CN113459753A - Active suspension control method, control device and system for pre-judgment braking and vehicle - Google Patents
Active suspension control method, control device and system for pre-judgment braking and vehicle Download PDFInfo
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- CN113459753A CN113459753A CN202010244143.2A CN202010244143A CN113459753A CN 113459753 A CN113459753 A CN 113459753A CN 202010244143 A CN202010244143 A CN 202010244143A CN 113459753 A CN113459753 A CN 113459753A
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- 239000000725 suspension Substances 0.000 title claims abstract description 149
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000013016 damping Methods 0.000 claims abstract description 71
- 230000001276 controlling effect Effects 0.000 claims abstract description 26
- 230000001105 regulatory effect Effects 0.000 claims abstract description 14
- 239000006096 absorbing agent Substances 0.000 claims description 82
- 230000035939 shock Effects 0.000 claims description 80
- 238000012545 processing Methods 0.000 claims description 35
- 230000007704 transition Effects 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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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
- B60G17/0164—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during accelerating or braking
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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
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/162—Reducing road induced vibrations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention provides an active suspension control method, a control device, a system and a vehicle for prejudging braking, wherein the method applied to the active suspension control device comprises the following steps: acquiring state information of an active emergency braking system; when the active emergency braking system is determined to be in an enabling state according to the state information, entering a preset active control mode and acquiring target deceleration information provided by the active emergency braking system; and regulating and controlling the damping force of the active suspension system according to the state information and the target deceleration information. In the embodiment of the invention, when the active emergency braking system is in the enabling state, the active suspension system is always in the optimal damping state, the pitching rate of the vehicle is reduced, the nodding phenomenon is avoided, the driving comfort and the control stability of the vehicle are improved, the hysteresis of the control of the active suspension is avoided, and the comfort of passengers in the vehicle is ensured.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to an active suspension control method, a control device and a system for prejudging braking and a vehicle.
Background
The conventional suspension system of the automobile is divided into a passive suspension and an active suspension, wherein the damping characteristic of a shock absorber is fixed and cannot be adjusted before the automobile leaves a factory, and the active suspension control system can adjust the damping force of the shock absorber in real time according to comprehensive judgment of different road conditions, the emergency operation (acceleration/braking/steering) of a driver, the real-time motion condition of the automobile and the like so as to realize riding comfort and operation stability. However, the control of the existing active suspension control system is post control, namely the active suspension control system starts to adjust the damping after detecting that the pitching state of the vehicle body is abnormal, although the pitching rate is greatly reduced compared with the traditional vehicle which is not provided with the active suspension control system, a certain hysteresis exists, and passengers in the vehicle still inevitably feel uncomfortable.
Disclosure of Invention
The technical purpose to be achieved by the embodiment of the invention is to provide an active suspension control method, a control device, a system and a vehicle for prejudging braking, which are used for solving the problems that the control of the current active suspension control system has hysteresis and the comfort of the vehicle is reduced.
In order to solve the above technical problem, an embodiment of the present invention provides an active suspension control method for pre-determined braking, which is applied to an active suspension control device, and includes:
acquiring state information of an active emergency braking system;
when the active emergency braking system is determined to be in an enabling state according to the state information, entering a preset active control mode and acquiring target deceleration information provided by the active emergency braking system;
and regulating and controlling the damping force of the active suspension system according to the state information and the target deceleration information.
Preferably, the step of regulating the damping force of the active suspension system according to the state information and the target deceleration information as described above includes:
determining the degree of influence on the pitching rate of the vehicle according to the state information and the target deceleration information;
determining a target damping force of each shock absorber in the active suspension system according to the influence degree;
and controlling the damping force of the corresponding shock absorber according to the target damping force and the type and structural parameters of each shock absorber.
Specifically, as described above, the active suspension control method, when the shock absorbers are electromagnetic shock absorbers, the step of controlling the damping forces of the corresponding shock absorbers according to the target damping forces and the type and structural parameters of each shock absorber includes:
determining a target working current of the electromagnetic damper according to the target damping force and the structural parameters of the electromagnetic damper;
and controlling the working current output to the electromagnetic shock absorber according to the target working current.
Further, the active suspension control method as described above, wherein the step of controlling the operating current output to the electromagnetic absorber according to the target operating current comprises:
acquiring the current working current of the electromagnetic damper;
performing gradient transition processing according to the current working current and the corresponding target working current to obtain a control curve of the working current with respect to time;
and controlling the working current output to the electromagnetic shock absorber according to the control curve.
Preferably, the active suspension control method as described above, after the step of regulating the damping force of the active suspension system based on the state information and the target deceleration information, the control method further includes:
and exiting the active control mode when the acquired state information indicates that the active emergency braking system is in a de-enabling state.
Specifically, as described above, the active suspension control method determines that the active emergency brake system is in the enabled state when the state information indicates that the active emergency brake system is in the pre-charge enabled state, the high speed brake enabled state, the low speed brake enabled state, or the auxiliary brake enabled state.
Specifically, as the active suspension control method described above, the target deceleration information includes: the value of the braking deceleration or the braking level.
Still another preferred embodiment of the present invention provides an active suspension control apparatus including:
the acquisition module is used for acquiring the state information of the active emergency braking system;
the first processing module is used for entering an active control mode and acquiring target deceleration information provided by the active emergency braking system when the active emergency braking system is determined to be in an enabling state according to the state information;
and the second processing module is used for regulating and controlling the damping force of the active suspension system according to the state information and the target deceleration information.
Preferably, in the active suspension control apparatus as described above, the second processing module includes:
the first processing submodule is used for determining the influence degree on the pitching rate of the vehicle according to the state information and the target deceleration information;
the second processing submodule is used for determining the target damping force of each shock absorber in the active suspension system according to the influence degree;
and the third processing submodule is used for controlling the damping force of the corresponding shock absorber according to the target damping force and the type and the structural parameters of each shock absorber.
Specifically, as described above for the active suspension control apparatus, when the shock absorber is an electromagnetic shock absorber, the third processing sub-module includes:
the first processing unit is used for determining the target working current of the electromagnetic damper according to the target damping force and the structural parameters of the electromagnetic damper;
and the second processing unit is used for controlling the working current output to the electromagnetic shock absorber according to the target working current.
Further, the active suspension control apparatus as described above, the second processing unit includes:
the acquisition subunit is used for acquiring the current working current of the electromagnetic damper;
the first processing subunit is used for carrying out gradient transition processing according to the current working current and the corresponding target working current to obtain a control curve of the working current with respect to time;
and the second processing subunit is used for controlling the working current output to the electromagnetic shock absorber according to the control curve.
Preferably, the active suspension control apparatus as described above, further comprises:
and the third processing module is used for exiting the active control mode when the acquired state information indicates that the active emergency braking system is in a de-enabling state.
Another preferred embodiment of the present invention also provides an active suspension control system including: the active suspension control device is connected with an active suspension controller of the active suspension system, and the active suspension controller is respectively connected with each shock absorber in the active suspension system;
when the active suspension control device is integrated into the active suspension controller, the active suspension control device is connected to each shock absorber.
Still another preferred embodiment of the present invention also provides a vehicle including: the active suspension control system as described above.
Compared with the prior art, the active suspension control method, the control device, the system and the vehicle for prejudging braking provided by the embodiment of the invention at least have the following beneficial effects:
the active suspension control device can acquire state information of an active emergency braking system; when the state information indicates that the active emergency braking system is in an enabling state, active suspension control is determined to be required, a preset active control mode is entered, target deceleration information provided by the active emergency braking system is obtained, and the damping force of the active suspension system is regulated and controlled according to the state information and the target deceleration information, so that when the active emergency braking system is in the enabling state, the active suspension is always in the optimal damping state, the pitching rate of the vehicle is reduced, the nodding phenomenon is avoided, and the driving comfort and the control stability of the vehicle are improved. Compared with the existing active suspension control system, the damping force is adjusted only when the pitching rate of the vehicle body is detected to be abnormal, the hysteresis of the active suspension control is avoided, and the comfort level of passengers in the vehicle is ensured.
Drawings
FIG. 1 is a schematic flow chart of an active suspension control method according to the present invention;
FIG. 2 is a second flowchart of the active suspension control method according to the present invention;
FIG. 3 is a third schematic flow chart of the active suspension control method of the present invention;
FIG. 4 is a fourth flowchart illustrating an active suspension control method according to the present invention;
fig. 5 is a schematic structural diagram of the active suspension control apparatus of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.
Referring to fig. 1, a preferred embodiment of the present invention provides an active suspension control method of predictive braking, applied to an active suspension control apparatus, including:
step S101, acquiring state information of an active emergency braking system;
step S102, when the active emergency braking system is determined to be in an enabling state according to the state information, entering a preset active control mode and acquiring target deceleration information provided by the active emergency braking system;
and step S103, regulating and controlling the damping force of the active suspension system according to the state information and the target deceleration information.
In the embodiment of the invention, an active emergency braking system on a vehicle can acquire the road condition in front of the vehicle, and determines the state of the active emergency braking system according to the current master cylinder pressure, the brake plate treading flag bit, the actual measurement distance with the front vehicle, the set safe distance, the current vehicle speed, the current acceleration and other vehicle state judgments; the active suspension control device can acquire state information of an active emergency braking system; when the state information indicates that the active emergency braking system is in an enabling state, active suspension control is determined to be required, a preset active control mode is entered, target deceleration information provided by the active emergency braking system is obtained, and the damping force of the active suspension system is regulated and controlled according to the state information and the target deceleration information, so that when the active emergency braking system is in the enabling state, the active suspension system is always in the optimal damping state, the pitching rate of a vehicle is reduced, the nodding phenomenon is avoided, and the driving comfort and the control stability of the vehicle are improved. Compared with the existing active suspension control system, the damping force is adjusted only when the pitching rate of the vehicle body is detected to be abnormal, the hysteresis of the active suspension control is avoided, and the comfort level of passengers in the vehicle is ensured.
Referring to fig. 2, preferably, the step of the step S103 of regulating the damping force of the active suspension system according to the state information and the target deceleration information as described above includes:
step S201, determining the influence degree on the pitching rate of the vehicle according to the state information and the target deceleration information;
step S202, determining a target damping force of each shock absorber in the active suspension system according to the influence degree;
and S203, controlling the damping force of the corresponding shock absorber according to the target damping force and the type and the structural parameters of each shock absorber.
In the embodiment of the invention, the active suspension control device can judge according to the acquired state information and the target deceleration information, and can determine the influence degree of braking deceleration on the pitch rate of the vehicle, wherein the influence degree can be embodied as an influence grade or a pitch rate value, the method for determining the influence degree comprises, but is not limited to, state information obtained by calibration according to a test and table lookup determination of a corresponding relation table between the target deceleration information and the influence degree, and further can determine the target damping force of each shock absorber in the active suspension system in order to avoid the influence of the braking deceleration on the pitch rate of the vehicle, wherein the mode for determining the target damping force of each shock absorber comprises, but is not limited to, table lookup determination of the corresponding relation table between the influence degree obtained by calibration according to the test and the target damping force of each shock absorber; optionally, for the reduction processing step, the step S201 and the step S202 may be combined into one step, that is, the target damping force of each shock absorber in the active suspension system is determined according to the state information and the target deceleration information, wherein the manner of determining the target damping force of each shock absorber includes, but is not limited to, performing calibration according to a test to obtain the state information and a table lookup of a correspondence relationship between the target deceleration information and the target damping force of each shock absorber; after the target damping force is determined, since the damping force is related to the type and specific structural parameters of the shock absorber, different types of shock absorbers and shock absorbers with the same type but different specific structural parameters are different in adjustment mode and adjustment amount for the same damping force, the damping force of each corresponding shock absorber needs to be adjusted according to the target damping force and the type and specific structural parameters of the shock absorber, so as to ensure the timeliness and accuracy of the adjustment of the damping force.
Optionally, the types of shock absorbers include, but are not limited to, electromagnetic shock absorbers, hydraulic shock absorbers, and air shock absorbers.
Referring to fig. 3, in particular, the step S203 of controlling the damping forces of the corresponding shock absorbers according to the target damping force and the type and structural parameters of each shock absorber, when the shock absorbers are electromagnetic shock absorbers, as described above, includes:
step S301, determining a target working current of the electromagnetic damper according to the target damping force and the structural parameters of the electromagnetic damper;
step S302, according to the target working current, the working current output to the electromagnetic shock absorber is controlled.
In an embodiment of the present invention, step S203 is specifically described by taking the shock absorber as an electromagnetic shock absorber, wherein, due to the design of the internal structure of the battery shock absorber, the damping force of the electromagnetic shock absorber and the working current of the electromagnetic valve in the electromagnetic shock absorber are in a positive proportion relation or a negative proportion relation, therefore, the corresponding relation between the damping force and the working current can be determined after the structural parameters of the electromagnetic shock absorber are obtained, further, the target working current of the electromagnetic damper can be obtained according to the target damping force, the working current output to the electromagnetic damper can be controlled through the target working current, and then adjust the damping force that this electromagnetic shock absorber provided to guaranteed that whole initiative suspension system is in best shock attenuation state all the time, be favorable to reducing the every single move rate of vehicle, avoid appearing the phenomenon of nodding, and improve the driving comfort and the control stability of vehicle.
Referring to fig. 4, preferably, the step S302 of controlling the operating current output to the electromagnetic absorber according to the target operating current, as the active suspension control method described above, includes:
step S401, obtaining the current working current of the electromagnetic shock absorber;
step S402, performing gradient transition processing according to the current working current and the corresponding target working current to obtain a control curve of the working current with respect to time;
and S403, controlling the working current output to the electromagnetic shock absorber according to the control curve.
In the embodiment of the invention, after the target working current of the electromagnetic shock absorber is obtained, the current working current of each electromagnetic shock absorber is obtained, the control curve of the working current with respect to time is obtained after gradient transition processing is carried out on the current working current and the target working current, and the current output is controlled according to the control curve, namely the damping force of the electromagnetic shock absorber is changed step by step in a mode of changing the working current step by step, so that the damage to the electromagnetic shock absorber caused by sudden change of the working current and the influence on the pitching rate of the vehicle caused by sudden change of the damping force are avoided, and the comfort of passengers in the vehicle is ensured.
Further, the active suspension control method as described above, after the step S103 of regulating the damping force of the active suspension system according to the state information and the target deceleration information, the control method further includes:
and exiting the active control mode when the acquired state information indicates that the active emergency braking system is in a de-enabling state.
In the embodiment of the invention, when the acquired state information indicates that the active emergency braking system is in the de-enabling state, the active emergency braking system does not perform emergency braking any more, and the active suspension control device exits the active control mode, so that the reduction of energy consumption is facilitated.
Specifically, as described above, the active suspension control method determines that the active emergency brake system is in the enabled state when the state information indicates that the active emergency brake system is in the pre-charge enabled state, the high speed brake enabled state, the low speed brake enabled state, or the auxiliary brake enabled state.
The active emergency braking system enters a pre-charging enabling state when the actual measurement distance is smaller than a first safety distance, and enters one of a high-speed braking enabling state, a low-speed braking enabling state and an auxiliary braking enabling state after the actual measurement distance is larger than a second safety distance, wherein the first safety distance is larger than the second safety distance, so that the active suspension control device can enter a preset active control mode when the active emergency braking system enters the pre-charging enabling state, the optimal control state of the vehicle in the emergency braking process is favorably ensured, particularly, the pitching rate of the vehicle is favorably reduced, and the driving comfort and the control stability of the vehicle are improved.
Specifically, as the active suspension control method described above, the target deceleration information includes: the value of the braking deceleration or the braking level.
Referring to fig. 5, still another preferred embodiment of the present invention also provides an active suspension control apparatus including:
an obtaining module 501, configured to obtain state information of an active emergency braking system;
the first processing module 502 is configured to enter an active control mode and obtain target deceleration information provided by the active emergency braking system when it is determined that the active emergency braking system is in an enabled state according to the state information;
and a second processing module 503, configured to regulate and control the damping force of the active suspension system according to the state information and the target deceleration information.
Preferably, as in the active suspension control apparatus described above, the second processing module 503 includes:
the first processing submodule is used for determining the influence degree on the pitching rate of the vehicle according to the state information and the target deceleration information;
the second processing submodule is used for determining the target damping force of each shock absorber in the active suspension system according to the influence degree;
and the third processing submodule is used for controlling the damping force of the corresponding shock absorber according to the target damping force and the type and the structural parameters of each shock absorber.
Specifically, as described above for the active suspension control apparatus, when the shock absorber is an electromagnetic shock absorber, the third processing sub-module includes:
the first processing unit is used for determining the target working current of the electromagnetic damper according to the target damping force and the structural parameters of the electromagnetic damper;
and the second processing unit is used for controlling the working current output to the electromagnetic shock absorber according to the target working current.
Further, the active suspension control apparatus as described above, the second processing unit includes:
the acquisition subunit is used for acquiring the current working current of the electromagnetic damper;
the first processing subunit is used for carrying out gradient transition processing according to the current working current and the corresponding target working current to obtain a control curve of the working current with respect to time;
and the second processing subunit is used for controlling the working current output to the electromagnetic shock absorber according to the control curve.
Preferably, the active suspension control apparatus as described above, further comprises:
and the third processing module is used for exiting the active control mode when the acquired state information indicates that the active emergency braking system is in a de-enabling state.
The embodiment of the active suspension control device of the invention is the active suspension control device corresponding to the embodiment of the active suspension control method of the prejudgment braking, and all implementation means in the embodiment of the active suspension control method of the prejudgment braking are applicable to the embodiment of the active suspension control device, and the same technical effect can be achieved.
Another preferred embodiment of the present invention also provides an active suspension control system including: the active suspension control device is connected with an active suspension controller of the active suspension system, and the active suspension controller is respectively connected with each shock absorber in the active suspension system;
when the active suspension control device is integrated into the active suspension controller, the active suspension control device is connected to each shock absorber.
In an embodiment of the present invention, the active suspension control system includes an active suspension system and the active suspension control device as described above, wherein when the active suspension control device is integrated in the vehicle control unit, the active suspension control device is connected to an active suspension controller of the active suspension system, and the active suspension controller is respectively connected to each shock absorber in the active suspension system; when the active suspension control device is integrated into the active suspension controller, the active suspension control device is connected to each shock absorber. When the active suspension control device executes the steps of the active suspension control method for pre-judging braking, if the active emergency braking system is in an enabling state, the active suspension system is always in an optimal damping state, so that the pitching rate of the vehicle is reduced, the nodding phenomenon is avoided, and the driving comfort and the control stability of the vehicle are improved. Compared with the existing active suspension control system, the damping force is adjusted only when the pitching rate of the vehicle body is detected to be abnormal, the hysteresis of the active suspension control is avoided, and the comfort level of passengers in the vehicle is ensured.
Still another preferred embodiment of the present invention also provides a vehicle including: the active suspension control system as described above.
In an embodiment of the invention, a vehicle comprising the active suspension control system is provided, so that when the active emergency braking system of the vehicle is in an enabling state, the active suspension system is always in an optimal damping state, the pitching rate of the vehicle is reduced, the nodding phenomenon is avoided, and the driving comfort and the control stability of the vehicle are improved. Compared with the existing active suspension control system, the damping force is adjusted only when the pitching rate of the vehicle body is detected to be abnormal, the hysteresis of the active suspension control is avoided, and the comfort level of passengers in the vehicle is ensured.
Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. An active suspension control method for prejudging braking is applied to an active suspension control device and is characterized by comprising the following steps:
acquiring state information of an active emergency braking system;
when the active emergency braking system is determined to be in an enabling state according to the state information, entering a preset active control mode and acquiring target deceleration information provided by the active emergency braking system;
and regulating and controlling the damping force of the active suspension system according to the state information and the target deceleration information.
2. The active suspension control method according to claim 1, wherein the step of regulating the damping force of the active suspension system based on the state information and the target deceleration information includes:
determining the influence degree on the pitching rate of the vehicle according to the state information and the target deceleration information;
determining a target damping force of each shock absorber in the active suspension system according to the degree of influence;
and controlling the damping force corresponding to the shock absorbers according to the target damping force and the type and structural parameters of each shock absorber.
3. The active suspension control method according to claim 2, wherein when the shock absorbers are electromagnetic shock absorbers, the step of controlling the damping forces of the corresponding shock absorbers in accordance with the target damping force and the type and structural parameters of each shock absorber comprises:
determining a target working current of the electromagnetic damper according to the target damping force and the structural parameters of the electromagnetic damper;
and controlling the working current output to the electromagnetic shock absorber according to the target working current.
4. The active suspension control method according to claim 3, wherein the step of controlling the operating current output to the electromagnetic absorber according to the target operating current includes:
acquiring the current working current of the electromagnetic shock absorber;
performing gradient transition processing according to the current working current and the corresponding target working current to obtain a control curve of the working current with respect to time;
and controlling the working current output to the electromagnetic shock absorber according to the control curve.
5. The active suspension control method according to claim 1, characterized by, after the step of regulating the damping force of the active suspension system based on the state information and the target deceleration information, further comprising:
and exiting the active control mode when the acquired state information indicates that the active emergency braking system is in a de-enabling state.
6. The active suspension control method of claim 1 wherein the active emergency braking system is determined to be in an enabled state when the status information indicates that the active emergency braking system is in a pre-charge enabled state, a high speed brake enabled state, a low speed brake enabled state, or an auxiliary brake enabled state.
7. The active suspension control method according to claim 1, wherein the target deceleration information includes: the value of the braking deceleration or the braking level.
8. An active suspension control device, comprising:
the acquisition module is used for acquiring the state information of the active emergency braking system;
the first processing module is used for entering an active control mode and acquiring target deceleration information provided by the active emergency braking system when the active emergency braking system is determined to be in an enabling state according to the state information;
and the second processing module is used for regulating and controlling the damping force of the active suspension system according to the state information and the target deceleration information.
9. An active suspension control system, comprising: an active suspension system and an active suspension control device according to claim 8, wherein when the active suspension control device is integrated in a vehicle controller, the active suspension control device is connected with an active suspension controller of the active suspension system, and the active suspension controller is respectively connected with each shock absorber in the active suspension system;
when the active suspension control device is integrated with the active suspension controller, the active suspension control device is connected with each shock absorber respectively.
10. A vehicle, characterized by comprising: the active suspension control system of claim 9.
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| CN1522882A (en) * | 2003-02-05 | 2004-08-25 | 日产自动车株式会社 | Electromagnetic suspension apparatus for automotive vehicles and method for controlling electric motor of the same |
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