CN114043836A - Automobile threshold control method, device and equipment and readable storage medium - Google Patents

Automobile threshold control method, device and equipment and readable storage medium Download PDF

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Publication number
CN114043836A
CN114043836A CN202111540018.7A CN202111540018A CN114043836A CN 114043836 A CN114043836 A CN 114043836A CN 202111540018 A CN202111540018 A CN 202111540018A CN 114043836 A CN114043836 A CN 114043836A
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Prior art keywords
vehicle
height
air
relative distance
air suspension
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CN202111540018.7A
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CN114043836B (en
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杨光
吴方武
占玉霞
何娅平
刘强
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
    • B60G17/0155—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit pneumatic unit
    • 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
    • B60G17/017—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 use when the vehicle is stationary, e.g. during loading, engine start-up or switch-off
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
    • 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
    • B60G17/0526—Distributor units, e.g. for retractable wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R3/00—Arrangements of steps or ladders facilitating access to or on the vehicle, e.g. running-boards
    • B60R3/02—Retractable steps or ladders, e.g. movable under shock
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/10—Type of spring
    • B60G2202/15—Fluid spring
    • B60G2202/152—Pneumatic spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/14—Buses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/14—Photo or light sensitive means, e.g. Infrared
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/30—Height or ground clearance
    • 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
    • B60G2800/202—Stationary vehicle kneeling, e.g. for letting passengers on/off

Abstract

The invention provides an automobile threshold control method, an automobile threshold control device, automobile threshold control equipment and a readable storage medium. The method comprises the following steps: acquiring a first relative distance between a vehicle threshold and a corresponding platform in the horizontal direction and a second relative distance in the vertical direction; calculating to obtain air volume adjusting values of air suspensions on the left side and the right side of the vehicle according to the second relative distance; adjusting the air suspensions on the left side and the right side of the vehicle according to the air volume adjusting values of the air suspensions on the left side and the right side of the vehicle; and after the air suspensions on the left side and the right side of the vehicle are adjusted, controlling the vehicle door sill to transversely extend for the first relative distance. According to the invention, the air suspension of the vehicle is adjusted according to the height difference between the vehicle threshold and the platform, and the vehicle threshold is controlled to transversely extend for the first relative distance, so that the vehicle threshold pedal is flush connected with the corresponding platform, the convenience for passengers to get on and off the vehicle is improved, the time for the passengers to get on and off the vehicle is shortened, and the probability of vehicle blockage is reduced.

Description

Automobile threshold control method, device and equipment and readable storage medium
Technical Field
The invention relates to the field of air suspension control of vehicles, in particular to an automobile threshold control method, device and equipment and a readable storage medium.
Background
At present, various road types exist in China, and platform heights on various roads are different. With respect to the car threshold, some stations are higher and some stations are lower. When the platform is higher, the passengers need to bend down to get on and off the vehicle, and when the platform is lower, the passengers need to step to get on the vehicle. For some old people, children and passengers who are inconvenient in body and need to sit on a wheelchair, getting on and off are difficult and take long time, vehicle blockage is easily caused, and normal traffic is affected.
In the prior art, the height of a car sill and a platform is adjusted by arranging a lifting pedal at the bottom of a car door and adopting motor driving, so that passengers can get on or off the car conveniently. This solution has the following drawbacks:
1. the motor control is adopted, so that a driver needs to start and adjust the height of the lifting pedal by means of the height difference between the car sill and the platform, the adjustment amount cannot be controlled, and the butt joint of the car sill and the platform is difficult to realize;
2. the problem that special people who take the wheelchair get on or off the wheelchair is not considered;
3. the Y-direction distance between the vehicle body and the platform is not considered after the driver stops the vehicle;
4. the problem that the threshold pedal cannot be aligned with the platform due to the height difference existing between the front and the back of the platform is not considered.
Disclosure of Invention
The invention mainly aims to provide an automobile threshold control method, an automobile threshold control device, automobile threshold control equipment and a readable storage medium, and aims to improve the convenience of passengers for getting on and off the automobile, shorten the time for the passengers to get on and off the automobile and reduce the probability of vehicle jam.
In a first aspect, the present invention provides an automobile threshold control method, including:
acquiring a first relative distance between a vehicle threshold and a corresponding platform in the horizontal direction and a second relative distance in the vertical direction;
calculating to obtain air volume adjusting values of air suspensions on the left side and the right side of the vehicle according to the second relative distance;
adjusting the air suspensions on the left side and the right side of the vehicle according to the air volume adjusting values of the air suspensions on the left side and the right side of the vehicle;
and after the air suspensions on the left side and the right side of the vehicle are adjusted, controlling the vehicle door sill to transversely extend for the first relative distance.
Optionally, the step of calculating an air volume adjustment value of the air suspensions on the left and right sides of the vehicle according to the second relative distance includes:
obtaining a vehicle inclination angle according to the vehicle width and the second relative distance;
obtaining a first height required to be adjusted by the left air suspension of the vehicle according to the relative distance between the left air suspension of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
calculating to obtain an air quantity adjusting value of the air suspension on the left side of the vehicle according to the functional relation between the air filling quantity and the height of the air suspension of the vehicle and the first height;
obtaining a second height required to be adjusted by the air suspension on the right side of the vehicle according to the relative distance between the air suspension on the right side of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
and calculating to obtain an air quantity adjusting value of the air suspension on the right side of the vehicle according to the functional relation between the air filling quantity and the height of the air suspension of the vehicle and the second height.
Optionally, the step of obtaining a first height of the left air suspension of the vehicle, which needs to be adjusted according to a relative distance between the left air suspension of the vehicle and either side of the vehicle and the vehicle inclination angle includes:
and calculating a first height of the air suspension on the left side of the vehicle, which needs to be adjusted, according to the relative distance between the air suspension on the left side of the vehicle and the opposite side of the vehicle on the side of the vehicle door sill and the vehicle inclination angle.
Optionally, the step of obtaining a first height of the left air suspension of the vehicle, which needs to be adjusted according to a relative distance between the left air suspension of the vehicle and either side of the vehicle and the vehicle inclination angle includes:
and calculating the third height of the air suspension on the left side of the vehicle according to the relative distance between the air suspension on the left side of the vehicle and the door sill side of the vehicle and the inclination angle of the vehicle.
And calculating the difference value between the height of the left air suspension and the third height when the vehicle runs to obtain the first height of the left air suspension of the vehicle, which needs to be adjusted.
Optionally, the step of calculating an air volume adjustment value of the air suspensions on the left and right sides of the vehicle according to the second relative distance includes:
and calculating to obtain air quantity adjusting values of the air suspensions on the left side and the right side of the vehicle according to the functional relation between the air filling quantity and the height of the air suspensions of the vehicle and the second relative distance.
Optionally, the step of obtaining a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction includes:
obtaining a fourth height of the platform relative to the road surface and a fifth height of the vehicle threshold relative to the road surface based on the image information acquired by the camera;
and calculating the difference value of the fourth height and the fifth height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
Optionally, the step of obtaining a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction includes:
receiving a sixth height of the platform relative to the road surface, which is sent by the platform side terminal;
obtaining a seventh height of the vehicle threshold relative to the road surface based on the image information acquired by the camera;
and calculating the difference value of the sixth height and the seventh height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
In a second aspect, the present invention also provides an automobile threshold control apparatus, including:
the system comprises an acquisition module, a judgment module and a control module, wherein the acquisition module is used for acquiring a first relative distance between a vehicle threshold and a corresponding platform in the horizontal direction and a second relative distance in the vertical direction;
the calculation module is used for calculating and obtaining air quantity adjusting values of air suspensions on the left side and the right side of the vehicle according to the second relative distance;
the adjusting module is used for adjusting the air suspensions on the left side and the right side of the vehicle according to the air quantity adjusting values of the air suspensions on the left side and the right side of the vehicle;
and the control module is used for controlling the transverse extension of the vehicle door sill by the first relative distance after the air suspensions on the left side and the right side of the vehicle are adjusted.
In a third aspect, the present invention further provides an automobile doorsill control apparatus, including a processor, a memory, and an automobile doorsill control program stored on the memory and executable by the processor, wherein the automobile doorsill control program, when executed by the processor, implements the steps of the automobile doorsill control method described above.
In a fourth aspect, the present invention further provides a readable storage medium, on which an automobile threshold control program is stored, wherein when the automobile threshold control program is executed by a processor, the steps of the automobile threshold control method as described above are implemented.
According to the invention, a first relative distance between a vehicle threshold and a corresponding platform in the horizontal direction and a second relative distance in the vertical direction are obtained; calculating to obtain air volume adjusting values of air suspensions on the left side and the right side of the vehicle according to the second relative distance; adjusting the air suspensions on the left side and the right side of the vehicle according to the air volume adjusting values of the air suspensions on the left side and the right side of the vehicle; and after the air suspensions on the left side and the right side of the vehicle are adjusted, controlling the vehicle door sill to transversely extend for the first relative distance. According to the invention, the first relative distance of the vehicle threshold and the corresponding platform in the horizontal direction and the second relative distance in the vertical direction are obtained, the air quantity adjusting values of the air suspensions on the left side and the right side of the vehicle are obtained according to the second relative distance, and the air suspensions on the left side and the right side of the vehicle are adjusted according to the air quantity adjusting values of the air suspensions on the left side and the right side of the vehicle, so that the vehicle threshold and the corresponding platform are on the same horizontal plane, the vehicle threshold is controlled to transversely extend for the first relative distance, the vehicle threshold pedal is in flush connection with the corresponding platform, the convenience of getting on and off the vehicle by passengers is improved, the time length of getting on and off the vehicle by passengers is shortened, and the probability of vehicle blockage is reduced.
Drawings
Fig. 1 is a schematic diagram of a hardware structure of an automobile threshold control device according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating an exemplary method for controlling a vehicle threshold according to the present invention;
FIG. 3 is a schematic view of an automobile and a platform according to an embodiment of the method for controlling an automobile threshold of the present invention;
FIG. 4 is a schematic view of a vehicle driving according to an embodiment of an automobile threshold control method of the present invention;
fig. 5 is a schematic view illustrating an automobile threshold control according to a first embodiment of an automobile threshold control method of the present invention;
fig. 6 is a schematic view illustrating an automobile threshold control according to a second embodiment of the automobile threshold control method of the present invention;
fig. 7 is a functional block diagram of an exemplary vehicle threshold control apparatus according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In a first aspect, embodiments of the present invention provide an automobile threshold control apparatus, which may be an apparatus having a data processing function, such as a Personal Computer (PC), a notebook computer, and a server.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of an automobile threshold control device according to an embodiment of the present invention. In this embodiment of the present invention, the car threshold control device may include a processor 1001 (e.g., a Central processing unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used for realizing connection communication among the components; the user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WI-FI interface, WI-FI interface); the memory 1005 may be a Random Access Memory (RAM) or a non-volatile memory (non-volatile memory), such as a magnetic disk memory, and the memory 1005 may optionally be a storage device independent of the processor 1001. Those skilled in the art will appreciate that the hardware configuration depicted in FIG. 1 is not intended to be limiting of the present invention, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
With continued reference to fig. 1, the memory 1005 of fig. 1, which is one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and an automobile threshold control program therein. The processor 1001 may call an automobile threshold control program stored in the memory 1005, and execute the automobile threshold control method according to the embodiment of the present invention.
In a second aspect, an embodiment of the present invention provides an automobile threshold control method.
In an embodiment, referring to fig. 2, fig. 2 is a schematic flow chart of an embodiment of an automobile threshold control method according to the present invention. As shown in fig. 2, the vehicle threshold control method includes:
step S10, obtaining a first relative distance between the vehicle threshold and the corresponding platform in the horizontal direction and a second relative distance in the vertical direction;
in the present embodiment, referring to fig. 3, fig. 3 is a schematic view of an automobile and a platform according to an embodiment of the method for controlling an automobile threshold of the present invention. As shown in fig. 3, a first relative distance between the vehicle sill and the corresponding platform in the horizontal direction is obtained based on the image information collected by the camera, wherein the camera includes a front camera and a side vehicle-mounted camera. When the vehicle threshold is a front threshold, the corresponding platform is the platform corresponding to the front threshold of the vehicle, and when the vehicle threshold is a rear threshold, the corresponding platform is the platform corresponding to the rear door of the vehicle. Specifically, the right side of the platform is the platform corresponding to the front threshold of the vehicle, and the left side of the platform is the platform corresponding to the rear threshold of the vehicle.
Further, referring to fig. 4, fig. 4 is a schematic view illustrating the driving of an automobile according to an embodiment of the method for controlling an automobile threshold according to the present invention. As shown in fig. 3 and 4, the relative height between the vehicle threshold and the road surface and the relative height between the platform and the road surface are obtained based on the image information acquired by the camera, and the difference between the relative height between the vehicle threshold and the road surface and the relative height between the platform and the road surface is calculated to obtain the second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
Further, a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction is obtained based on the image information acquired by the camera.
Further, the relative height between the platform and the road surface sent by the platform side terminal is received through the vehicle-mounted signal receiver, and the relative height between the vehicle threshold and the road surface is obtained based on the image information collected by the camera.
And calculating the difference value between the relative height of the platform and the road surface and the relative height between the vehicle threshold and the road surface to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
Further, a first relative distance between the vehicle threshold and the corresponding platform in the horizontal direction and a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction may be obtained when the distance between the vehicle and the platform is smaller than a threshold value, or the first relative distance between the vehicle threshold and the corresponding platform in the horizontal direction and the second relative distance in the vertical direction may be obtained when the vehicle reaches the platform for parking.
Further, in an embodiment, the step of obtaining a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction includes:
obtaining a fourth height of the platform relative to the road surface and a fifth height of the vehicle threshold relative to the road surface based on the image information acquired by the camera;
and calculating the difference value of the fourth height and the fifth height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
In this embodiment, if the platform is not an intelligent platform, when the distance between the vehicle and the platform is less than the threshold value or the vehicle reaches the platform for parking, the fourth height of the platform relative to the road surface and the fifth height of the vehicle threshold relative to the road surface are obtained based on the image information acquired by the camera. And calculating the difference value of the fourth height and the fifth height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction. When the vehicle door sill is a front door sill, the fourth height is the height of the vehicle front door sill corresponding to the platform relative to the road surface, and the second relative distance is the relative distance between the vehicle front door sill and the corresponding platform in the vertical direction. When the vehicle door sill is the rear door sill, the fourth height is the height of the vehicle rear door sill corresponding to the platform relative to the road surface, and the second relative distance is the relative distance between the vehicle rear door sill and the corresponding platform in the vertical direction.
Further, in an embodiment, the step of obtaining a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction includes:
receiving a sixth height of the platform relative to the road surface, which is sent by the platform side terminal;
obtaining a seventh height of the vehicle threshold relative to the road surface based on the image information acquired by the camera;
and calculating the difference value of the sixth height and the seventh height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
In this embodiment, if the platform is an intelligent platform, when the distance between the vehicle and the platform is less than the threshold value or the vehicle reaches the platform for parking, the sixth height of the platform relative to the road surface, which is sent by the platform side terminal, is received, and the seventh height of the vehicle threshold relative to the road surface is obtained based on the image information acquired by the camera. And calculating the difference value of the sixth height and the seventh height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction. When the vehicle door sill is the vehicle front door sill, the sixth height is the height of the vehicle front door sill corresponding to the platform relative to the road surface, and the second relative distance is the relative distance between the vehicle front door sill and the corresponding platform in the vertical direction. When the vehicle door sill is a vehicle rear door sill, the sixth height is the height of the vehicle rear door sill corresponding to the platform relative to the road surface, and the second relative distance is the relative distance between the vehicle rear door sill and the corresponding platform in the vertical direction.
Step S20, calculating according to the second relative distance to obtain air volume adjustment values of the air suspensions on the left side and the right side of the vehicle;
in this embodiment, if the height of the left and right air suspensions of the vehicle, which needs to be adjusted, is the same as the height of the vehicle threshold, which needs to be adjusted, the air volume adjustment values of the left and right air suspensions of the vehicle are calculated according to the second relative distance and the functional relationship between the air inflation volume and the height of the air suspensions of the vehicle.
If the height of the left and right air suspensions of the vehicle, which needs to be adjusted, is different from the required height of the vehicle threshold, and the vehicle threshold is a front threshold, obtaining a vehicle inclination angle according to the width of the vehicle body and a second relative distance, obtaining a first height of the left front air suspension of the vehicle, which needs to be adjusted, according to the relative distance between the left front air suspension of the vehicle and any side of the vehicle and the vehicle inclination angle, and calculating to obtain an air volume adjustment value of the left front air suspension of the vehicle according to a function relation between the air inflation volume and the height of the vehicle air suspension and the first height of the left front air suspension of the vehicle, which needs to be adjusted. By analogy, air volume adjusting values of the air suspensions on the left front side, the left rear side, the right front side and the right rear side of the vehicle are obtained respectively.
Further, in one embodiment, step S20 includes:
and calculating to obtain air quantity adjusting values of the air suspensions on the left side and the right side of the vehicle according to the functional relation between the air filling quantity and the height of the air suspensions of the vehicle and the second relative distance.
In the present embodiment, referring to fig. 5, fig. 5 is a schematic view illustrating an automobile threshold control method according to a first embodiment of the present invention. As shown in FIG. 5, if the height of the left and right air suspension of the vehicle to be adjusted is the same as the required height of the vehicle sill, the functional relationship between the inflation amount and the height of the air suspension of the vehicle is determined
Figure BDA0003413725510000071
And a second relative distance H1The air quantity adjustment values of the air suspensions on the left side and the right side of the vehicle are Q through calculation1＝f*H1. As shown in fig. 5, the left air-bleeding state air suspension is the height of the left air suspension of the vehicle after the left air suspension of the vehicle is adjusted according to the air volume adjustment value of the left air suspension of the vehicle. And the right air suspension in the air bleeding state is the height of the right air suspension of the vehicle after the air suspension on the right side of the vehicle is adjusted according to the air volume adjusting value of the air suspension on the right side of the vehicle.
Further, in one embodiment, step S20 includes:
step S201, obtaining a vehicle inclination angle according to the width of the vehicle body and the second relative distance;
step S202, obtaining a first height of the left air suspension of the vehicle, which needs to be adjusted, according to the relative distance between the left air suspension of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
step S203, calculating to obtain an air volume adjusting value of the air suspension on the left side of the vehicle according to the functional relation between the air filling volume and the height of the air suspension of the vehicle and the first height;
step S204, obtaining a second height of the right air suspension of the vehicle, which needs to be adjusted, according to the relative distance between the right air suspension of the vehicle and any side of the vehicle and the vehicle inclination angle;
and S205, calculating to obtain an air volume adjusting value of the air suspension on the right side of the vehicle according to the functional relation between the air filling volume and the height of the air suspension of the vehicle and the second height.
In the present embodiment, referring to fig. 6, fig. 6 is a schematic view illustrating an automobile threshold control method according to a second embodiment of the present invention. As shown in fig. 6, if the height of the left and right air suspensions of the vehicle to be adjusted is different from the required height of the vehicle sill, the height is determined according to the width L of the vehicle body1And a second relative distance H1Obtaining the vehicle inclination angle through the trigonometric function
Figure BDA0003413725510000081
Wherein when the second relative distance is the relative distance between the front door sill of the vehicle and the corresponding platform in the vertical direction, alpha1Is a vehicleThe front side inclination angle of the vehicle, when the second relative distance is the relative distance between the rear door sill of the vehicle and the corresponding platform in the vertical direction, alpha1Is the vehicle rear side inclination angle.
According to the relative distance L between the air suspension on the left side of the vehicle and any side of the vehicle20And the vehicle inclination angle alpha1Calculating to obtain a first height H of the left air suspension of the vehicle needing to be adjusted20＝L20*tanα1. And the left air suspension in the left air-bleed state is the height of the left air suspension of the vehicle after the left air suspension of the vehicle is adjusted according to the air volume adjusting value of the left air suspension of the vehicle. Wherein, when the second relative distance is the relative distance between the front doorsill of the vehicle and the corresponding platform in the vertical direction, the first height H20The height of the left front side of the vehicle is adjusted, and when the second relative distance is the relative distance between the rear threshold of the vehicle and the corresponding platform in the vertical direction, the first height H20The height of the vehicle left rear side needs to be adjusted.
According to the functional relation between the inflation quantity and the height of the air suspension of the vehicle
Figure BDA0003413725510000091
And a first height H20Calculating to obtain an air flow adjusting value Q of the left air suspension of the vehicle2＝f*H20. Wherein, when the second relative distance is the relative distance between the front doorsill of the vehicle and the corresponding platform in the vertical direction, Q2For the air quantity adjustment value of the air suspension at the left front side of the vehicle, when the second relative distance is the relative distance between the rear threshold of the vehicle and the corresponding platform in the vertical direction, Q2And adjusting the air quantity of the left rear air suspension of the vehicle.
According to the relative distance L between the air suspension on the right side of the vehicle and any side of the vehicle30And the vehicle inclination angle alpha1Calculating to obtain a second height H of the air suspension on the right side of the vehicle, which needs to be adjusted30＝L30*tanα1. And the right air suspension in the air bleeding state is the height of the right air suspension of the vehicle after the right air suspension of the vehicle is adjusted according to the air volume adjusting value of the right air suspension of the vehicle. Wherein, when the second relative distance is the vehicleThe second height H is the relative distance between the front threshold and the corresponding platform in the vertical direction30The height of the vehicle to be adjusted on the right front side is the second height H when the second relative distance is the relative distance between the rear threshold of the vehicle and the corresponding platform in the vertical direction30The height of the vehicle which needs to be adjusted for the right rear side.
According to the functional relation between the inflation quantity and the height of the air suspension of the vehicle
Figure BDA0003413725510000092
And a second height H30Calculating to obtain an air flow adjusting value Q of the air suspension on the right side of the vehicle3＝f*H30. Wherein, when the second relative distance is the relative distance between the front doorsill of the vehicle and the corresponding platform in the vertical direction, Q3For the air quantity adjustment value of the air suspension on the right front side of the vehicle, when the second relative distance is the relative distance between the rear threshold of the vehicle and the corresponding platform in the vertical direction, Q3And adjusting the air quantity of the air suspension on the right rear side of the vehicle.
Further, in an embodiment, the step S202 includes:
and calculating a first height of the air suspension on the left side of the vehicle, which needs to be adjusted, according to the relative distance between the air suspension on the left side of the vehicle and the opposite side of the vehicle on the side of the vehicle door sill and the vehicle inclination angle.
In this embodiment, if the relative distance between the left air suspension of the vehicle and the side opposite to the side of the vehicle sill is L201According to the relative distance L between the air suspension on the left side of the vehicle and the opposite side of the door sill side of the vehicle201And the vehicle inclination angle alpha1And calculating to obtain the first height H of the left air suspension of the vehicle needing to be adjusted20＝L201*tanα1And when the second relative distance is the relative distance between the front door sill of the vehicle and the corresponding platform in the vertical direction, the first height is the height of the air suspension on the left front side of the vehicle, which needs to be adjusted. When the second relative distance is the relative distance between the rear door sill of the vehicle and the corresponding platform in the vertical direction, the first height is the height which needs to be adjusted by the air suspension at the left rear side of the vehicle.
Further, if the vehicle right side air suspension and vehicleThe relative distance of the opposite side of the threshold side is L301According to the relative distance L between the air suspension on the left side of the vehicle and the opposite side of the door sill side of the vehicle301And the vehicle inclination angle alpha1And calculating to obtain a second height H of the right front side air suspension of the vehicle, which needs to be adjusted30＝L301*tanα1And when the second relative distance is the relative distance between the front door sill of the vehicle and the corresponding platform in the vertical direction, the second height is the height required to be adjusted by the air suspension on the front right side of the vehicle. And when the second relative distance is the relative distance between the rear door sill of the vehicle and the corresponding platform in the vertical direction, the second height is the height which needs to be adjusted by the air suspension at the right rear side of the vehicle.
Further, in an embodiment, the step S202 includes:
and calculating the third height of the air suspension on the left side of the vehicle according to the relative distance between the air suspension on the left side of the vehicle and the door sill side of the vehicle and the inclination angle of the vehicle.
And calculating the difference value between the height of the left air suspension and the third height when the vehicle runs to obtain the first height of the left air suspension of the vehicle, which needs to be adjusted.
In this embodiment, if the relative distance between the left air suspension and the vehicle door sill side is L202According to the relative distance L between the left air suspension of the vehicle and the door sill side of the vehicle202And the angle alpha of the stagger angle of the vehicle inclination angle2Calculating to obtain the third height H of the left air suspension of the vehicle40＝L202*tanα2I.e. the height of the air suspension in the deflated state on the left side of the vehicle. And when the second relative distance is the relative distance between the front doorsill of the vehicle and the corresponding platform in the vertical direction, the third height is the height of the air suspension on the left front side of the vehicle. And when the second relative distance is the relative distance between the rear door sill of the vehicle and the corresponding platform in the vertical direction, the third height is the height of the air suspension on the left rear side of the vehicle.
As shown in fig. 4 and 6, the difference between the height of the left air suspension and the third height when the vehicle runs is calculated to obtain the first height H of the left air suspension of the vehicle, which needs to be adjusted20Wherein when the third height is the left front side air suspension of the vehicleThe first height is the height of the air suspension at the left front side of the vehicle that needs to be adjusted, as the height of the frame. When the third height is the height of the vehicle left rear air suspension, the first height is the height that the vehicle left rear air suspension needs to be adjusted.
Further, if the relative distance between the air suspension on the right side of the vehicle and the side of the vehicle door sill is L302According to the relative distance L between the air suspension on the right side of the vehicle and the door sill side of the vehicle302And the angle alpha of the stagger angle of the vehicle inclination angle2Calculating to obtain the fourth height H of the air suspension on the right side of the vehicle50＝L302*tanα2I.e. the height of the air suspension in the deflated state on the right side of the vehicle. And when the second relative distance is the relative distance between the front door sill of the vehicle and the corresponding platform in the vertical direction, the fourth height is the height of the air suspension on the front right side of the vehicle. And when the second relative distance is the relative distance between the rear door sill of the vehicle and the corresponding platform in the vertical direction, the fourth height is the height of the air suspension on the right rear side of the vehicle.
Calculating the difference value between the height of the right air suspension and the fourth height when the vehicle runs to obtain the second height H of the right air suspension of the vehicle, which needs to be adjusted30And when the fourth height is the height of the vehicle right front side air suspension, the second height is the height which needs to be adjusted by the vehicle right front side air suspension. When the fourth height is the height of the vehicle right rear side air suspension, the second height is the height that the vehicle right rear side air suspension needs to be adjusted.
Step S30, adjusting the air suspension on the left and right sides of the vehicle according to the air volume adjustment value of the air suspension on the left and right sides of the vehicle;
in this embodiment, if the second distance between the vehicle threshold and the corresponding platform in the vertical direction is greater than zero, the air release of the air suspensions on the left and right sides of the vehicle is controlled according to the air quantity adjustment values of the air suspensions on the left and right sides of the vehicle, so that the vehicle threshold and the corresponding platform are on the same horizontal plane.
And if the second distance between the vehicle threshold and the corresponding platform in the vertical direction is smaller than zero, controlling the air suspensions on the left side and the right side of the vehicle to inflate according to the air quantity adjusting values of the air suspensions on the left side and the right side of the vehicle, so that the vehicle threshold and the corresponding platform are on the same horizontal plane.
And if the second distance between the vehicle threshold and the corresponding platform in the vertical direction is zero, the air flow adjustment values of the air suspensions on the left side and the right side of the vehicle are zero, and the heights of the air suspensions on the left side and the right side of the vehicle are kept unchanged.
And step S40, after the air suspensions on the left side and the right side of the vehicle are adjusted, controlling the vehicle door sill to transversely extend for the first relative distance.
In this embodiment, with reference to fig. 5 and 6, after the air suspensions on the left and right sides of the vehicle are adjusted, the first relative distance obtained in the step S10 of extending the transversely extendable pedal of the vehicle threshold is controlled, so that the vehicle threshold pedal is flush connected to the corresponding platform, and it is convenient for the elderly, children, and the passengers in wheelchairs to get on and off the vehicle, thereby shortening the time for the passengers to get on and off the vehicle and reducing the probability of vehicle congestion.
In this embodiment, a first relative distance between a vehicle threshold and a corresponding platform in a horizontal direction and a second relative distance in a vertical direction are obtained; calculating to obtain air volume adjusting values of air suspensions on the left side and the right side of the vehicle according to the second relative distance; adjusting the air suspensions on the left side and the right side of the vehicle according to the air volume adjusting values of the air suspensions on the left side and the right side of the vehicle; and after the air suspensions on the left side and the right side of the vehicle are adjusted, controlling the vehicle door sill to transversely extend for the first relative distance. Through this embodiment, obtain the first relative distance of vehicle threshold and corresponding platform in the horizontal direction and the second relative distance in the vertical direction, obtain the tolerance adjustment value of the air suspension of vehicle left and right sides according to second relative distance, and adjust the air suspension of vehicle left and right sides according to the tolerance adjustment value of the air suspension of vehicle left and right sides, make vehicle threshold and corresponding platform on same horizontal plane, control the first relative distance of horizontal extension of vehicle threshold, make vehicle threshold footboard and corresponding platform flush and be connected, improve the convenience that the passenger got on or off the bus, thereby shorten the length of time that the passenger got on or off the bus, reduce the probability of vehicle jam.
In a third aspect, an embodiment of the present invention further provides an automobile threshold control device.
In an embodiment, referring to fig. 7, fig. 7 is a functional block diagram of a first embodiment of an automobile threshold control device according to the present invention. As shown in fig. 7, the vehicle threshold control apparatus includes:
an obtaining module 10, configured to obtain a first relative distance between a vehicle threshold and a corresponding platform in a horizontal direction and a second relative distance in a vertical direction;
the calculation module 20 is configured to calculate an air volume adjustment value of the air suspensions on the left and right sides of the vehicle according to the second relative distance;
the adjusting module 30 is used for adjusting the air suspensions on the left side and the right side of the vehicle according to the air volume adjusting values of the air suspensions on the left side and the right side of the vehicle;
and the control module 40 is used for controlling the transverse extension of the vehicle door sill by the first relative distance after the air suspensions on the left side and the right side of the vehicle are adjusted.
Further, in an embodiment, the calculating module 20 is configured to:
obtaining a vehicle inclination angle according to the vehicle width and the second relative distance;
obtaining a first height required to be adjusted by the left air suspension of the vehicle according to the relative distance between the left air suspension of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
calculating to obtain an air quantity adjusting value of the air suspension on the left side of the vehicle according to the functional relation between the air filling quantity and the height of the air suspension of the vehicle and the first height;
obtaining a second height required to be adjusted by the air suspension on the right side of the vehicle according to the relative distance between the air suspension on the right side of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
and calculating to obtain an air quantity adjusting value of the air suspension on the right side of the vehicle according to the functional relation between the air filling quantity and the height of the air suspension of the vehicle and the second height.
Further, in an embodiment, the calculating module 20 is further configured to:
and calculating a first height of the air suspension on the left side of the vehicle, which needs to be adjusted, according to the relative distance between the air suspension on the left side of the vehicle and the opposite side of the vehicle on the side of the vehicle door sill and the vehicle inclination angle.
Further, in an embodiment, the calculating module 20 is further configured to:
and calculating the third height of the air suspension on the left side of the vehicle according to the relative distance between the air suspension on the left side of the vehicle and the door sill side of the vehicle and the inclination angle of the vehicle.
And calculating the difference value between the height of the left air suspension and the third height when the vehicle runs to obtain the first height of the left air suspension of the vehicle, which needs to be adjusted.
Further, in an embodiment, the calculating module 20 is further configured to:
and calculating to obtain air quantity adjusting values of the air suspensions on the left side and the right side of the vehicle according to the functional relation between the air filling quantity and the height of the air suspensions of the vehicle and the second relative distance.
Further, in an embodiment, the obtaining module 10 is configured to:
obtaining a fourth height of the platform relative to the road surface and a fifth height of the vehicle threshold relative to the road surface based on the image information acquired by the camera;
and calculating the difference value of the fourth height and the fifth height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
Further, in an embodiment, the obtaining module 10 is further configured to:
receiving a sixth height of the platform relative to the road surface, which is sent by the platform side terminal;
obtaining a seventh height of the vehicle threshold relative to the road surface based on the image information acquired by the camera;
and calculating the difference value of the sixth height and the seventh height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
The function implementation of each module in the automobile threshold control device corresponds to each step in the embodiment of the automobile threshold control method, and the function and implementation process are not described in detail herein.
In a fourth aspect, the embodiment of the present invention further provides a readable storage medium.
The readable storage medium of the present invention stores an automobile threshold control program, wherein the automobile threshold control program, when executed by a processor, implements the steps of the automobile threshold control method as described above.
The method implemented when the car threshold control program is executed may refer to each embodiment of the car threshold control method of the present invention, and details thereof are not described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for causing a terminal device to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. An automobile threshold control method, characterized by comprising:
acquiring a first relative distance between a vehicle threshold and a corresponding platform in the horizontal direction and a second relative distance in the vertical direction;
calculating to obtain air volume adjusting values of air suspensions on the left side and the right side of the vehicle according to the second relative distance;
adjusting the air suspensions on the left side and the right side of the vehicle according to the air volume adjusting values of the air suspensions on the left side and the right side of the vehicle;
and after the air suspensions on the left side and the right side of the vehicle are adjusted, controlling the vehicle door sill to transversely extend for the first relative distance.
2. An automobile threshold control method as claimed in claim 1, wherein the step of calculating an air volume adjustment value for air suspensions on left and right sides of the vehicle based on the second relative distance includes:
obtaining a vehicle inclination angle according to the vehicle width and the second relative distance;
obtaining a first height required to be adjusted by the left air suspension of the vehicle according to the relative distance between the left air suspension of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
calculating to obtain an air quantity adjusting value of the air suspension on the left side of the vehicle according to the functional relation between the air filling quantity and the height of the air suspension of the vehicle and the first height;
obtaining a second height required to be adjusted by the air suspension on the right side of the vehicle according to the relative distance between the air suspension on the right side of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
and calculating to obtain an air quantity adjusting value of the air suspension on the right side of the vehicle according to the functional relation between the air filling quantity and the height of the air suspension of the vehicle and the second height.
3. An automobile threshold control method as claimed in claim 2, wherein the step of obtaining a first height of the left air suspension of the vehicle to be adjusted based on a relative distance of the left air suspension of the vehicle to either side of the vehicle and the vehicle inclination angle includes:
and calculating a first height of the air suspension on the left side of the vehicle, which needs to be adjusted, according to the relative distance between the air suspension on the left side of the vehicle and the opposite side of the vehicle on the side of the vehicle door sill and the vehicle inclination angle.
4. An automobile threshold control method as claimed in claim 2, wherein the step of obtaining a first height of the left air suspension of the vehicle to be adjusted based on a relative distance of the left air suspension of the vehicle to either side of the vehicle and the vehicle inclination angle includes:
and calculating the third height of the air suspension on the left side of the vehicle according to the relative distance between the air suspension on the left side of the vehicle and the door sill side of the vehicle and the inclination angle of the vehicle.
And calculating the difference value between the height of the left air suspension and the third height when the vehicle runs to obtain the first height of the left air suspension of the vehicle, which needs to be adjusted.
5. An automobile threshold control method as claimed in claim 1, wherein the step of calculating an air volume adjustment value for air suspensions on left and right sides of the vehicle based on the second relative distance includes:
and calculating to obtain air quantity adjusting values of the air suspensions on the left side and the right side of the vehicle according to the functional relation between the air filling quantity and the height of the air suspensions of the vehicle and the second relative distance.
6. An automobile door sill control method as claimed in claim 1, wherein said step of obtaining a second relative vertical distance between the vehicle door sill and the corresponding platform comprises:
obtaining a fourth height of the platform relative to the road surface and a fifth height of the vehicle threshold relative to the road surface based on the image information acquired by the camera;
and calculating the difference value of the fourth height and the fifth height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
7. An automobile door sill control method as claimed in claim 1, wherein said step of obtaining a second relative vertical distance between the vehicle door sill and the corresponding platform comprises:
receiving a sixth height of the platform relative to the road surface, which is sent by the platform side terminal;
obtaining a seventh height of the vehicle threshold relative to the road surface based on the image information acquired by the camera;
and calculating the difference value of the sixth height and the seventh height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
8. An automobile threshold control device, characterized in that the automobile threshold control device includes:
the system comprises an acquisition module, a judgment module and a control module, wherein the acquisition module is used for acquiring a first relative distance between a vehicle threshold and a corresponding platform in the horizontal direction and a second relative distance in the vertical direction;
the calculation module is used for calculating and obtaining air quantity adjusting values of air suspensions on the left side and the right side of the vehicle according to the second relative distance;
the adjusting module is used for adjusting the air suspensions on the left side and the right side of the vehicle according to the air quantity adjusting values of the air suspensions on the left side and the right side of the vehicle;
and the control module is used for controlling the transverse extension of the vehicle door sill by the first relative distance after the air suspensions on the left side and the right side of the vehicle are adjusted.
9. An automotive doorsill control apparatus, characterized in that the automotive doorsill control apparatus comprises a processor, a memory, and an automotive doorsill control program stored on the memory and executable by the processor, wherein the automotive doorsill control program, when executed by the processor, implements the steps of the automotive doorsill control method of any of claims 1 to 7.
10. A readable storage medium, characterized in that an automobile threshold control program is stored thereon, wherein the automobile threshold control program, when executed by a processor, implements the steps of the automobile threshold control method as recited in any one of claims 1 to 7.
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