situation in advance, the adjustment is more accurate, and the suspension adjustment delay is greatly reduced.
Description
Technical Field
The present disclosure relates to the field of active suspension system control technologies, and in particular, to a method and an apparatus for controlling a vehicle suspension.
Background
The suspension is a general term for all force-transmitting connecting devices between a vehicle frame (or a load-bearing vehicle body) and an axle (or a wheel), and has the functions of transmitting force and torque acting between the wheel and the vehicle frame, buffering impact force transmitted to the vehicle frame or the vehicle body from an uneven road surface, and reducing vibration caused by the impact force so as to ensure that the vehicle can run smoothly. In the related art, a vision sensor is used to acquire the road surface condition in front of a vehicle, and the unevenness degree of the road surface is often calculated and determined after complex image processing. In the related technology, the calculation process is complex, so that control time lag is caused, and a control result is influenced.
Therefore, a control method for controlling the vehicle suspension timely and effectively is needed to ensure safe and comfortable driving.
Disclosure of Invention
To overcome at least one of the problems of the related art, the present disclosure provides a control method and apparatus of a vehicle suspension.
According to a first aspect of an embodiment of the present disclosure, there is provided a control method of a vehicle suspension, including:
acquiring vehicle speed information and road surface information of a traveling direction of a vehicle;
determining a suspension adjustment rule matched with the vehicle speed information and the road surface information according to a preset incidence relation, wherein the preset incidence relation comprises a corresponding suspension adjustment rule set based on the vehicle speed information and the road surface information;
and adjusting the height of the suspension of the vehicle according to the vehicle speed information, the road surface information and the suspension adjustment rule.
In one possible implementation, the adjusting the suspension height of the vehicle according to the vehicle speed information, the road surface information, and the suspension adjustment rule includes:
acquiring wheel height information of a vehicle;
correcting the height of the suspension corresponding to the suspension adjustment rule by using the height information;
and adjusting the suspension height of the vehicle according to the vehicle speed information, the road surface information and the corrected suspension height.
In one possible implementation manner, the modifying the suspension height corresponding to the suspension adjustment rule by using the height information includes:
determining a roll angle and/or a pitch angle of the vehicle according to the height information;
and under the condition that the roll angle and/or the pitch angle exceed the corresponding preset values, correcting the height of the suspension corresponding to the suspension adjustment rule according to the excess amount.
In one possible implementation, the adjusting the suspension height of the vehicle according to the vehicle speed information, the road surface information, and the suspension adjustment rule includes:
determining first time for the front wheels of the vehicle to run to the road surface according to the vehicle speed information and the road surface information;
and adjusting the height of the front wheel suspension of the vehicle to the suspension height corresponding to the suspension adjustment rule within a preset time period before the ending time of the first time.
In one possible implementation, the method further includes:
acquiring the distance from the rear wheel of the vehicle to the road surface, and determining the second time for the rear wheel of the vehicle to reach the road surface according to the vehicle speed information and the distance;
adjusting a rear wheel suspension of the vehicle to the suspension height within a preset time period before a cutoff time of the second time.
In one possible implementation, acquiring road surface information of a vehicle traveling direction includes:
respectively acquiring ultrasonic data, image data and laser point cloud data of the vehicle in the advancing direction by using an ultrasonic sensor, a vision sensor and a laser radar sensor;
and determining the road surface information of the vehicle advancing direction according to the ultrasonic data, the image data and the laser point cloud data.
According to a second aspect of the embodiments of the present disclosure, a control device of a vehicle suspension includes:
the speed sensor is used for acquiring the speed information of the vehicle;
the road surface monitoring sensor is used for acquiring road surface information of the vehicle in the advancing direction;
an adjustment assembly, comprising:
a gas tank for storing gas;
the suspension air bags are respectively arranged at the suspension of each wheel and are connected with the air storage tank through an air pipeline;
the air pump is connected with the air storage tank and the suspension air bag through pipelines and used for supplying kinetic energy to the inflation and deflation of the suspension air bag;
an electromagnetic control valve which is electrically connected with the air pump and the controller and is used for controlling the air charging and discharging process of the air pump,
the controller is electrically connected with the speed sensor and the road surface monitoring sensor and used for determining the height of the suspension matched with the vehicle speed information and the road surface information according to a preset incidence relation, and the preset incidence relation comprises a corresponding suspension adjustment rule set based on the vehicle speed information and the road surface information;
and adjusting the suspension height of the vehicle by utilizing the adjusting component according to the vehicle speed information, the road surface information and the suspension height.
In one possible implementation manner, the road surface monitoring sensor comprises a vision sensor, a laser radar sensor and an ultrasonic sensor, the speed sensor comprises an acceleration sensor, the acceleration sensor is respectively arranged at the wheel edge of each wheel of the vehicle, the device further comprises a height sensor, the height sensor is respectively arranged above each wheel of the vehicle and is separated from the axle center of each wheel by a preset distance,
the controller, when performing the step of adjusting the suspension height of the vehicle based on the vehicle speed information, the road surface information, and the suspension height, includes:
acquiring wheel height information of a vehicle by using the height sensor;
correcting the suspension height using the height information;
and adjusting the suspension height of the vehicle by using the adjusting assembly according to the vehicle speed information, the road surface information and the corrected suspension height.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: according to the embodiment of the disclosure, the suspension adjustment strategy of each wheel can be rapidly determined by acquiring the vehicle speed information and the road surface information of the traveling direction and according to the preset vehicle speed information, the road surface information and the preset incidence relation. Compared with the traditional method for performing complex operation processing on the acquired information to obtain the flatness of the road surface and calculating the suspension height of the wheel in real time according to the flatness condition, the embodiment of the disclosure is more efficient. And the time for adjusting the wheel suspension is calculated in advance according to the vehicle speed information and the road surface information, so that the road surface can respond to the upcoming situation in advance, the adjustment is more accurate, and the suspension adjustment delay is greatly reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a flow chart illustrating a method of controlling a vehicle suspension according to an exemplary embodiment.
Fig. 2 is a graph showing the association of vehicle speed information, road surface information, and suspension adjustment rules according to an exemplary embodiment.
Fig. 3 is a schematic block diagram illustrating a control apparatus for a vehicle suspension according to an exemplary embodiment.
FIG. 4 is a schematic block diagram illustrating an apparatus in accordance with an exemplary embodiment.
FIG. 5 is a schematic block diagram illustrating an apparatus in accordance with an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The following describes a control method of a vehicle suspension according to the present disclosure in detail with reference to fig. 1. FIG. 1 is a flow chart of a method of one embodiment of control of a vehicle suspension provided by the present disclosure. Although the present disclosure provides method steps as illustrated in the following examples or figures, more or fewer steps may be included in the method based on conventional or non-inventive efforts. In steps where no necessary causal relationship exists logically, the order of execution of the steps is not limited to that provided by the disclosed embodiments.
Specifically, the present disclosure provides a method for controlling a vehicle suspension, as shown in fig. 1, where the method may be applied to a vehicle, and includes:
step S101 acquires vehicle speed information and road surface information in the traveling direction of the vehicle.
In the disclosed embodiment, the vehicle speed information may include at least one of speed information and acceleration information of a forward direction of the vehicle, and lateral speed information and acceleration information perpendicular to the forward direction. In the embodiment of the present disclosure, the road surface information may include information of a covering or an existing object on the road surface, such as a deceleration strip, a pothole, a wading road surface, snow cover, and the like. In an embodiment of the present disclosure, the acquiring the vehicle speed information and the road surface information of the forward direction of the vehicle may include: mounting a road surface monitoring sensor in front of or laterally in front of a vehicle, the monitoring sensor including at least one of: vision sensors, lidar sensors, infrared sensors, ultrasonic sensors, and the like. And acquiring scanning data of the vehicle in the advancing direction by using the monitoring sensor, and fusing the acquired data to obtain the road surface information. In one example, the vehicle speed information and the road surface information of the traveling direction of the vehicle can also be acquired through other devices, such as a cloud-side server.
And S103, determining the height of the suspension matched with the vehicle speed information and the road surface information according to a preset incidence relation, wherein the preset incidence relation comprises a corresponding suspension adjustment rule set based on the vehicle speed information and the road surface information.
In the embodiment of the present disclosure, the preset association relationship between the vehicle speed information, the road surface information, and the suspension adjustment rule may include an association relationship between the vehicle speed range information, the road surface information, and the suspension adjustment rule. Referring to fig. 2, the road surface information includes a depressed road surface, a wading road surface, and the like, and the vehicle speed information includes range information of a longitudinal speed v of the vehicle, a longitudinal acceleration a of the vehiclexRange information, lateral acceleration a of vehicleyAnd (4) range information. The range information and the road surface information of the vehicle speed correspond to a suspension adjustment rule.
And step S105, adjusting the suspension height of the vehicle according to the vehicle speed information, the road surface information and the suspension adjustment rule.
In the disclosed embodiment, the suspension adjustment rules may include suspension height and how to adjust the suspension height of each wheel using the associated adjustment assembly. The suspension height may include the height of the front left, front right, rear left and rear right wheel suspensions. The adjustment assembly may include an air reservoir, a suspension bladder, an air pump, an electromagnetic control valve, and the like. The gas storage tank is used for storing gas; the suspension air bags are respectively arranged at the suspension of each wheel and are connected with the air storage tank through an air pipeline; the air pump is connected with the air storage tank and the suspension air bag through pipelines and used for supplying kinetic energy to the inflation and deflation of the suspension air bag; and the electromagnetic control valve is electrically connected with the air pump and the controller and is used for controlling the air pump inflation and deflation process. For example, the suspension height of the left front wheel is increased by inflating the suspension airbag, and the suspension height of the left front wheel is decreased by deflating the suspension airbag. In an embodiment of the present disclosure, the adjusting the suspension height of the vehicle according to the vehicle speed information, the road surface information, and the suspension adjustment rule includes: and adjusting the suspension height of each wheel of the vehicle according to the suspension height in the matched suspension adjustment rule to be the suspension height. The method can also comprise the following steps: and determining the adjusting time of the front wheel suspension and the adjusting time of the rear wheel suspension according to the vehicle speed information and the road surface information, and adjusting the suspension height of each wheel to the suspension height corresponding to the suspension adjusting rule at the ending time of the adjusting time.
According to the embodiment of the disclosure, the suspension adjustment strategy of each wheel can be rapidly determined by acquiring the vehicle speed information and the road surface information of the traveling direction and according to the preset vehicle speed information, the road surface information and the preset incidence relation. Compared with the traditional method for performing complex operation processing on the acquired information to obtain the flatness of the road surface and calculating the suspension height of the wheel in real time according to the flatness condition, the embodiment of the disclosure is more efficient. And the time for adjusting the wheel suspension is calculated in advance according to the vehicle speed information and the road surface information, so that the road surface can respond to the upcoming situation in advance, the adjustment is more accurate, and the suspension adjustment delay is greatly reduced.
In one possible implementation, the adjusting the suspension height of the vehicle according to the vehicle speed information, the road surface information, and the suspension adjustment rule includes:
acquiring wheel height information of a vehicle;
correcting the height of the suspension corresponding to the suspension adjustment rule by using the height information;
and adjusting the suspension height of the vehicle according to the vehicle speed information, the road surface information and the corrected suspension height.
In the embodiment of the present disclosure, the wheel height information may include a height sensor installed at a position away from each preset position of the wheel, such as a wheel axle center, and at an equal angle and equal length from the wheel axle center, so as to measure the height information of the wheel during the driving of the vehicle, where the height information may reflect the leveling condition of the road surface. The wheels include a front left wheel, a front right wheel, a rear left wheel, and a rear right wheel of the vehicle. The height sensor may include various distance measuring sensors, such as a laser sensor, an infrared sensor, etc., and the disclosure is not limited thereto.
According to the embodiment of the disclosure, the height information can be used for determining the condition of the roll angle and/or the pitch angle of the vehicle when the current wheel option is adjusted to the suspension height corresponding to the suspension adjustment rule. The roll angle of the vehicle comprises an included angle formed by the vertical direction of the vehicle in the traveling direction and a horizontal plane, and can be calculated through the height difference and the change rate of the left wheel and the right wheel. The pitch angle comprises an included angle formed by the vehicle in the advancing direction and the horizontal plane, and the measured pitch angle can be obtained by calculating the height and the change rate of the connecting shaft of the front wheel and the rear wheel. The roll angle and the pitch angle reflect the steady state of the vehicle. In one example, if the roll angle and/or the pitch angle is larger than a corresponding preset value, the corresponding suspension height in the above suspension adjustment rule needs to be corrected.
According to the embodiment of the invention, when the height information of the wheels of the vehicle is utilized to adjust the front suspension of the vehicle to the suspension height corresponding to the suspension adjustment rule in advance, the stable state of the vehicle is judged, and when the stable state of the vehicle does not meet the preset requirement, the suspension height corresponding to the option adjustment rule is corrected, so that the driving safety of the vehicle is ensured.
In one possible implementation manner, the modifying the suspension height corresponding to the suspension adjustment rule by using the height information includes:
determining a roll angle and/or a pitch angle of the vehicle according to the height information;
and under the condition that the roll angle and/or the pitch angle exceed the corresponding preset values, correcting the height of the suspension corresponding to the suspension adjustment rule according to the excess amount.
In the embodiment of the present disclosure, the roll angle and/or the pitch angle exceeding the corresponding preset values indicates that the vehicle does not meet the preset requirements, and the suspension height of the vehicle needs to be adjusted. In one example, the degree of a roll angle corresponding to the vehicle rollover may be used as a preset value, and the degree of a pitch angle corresponding to the vehicle rollover may be used as the preset value; in one example, the degree of the pitch angle and the roll angle corresponding to the vehicle rollover at the same time can be used as the preset value.
In the embodiment of the disclosure, a suspension adjustment rule matched with vehicle speed information and road surface information is determined according to a preset incidence relation between the vehicle speed information and the road surface information and the suspension adjustment rule, a suspension adjustment height is obtained according to the suspension adjustment rule, and when the suspension adjustment height is applied to a front wheel suspension of a vehicle, a roll angle and/or a pitch angle of the vehicle is determined according to height information of a rear wheel of the vehicle. And determining the difference value between the roll angle and a preset value and the difference value between the pitch angle and a preset value, and determining each parameter of the adjusting assembly. In one example, the suspension height corresponding to the preset value of the suspension height adjustment value can be corrected according to the suspension height corresponding to the suspension adjustment rule. In another example, if the roll angle and/or pitch angle do not exceed the corresponding predetermined values, the suspension height corresponding to the suspension adjustment rule may not need to be modified.
According to the embodiment of the invention, the suspension height memorability corresponding to the suspension regulation is corrected by utilizing the inclination angle and/or the pitch angle of the vehicle, so that the driving safety of the vehicle is ensured.
In one possible implementation, the adjusting the suspension height of the vehicle according to the vehicle speed information, the road surface information, and the suspension adjustment rule includes:
determining first time for the front wheels of the vehicle to run to the road surface according to the vehicle speed information and the road surface information;
and adjusting the height of the front wheel suspension of the vehicle to the suspension height corresponding to the suspension adjustment rule within a preset time period before the ending time of the first time.
In the embodiment of the disclosure, the distance from the road surface to the current position of the vehicle, for example, the distance from the front pothole to the front wheel of the vehicle, the distance from the front deceleration strip to the front wheel of the vehicle, etc., may be determined according to the road surface information. And determining the time required for the front wheels of the vehicle to reach the road surface according to the vehicle speed information of the vehicle. The preset time period may include [0, t ], for example, the suspension height of the vehicle is adjusted to the suspension height corresponding to the suspension adjustment rule at the cutoff time of the first time or within tms before the cutoff time. In one example, if the suspension height corresponding to the suspension adjustment rule is corrected by one of the methods in the above embodiments, the suspension height of the vehicle is adjusted to the corrected suspension height.
The embodiment of the disclosure determines the time when the front wheels of the vehicle travel to the road surface by using the vehicle speed information and the road surface information, and ensures the accuracy of the adjustment opportunity without adjusting in advance or delaying the adjustment.
In one possible implementation, the method further includes:
acquiring the length of a vehicle body of a vehicle, and determining second time for a rear wheel of the vehicle to reach the road surface according to the vehicle speed information and the length of the vehicle body;
adjusting a front wheel suspension of the vehicle to the suspension height within a preset period of time before a cutoff time of the second time.
In the embodiment of the disclosure, the second time when the rear wheel of the vehicle reaches the road surface is calculated according to the length of the vehicle body and the vehicle speed information, and in one example, the distance from the road surface to the monitoring sensor may be determined by acquiring road surface information in the vehicle traveling direction by the road surface monitoring sensor. And the distance from the rear wheel of the vehicle to the road surface can be obtained according to the length of the body of the vehicle or the horizontal distance from the rear wheel of the vehicle to the monitoring sensor. The preset time period may comprise [0, t ], for example, adjusting the rear wheel suspension of the vehicle to the suspension height at a cut-off time of the second time, or within tms before the cut-off time.
According to the embodiment of the disclosure, the time when the front wheel of the vehicle runs to the road surface and the time when the rear wheel of the vehicle runs to the road surface are considered, and the front wheel suspension and the rear wheel suspension are respectively adjusted at the time cut-off moment, so that the accuracy of the adjustment time is ensured.
In one possible implementation, acquiring road surface information of a vehicle traveling direction includes:
respectively acquiring ultrasonic data, image data and laser point cloud data of the vehicle in the advancing direction by using an ultrasonic sensor, a vision sensor and a laser radar sensor;
and determining the road surface information of the vehicle advancing direction according to the ultrasonic data, the image data and the laser point cloud data.
In the embodiment of the disclosure, the laser radar sensor mainly comprises a transmitter, a receiver, a measurement control unit and a power supply. When the laser radar works, a laser beam is firstly emitted to a measured target, and then parameters such as time for a reflected or scattered signal to reach a transmitter, signal strength degree, frequency change and the like are measured, so that the distance, the movement speed and the direction of the measured target are determined. In the disclosed embodiments, the vision sensor assembly may include a monocular vision sensor, a binocular vision sensor, and a monocular vision sensor. Wherein the monocular vision sensor comprises one camera. The binocular vision sensor observes the same object from two cameras to acquire perception images under different visual angles, and then calculates the position deviation among image pixels through a triangulation principle to acquire the three-dimensional information of a scene. In the binocular vision sensor, two cameras are used as acquisition equipment of vision signals and are connected with a processor through a double-input channel image acquisition card, analog signals acquired by the cameras are subjected to sampling, filtering, strengthening and analog-to-digital conversion, and finally image data are provided for the processor. The multi-view vision sensor comprises a plurality of cameras which are respectively arranged at a plurality of viewpoints, or one camera observes a three-dimensional object from a plurality of viewpoints. The ultrasonic sensor is a sensor that converts an ultrasonic signal into another energy signal (typically an electrical signal). Ultrasonic waves are mechanical waves with a vibration frequency higher than 20 kHz. It has the features of high frequency, short wavelength, less diffraction, high directivity, directional propagation, etc. The penetration of ultrasonic waves into liquids and solids is great, especially in sunlight-opaque solids.
According to the visual sensor and the ultrasonic sensor, the near-distance road information can be identified, the laser radar sensor can be used for identifying the long-distance road information, the multiple sensors are integrated, and the road information can be quickly identified. The embodiment of the disclosure does not need to calculate the flatness of the road surface in detail, and only needs to identify the object on the road surface, so that the control is more timely.
Fig. 3 is a schematic block diagram illustrating a control apparatus for a vehicle suspension according to an exemplary embodiment. Referring to fig. 3, a control apparatus for a vehicle suspension, comprising:
the speed sensor is used for acquiring the speed information of the vehicle;
the road surface monitoring sensor is used for acquiring road surface information of the vehicle in the advancing direction;
an adjustment assembly, comprising:
a gas tank 8 for storing gas;
the suspension air bags are respectively arranged at the suspension of each wheel and are connected with the air storage tank through an air pipeline;
the air pump 7 is connected with the air storage tank and the suspension air bag through pipelines and used for supplying kinetic energy to the inflation and deflation of the suspension air bag;
an electromagnetic control valve 9 electrically connected with the air pump 7 and the controller 6 and used for controlling the air charging and discharging process of the air pump 7,
the controller 6 is electrically connected with the speed sensor and the road surface monitoring sensor and is used for determining the height of the suspension matched with the vehicle speed information and the road surface information according to a preset incidence relation, and the preset incidence relation comprises a corresponding suspension adjustment rule set based on the vehicle speed information and the road surface information;
and adjusting the suspension height of the vehicle by utilizing the adjusting component according to the vehicle speed information, the road surface information and the suspension height.
In the embodiment of the present disclosure, the speed sensors may include acceleration sensors, such as an acceleration sensor 10a of a front left wheel, an acceleration sensor 10b of a front right wheel, an acceleration sensor 10c of a rear left wheel, and an acceleration sensor 10d of a rear right wheel in fig. 3. The road surface monitoring sensor may include a first ultrasonic sensor 1a, a second ultrasonic sensor 1b, a vision sensor 2, and a laser radar sensor 3. In the embodiment of the present disclosure, the controller 6 may include, for example, a CPU, a GPU, an MCU, etc., and is configured to run a computer program, and the computer program may execute the following method: determining the height of a suspension matched with the vehicle speed information and the road surface information according to a preset incidence relation of the vehicle speed information, the road surface information and the suspension height; and according to the vehicle speed information, the road surface information and the suspension height. The specific manner in which each method performs the operation has been described in detail in the above embodiments, and will not be described in detail here.
In an embodiment of the present disclosure, said adjusting the suspension height of the vehicle by using the adjusting assembly may include: the air pump 7 is controlled to inflate or deflate the air in the air tank 8 through the electromagnetic control valve 9 to the acceleration sensor 10a of the left front wheel, the acceleration sensor 10b of the right front wheel, the acceleration sensor 10c of the left rear wheel and the acceleration sensor 10d of the right rear wheel, so as to adjust the height of the front suspension.
In one possible implementation, the vehicle speed sensor includes acceleration sensors that are respectively provided at each wheel rim of the vehicle. Namely, each wheel corresponds to an acceleration sensor for monitoring the speed information and the acceleration information of the advancing direction of each wheel and the lateral speed information and the acceleration information which are vertical to the advancing direction.
In a possible implementation, the vehicle further comprises height sensors respectively arranged above the wheels of the vehicle, referring to a left front wheel height sensor 4a, a right front wheel height sensor 4b, a left rear wheel height sensor 4c and a right rear wheel height sensor 4d in fig. 3. The distance between the sensor and the axle center of the wheel is preset, so that when the wheel is on a horizontal plane, all the sensors are on the same plane.
The controller, when performing the step of adjusting the suspension height of the vehicle based on the vehicle speed information, the road surface information, and the suspension height, includes:
acquiring wheel height information of a vehicle by using the height sensor;
correcting the suspension height using the height information;
and adjusting the suspension height of the vehicle by using the adjusting assembly according to the vehicle speed information, the road surface information and the corrected suspension height.
In the embodiments of the present disclosure, the specific manner of implementing the above-mentioned step method to perform operations by the controller has been described in detail in the above-mentioned embodiments, and will not be elaborated herein.
Fig. 4 is a schematic block diagram illustrating a control apparatus 800 for a vehicle suspension according to an exemplary embodiment. For example, the apparatus 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.
Referring to fig. 4, the apparatus 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.
The processing component 802 generally controls overall operation of the device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.
The memory 804 is configured to store various types of data to support operations at the apparatus 800. Examples of such data include instructions for any application or method operating on device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The multimedia component 808 includes a screen that provides an output interface between the device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 800 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the apparatus 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.
The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the device 800. For example, the sensor assembly 814 may detect the open/closed status of the device 800, the relative positioning of components, such as a display and keypad of the device 800, the sensor assembly 814 may also detect a change in the position of the device 800 or a component of the device 800, the presence or absence of user contact with the device 800, the orientation or acceleration/deceleration of the device 800, and a change in the temperature of the device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 816 is configured to facilitate communications between the apparatus 800 and other devices in a wired or wireless manner. The device 800 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the apparatus 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.
In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as the memory 804 comprising instructions, executable by the processor 820 of the device 800 to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
Fig. 5 is a schematic block diagram illustrating a control apparatus 1900 for a vehicle suspension according to an exemplary embodiment. For example, the apparatus 1900 may be provided as a server. Referring to FIG. 5, the device 1900 includes a processing component 1922 further including one or more processors and memory resources, represented by memory 1932, for storing instructions, e.g., applications, executable by the processing component 1922. The application programs stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processing component 1922 is configured to execute instructions to perform the above-described method.
The device 1900 may also include a power component 1926 configured to perform power management of the device 1900, a wired or wireless network interface 1950 configured to connect the device 1900 to a network, and an input/output (I/O) interface 1958. The device 1900 may operate based on an operating system stored in memory 1932, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, or the like.
In an exemplary embodiment, a non-transitory computer readable storage medium is also provided that includes instructions, such as the memory 1932 that includes instructions, which are executable by the processing component 1922 of the apparatus 1900 to perform the above-described method. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. A method of controlling a vehicle suspension, comprising:
acquiring vehicle speed information and road surface information of a traveling direction of a vehicle;
determining a suspension adjustment rule matched with the vehicle speed information and the road surface information according to a preset incidence relation, wherein the preset incidence relation comprises a corresponding suspension adjustment rule set based on the vehicle speed information and the road surface information;
and adjusting the height of the suspension of the vehicle according to the vehicle speed information, the road surface information and the suspension adjustment rule.
2. The method of claim 1, wherein said adjusting a suspension height of said vehicle based on said vehicle speed information, said road surface information, and said suspension adjustment rules comprises:
acquiring wheel height information of a vehicle;
correcting the height of the suspension corresponding to the suspension adjustment rule by using the height information;
and adjusting the suspension height of the vehicle according to the vehicle speed information, the road surface information and the corrected suspension height.
3. The method of claim 2, wherein the modifying the suspension height corresponding to the suspension adjustment rule using the height information comprises:
determining a roll angle and/or a pitch angle of the vehicle according to the height information;
and under the condition that the roll angle and/or the pitch angle exceed the corresponding preset values, correcting the height of the suspension corresponding to the suspension adjustment rule according to the excess amount.
4. The method of claim 1, wherein said adjusting a suspension height of said vehicle based on said vehicle speed information, said road surface information, and said suspension adjustment rules comprises:
determining first time for the front wheels of the vehicle to run to the road surface according to the vehicle speed information and the road surface information;
and adjusting the height of the front wheel suspension of the vehicle to the suspension height corresponding to the suspension adjustment rule within a preset time period before the ending time of the first time.
5. The method of claim 4, further comprising:
acquiring the distance from the rear wheel of the vehicle to the road surface, and determining the second time for the rear wheel of the vehicle to reach the road surface according to the vehicle speed information and the distance;
adjusting a rear wheel suspension of the vehicle to the suspension height within a preset time period before a cutoff time of the second time.
6. The method of claim 1, wherein obtaining road surface information for a direction of travel of the vehicle comprises:
respectively acquiring ultrasonic data, image data and laser point cloud data of the vehicle in the advancing direction by using an ultrasonic sensor, a vision sensor and a laser radar sensor;
and determining the road surface information of the vehicle advancing direction according to the ultrasonic data, the image data and the laser point cloud data.
7. A control device for a vehicle suspension, characterized by comprising:
the speed sensor is used for acquiring the speed information of the vehicle;
the road surface monitoring sensor is used for acquiring road surface information of the vehicle in the advancing direction;
an adjustment assembly, comprising:
a gas tank for storing gas;
the suspension air bags are respectively arranged at the suspension of each wheel and are connected with the air storage tank through an air pipeline;
the air pump is connected with the air storage tank and the suspension air bag through pipelines and used for supplying kinetic energy to the inflation and deflation of the suspension air bag;
an electromagnetic control valve which is electrically connected with the air pump and the controller and is used for controlling the air charging and discharging process of the air pump,
the controller is electrically connected with the speed sensor and the road surface monitoring sensor and used for determining the height of the suspension matched with the vehicle speed information and the road surface information according to a preset incidence relation, and the preset incidence relation comprises a corresponding suspension adjustment rule set based on the vehicle speed information and the road surface information;
and adjusting the suspension height of the vehicle by utilizing the adjusting component according to the vehicle speed information, the road surface information and the suspension height.
8. The apparatus according to claim 7, wherein the road surface monitoring sensors include a vision sensor, a laser radar sensor, and an ultrasonic sensor, the speed sensors include acceleration sensors respectively provided at the wheel rims of the respective wheels of the vehicle, the apparatus further includes height sensors respectively provided above the respective wheels of the vehicle at a predetermined distance from the axle centers of the wheels,
the controller, when performing the step of adjusting the suspension height of the vehicle based on the vehicle speed information, the road surface information, and the suspension height, includes:
acquiring wheel height information of a vehicle by using the height sensor;
correcting the suspension height using the height information;
and adjusting the suspension height of the vehicle by using the adjusting assembly according to the vehicle speed information, the road surface information and the corrected suspension height.
9. A control device for a vehicle suspension, characterized by comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to: performing the method of any one of claims 1 to 6.
10. A non-transitory computer readable storage medium having instructions therein which, when executed by a processor, enable the processor to perform the method of any of claims 1 to 6.
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