CN114523951A - Self-adaptive suspension control method, automatic driving system and working method thereof - Google Patents
Self-adaptive suspension control method, automatic driving system and working method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0013—Planning or execution of driving tasks specially adapted for occupant comfort
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/40—High definition maps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/22—Suspension systems
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Abstract
The invention discloses a self-adaptive suspension control method, an automatic driving system and a working method thereof, wherein the control method acquires the real-time position of a vehicle and front road information through a high-precision map and a positioning device, and automatically raises the height of an air suspension and improves the flexibility of the air suspension when an abnormal road surface exists in a first set distance in front of the vehicle; and when the vehicle runs to the standard road surface for a second set distance from the abnormal road surface, automatically reducing the height of the air suspension and improving the rigidity of the air suspension. This scheme can carry out automatic regulation to air suspension according to the road surface condition at the autopilot in-process to travelling comfort and trafficability characteristic among the autopilot process are improved greatly.
Description
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to a self-adaptive suspension control method, an automatic driving system and a working method of the automatic driving system.
Background
The suspension is a general term for a force transmission connecting device between a frame/body and a chassis/axle of an automobile, and functions to transmit forces and moments acting between wheels and the frame, such as supporting force, braking force, driving force and the like, and to mitigate impact transmitted to the frame from an uneven road surface and to damp vibration caused thereby to ensure smooth driving of the automobile.
With the popularization of automobiles, people have not satisfied the ability to ride in a car, but have demanded comfort. Passenger comfort has become an important indicator in evaluating an automobile, and comfort is ultimately reflected by vehicle suspension systems.
The air suspension is a suspension structure which can give consideration to trafficability and comfort, the air suspension judges the height change of the vehicle body according to the difference of road conditions and the signals of the distance sensors, and then controls the air compressor and the exhaust valve to automatically compress or extend the spring, so that the ground clearance of the chassis is reduced or increased, and the trafficability of high-speed vehicle body stability or complex road conditions is increased.
With the continuous development of the automatic driving technology, the automatic driving technology mainly solves several problems of drivers. Firstly, the driving burden of a driver is reduced, and the driver can drive easily; secondly, the safety of a driver or a vehicle is improved, and vehicle safety assistance is realized through prompting or controlling; thirdly, the driving comfort is improved, and the smoothness and the comfort of the machine control are improved through the anthropomorphic design; upgrades are made to achieve full or highly automated driving.
The existing automatic driving technology is mainly designed in association with a power system, a braking system, a steering system and the like, and is poor in combination with other systems such as an air suspension system and the like, so that the air suspension cannot be automatically adjusted according to the road condition in the automatic driving process, and the comfort and the trafficability characteristic in the automatic driving process are greatly reduced.
Disclosure of Invention
Aiming at the defects in the prior art, the technical problems to be solved by the invention are as follows: how to provide a self-adaptive suspension control method, an automatic driving system and a working method thereof, which can automatically adjust an air suspension according to the road condition in the automatic driving process so as to greatly improve the comfort and the trafficability characteristic in the automatic driving process.
In order to solve the technical problems, the invention adopts the following technical scheme:
a self-adaptive suspension control method comprises the steps that real-time position and front road information of a vehicle are obtained through a high-precision map and a positioning device, and when an abnormal road surface exists in a first set distance in front of the vehicle, the height of an air suspension is automatically increased, and the flexibility of the air suspension is improved; and when the vehicle runs to the standard road surface for a second set distance from the abnormal road surface, automatically reducing the height of the air suspension and improving the rigidity of the air suspension.
The working principle of the invention is as follows: in the automatic driving process, the real-time position of the vehicle and the front road information are obtained through the high-precision map and the positioning device, and when an abnormal road surface exists in a first set distance in front of the vehicle, the height of the air suspension is automatically increased, the flexibility of the air suspension is improved, and the trafficability of the vehicle is improved; and when the vehicle runs to the standard road surface for a second set distance from the abnormal road surface, automatically reducing the height of the air suspension and improving the rigidity of the air suspension so as to improve the comfort of the vehicle. This scheme can adjust air suspension automatically according to the current position of vehicle and the road surface information in the place ahead of traveling at the autopilot in-process from this to satisfy the demand of traveling on different road surfaces, thereby improve the travelling comfort and the trafficability characteristic of autopilot in-process vehicle greatly.
An automatic driving system for realizing the self-adaptive suspension control method comprises an automatic driving main system, an air suspension system, a gateway, a high-precision map and positioning unit and a basic map unit;
the high-precision map and positioning unit is in communication connection with the automatic driving main system and is used for acquiring the real-time position of a vehicle and front road information and transmitting the real-time position and the front road information to the automatic driving main system;
the basic map unit performs data interaction with the automatic driving main system through a gateway, is used for setting a destination, and plans a navigation path to be input into the automatic driving main system;
the automatic driving main system outputs corresponding control signals to the air suspension system according to the input information of the high-precision map, the positioning unit and the basic map unit;
and the air suspension system performs data interaction with the automatic driving main system through the gateway and is used for adjusting the air suspension according to a control signal of the automatic driving main system.
Preferably, the automatic driving system further comprises a human-computer interaction system, wherein the human-computer interaction system performs data interaction with the automatic driving main system through the gateway, is used for displaying the working process and the result state of the automatic driving system, and prompts a user in a text, picture or animation mode.
The working method of the automatic driving system adopts the automatic driving system, and the high-precision map and positioning unit acquires the real-time position of the vehicle and the front road information and inputs the information to the automatic driving main system;
when an abnormal road surface exists in a first set distance in front of the running of the vehicle, the automatic driving main system sends a control signal to the air suspension system, and the air suspension system raises the height of the air suspension and improves the flexibility of the air suspension;
and after the vehicle runs to a second set distance from the abnormal road surface to the standard road surface, the automatic driving main system sends a control signal to the air suspension system, and the air suspension system reduces the height of the air suspension and improves the rigidity of the air suspension.
Preferably, the first set distanceS 1And a second set distanceS 2The calculation method comprises the following steps:
S 1 = V t ×t 0；
S 2 =V t ×t 0；
in the formula:V t is the speed at which the vehicle is traveling;t 0is the adjustment response time of the air suspension. Wherein the adjustment response time of the air suspensiont 0The method is characterized in that after the vehicle is debugged and calibrated, the actual adjustment response time of the calibrated air suspension is preset in the systemA fixed value of (a).
Preferably, when the vehicle runs on a standard road surface, the working method of the automatic driving system comprises the following steps:
step 1) judging whether the automatic driving system works normally, if so, executing step 2), and if not, executing step 8);
step 2) whether the self-adaptive function of the air suspension in the air suspension system is started, if so, executing step 3), and if not, executing step 8);
step 3) whether the basic map unit plans a navigation path and inputs the navigation path to the automatic driving main system, if so, executing step 4), and if not, executing step 8);
step 4) the high-precision map and positioning unit acquires the position of the vehicle and the front road information in real time and inputs the information to the automatic driving main system, the automatic driving main system judges whether an abnormal road exists within a first set distance in front of the vehicle, and when the automatic driving main system judges that the abnormal road exists within the first set distance in front of the vehicle, the step 5) is executed;
step 5) the automatic driving main system sends a control signal to the air suspension system, so that the air suspension system adjusts the air suspension, the height of the air suspension is increased, and the flexibility of the air suspension is improved;
step 6) the automatic driving main system judges whether the vehicle runs to a second set distance from the abnormal road surface to the standard road surface, and after the automatic driving main system judges that the vehicle runs to the second set distance from the abnormal road surface to the standard road surface, step 7) is executed;
step 7) the automatic driving main system sends a control signal to the air suspension system, so that the air suspension system adjusts the air suspension, the height of the air suspension is reduced, the rigidity of the air suspension is improved, and then the step 1) is executed;
and 8) finishing.
Preferably, when the vehicle travels on an abnormal road surface, the operating method of the automatic driving system includes the steps of:
step 1) judging whether the automatic driving system works normally, if so, executing step 2), and if not, executing step 8);
step 2) whether the self-adaptive function of the air suspension in the air suspension system is started, if so, executing step 3), and if not, executing step 8);
step 3) whether the basic map unit plans a navigation path and inputs the navigation path to the automatic driving main system, if so, executing step 4), and if not, executing step 8);
step 4) the high-precision map and positioning unit acquires the position of the vehicle and the information of the front road surface in real time and inputs the information to the automatic driving main system, the automatic driving main system judges whether the vehicle runs from the abnormal road surface to a second set distance of the standard road surface, and after the automatic driving main system judges that the vehicle runs from the abnormal road surface to the second set distance of the standard road surface, the step 5) is executed;
step 5) the automatic driving main system sends a control signal to the air suspension system, so that the air suspension system adjusts the air suspension, the height of the air suspension is reduced, and the rigidity of the air suspension is improved;
step 6) the automatic driving main system judges whether an abnormal road surface exists within a first set distance in front of the vehicle, and when the automatic driving main system judges that the abnormal road surface exists within the first set distance in front of the vehicle, step 7) is executed;
step 7) the automatic driving main system sends a control signal to the air suspension system, so that the air suspension system adjusts the air suspension, the height of the air suspension is increased, and the flexibility of the air suspension is improved; then returning to execute the step 1);
and 8) finishing.
Preferably, the automatic driving system further comprises a human-computer interaction system, wherein the human-computer interaction system performs data interaction with the automatic driving main system through the gateway, is used for displaying the working process and the result state of the automatic driving system, and prompts a user in a text, picture or animation mode.
Compared with the prior art, the invention has the following advantages:
1. when the automatic driving system is used for automatic driving, the self-adaptive function of the air suspension system is started, the navigation path is planned, the road condition and the distance are output to the automatic driving main system by the high-precision map and positioning unit, the automatic driving main system executes different self-adaptive air suspension adjustment strategies according to different road conditions, and the adjustment process and the state of the air suspension are fed back to a driver through the human-computer interaction system.
2. Based on the current mainstream automatic driving technical scheme, the air suspension technology is applied to the field of automatic driving along with continuous maturity and universality of the air suspension technology on the basis of not changing the hardware architecture of the whole vehicle and not increasing the cost, so that the hardware system of the vehicle is utilized to the maximum extent, and the function is continuously expanded to improve the price-overflowing capacity of the vehicle.
3. According to the invention, through a high-precision map and a positioning technology, different adaptive air suspension adjusting strategies are executed according to different roadside conditions, so that the automatic driving function operation scene is expanded, and the driving comfort is improved.
4. The method has a simple working principle, is feasible and effective, fully utilizes the existing automatic driving technical scheme and hardware architecture, and improves the robustness and comfort of automatic driving continuously by using beyond-the-horizon information to assist the adjustment of the vehicle suspension.
Drawings
FIG. 1 is a system block diagram of an autopilot system of the present invention;
FIG. 2 is a state diagram of the vehicle when running on a standard road surface;
FIG. 3 is a flow chart of the logic of the operation of the automatic driving system of the present invention when driving on a standard road;
FIG. 4 is a logic flow chart of the operation of the automatic driving system of the present invention when the vehicle is driving on an abnormal road.
Detailed Description
The invention will be further explained with reference to the drawings and the embodiments.
The abnormal road surface of the present invention includes, but is not limited to, bumpy road surfaces, muddy road surfaces, depressed road surfaces, and the like.
A self-adaptive suspension control method comprises the steps that real-time position and front road information of a vehicle are obtained through a high-precision map and a positioning device, and when an abnormal road surface exists in a first set distance in front of the vehicle, the height of an air suspension is automatically increased, and the flexibility of the air suspension is improved; and when the vehicle runs to the standard road surface for a second set distance from the abnormal road surface, automatically reducing the height of the air suspension and improving the rigidity of the air suspension.
The working principle of the invention is as follows: in the automatic driving process, the real-time position of the vehicle and the front road information are obtained through the high-precision map and the positioning device, and when an abnormal road surface exists in a first set distance in front of the vehicle, the height of the air suspension is automatically increased, the flexibility of the air suspension is improved, and the trafficability of the vehicle is improved; and when the vehicle runs to the standard road surface for a second set distance from the abnormal road surface, automatically reducing the height of the air suspension and improving the rigidity of the air suspension so as to improve the comfort of the vehicle. This scheme can adjust air suspension automatically according to the current position of vehicle and the road surface information in the place ahead of traveling at the autopilot in-process from this to satisfy the demand of traveling on different road surfaces, thereby improve the travelling comfort and the trafficability characteristic of autopilot in-process vehicle greatly.
As shown in fig. 1, an automatic driving system includes an automatic driving main system, an air suspension system, a gateway, a high-precision map and positioning unit, and a basic map unit;
the gateway is an interaction center of vehicle data and is used for collecting, processing and transmitting interaction of vehicle related information;
the high-precision map and positioning unit is in communication connection with the automatic driving main system and is used for acquiring the real-time position of the vehicle and the front road information and transmitting the information to the automatic driving main system;
the basic map unit (SD map unit) performs data interaction with the automatic driving main system through a gateway, is used for setting a destination, and plans a navigation path to be input into the automatic driving main system;
the automatic driving main system outputs corresponding control signals to the air suspension system according to the input information of the high-precision map, the positioning unit and the basic map unit;
and the air suspension system performs data interaction with the automatic driving main system through the gateway and is used for adjusting the air suspension according to a control signal of the automatic driving main system.
In this embodiment, the autopilot system further includes a human-computer interaction system, and the human-computer interaction system performs data interaction with the autopilot main system through the gateway, and is used for displaying the working process and the result state of the autopilot system, feeding back the abnormal state, and the like, and prompting the user in a text, picture or animation manner.
A working method of an automatic driving system adopts the automatic driving system, a high-precision map and positioning unit obtains the real-time position of a vehicle and the front road information and inputs the information to an automatic driving main system;
when an abnormal road surface exists in a first set distance in front of the running vehicle, the automatic driving main system sends a control signal to the air suspension system, and the air suspension system raises the height of the air suspension and improves the flexibility of the air suspension;
when the vehicle runs to the standard road surface for a second set distance from the abnormal road surface, the automatic driving main system sends a control signal to the air suspension system, and the air suspension system reduces the height of the air suspension and improves the rigidity of the air suspension.
In the present embodiment, the first set distanceS 1And a second set distanceS 2The calculation method comprises the following steps:
S 1 = V t ×t 0；
S 2 =V t ×t 0；
in the formula:V t is the speed at which the vehicle is traveling;t 0is the adjustment response time of the air suspension. Wherein the adjustment response time of the air suspensiont 0The air suspension adjusting device is a fixed value which is set in a system in advance according to the actual adjusting response time of a calibrated air suspension after a vehicle is debugged and calibrated.
In the embodiment, when the vehicle runs on a standard road surface, as shown in fig. 2, the vehicle is preset to be on the standard road surface, and an abnormal road surface exists in front of the standard road surface, and the parameters are defined as follows: the distance between the vehicle and the front abnormal road surface is defined as L, and the vehicle traveling speed is defined asV t The traveling direction is defined as F, and the working method of the automatic driving system comprises the following steps, as shown in fig. 3:
step 1) judging whether the automatic driving system works normally, if so, executing step 2), and if not, executing step 8);
step 2) whether the self-adaptive function of the air suspension in the air suspension system is started, if so, executing the step 3), and if not, executing the step 8);
step 3) whether the basic map unit plans the navigation path and inputs the navigation path to the automatic driving main system, if so, executing step 4), and if not, executing step 8);
and 4) acquiring the position of the vehicle and the front road surface information in real time by the high-precision map and positioning unit and inputting the information to the automatic driving main system, wherein the automatic driving main system judges whether an abnormal road surface exists within a first set distance ahead of the vehicle in driving, and the first set distance can be determined according to the speed of the vehicleV t The actual value of the vehicle is measured and determined by the system in real time, and when the automatic driving main system judges that an abnormal road surface exists in a first set distance in front of the vehicle, the step 5) is executed;
step 5) the automatic driving main system sends a control signal to the air suspension system, so that the air suspension system adjusts the air suspension, the height Xmm of the air suspension is increased, the flexibility of the air suspension is improved, the increased height of the air suspension can be calibrated according to different conditions, and meanwhile, the execution process and the state of the automatic driving system are fed back through a human-computer interaction system in the process;
and 6) judging whether the vehicle runs to a second set distance from the abnormal road surface to the standard road surface by the automatic driving main system, wherein the second set distance can be determined according to the speed of the vehicleV t The actual value is measured and determined by the system in real time, and when the main system judges the vehicle in automatic drivingAfter the vehicle runs to the standard road surface from the abnormal road surface for a second set distance, executing step 7);
step 7) the automatic driving main system sends a control signal to the air suspension system, so that the air suspension system adjusts the air suspension, the height Ymm of the air suspension is reduced, and the rigidity of the air suspension is improved, wherein the reduced height of the air suspension can be calibrated according to different conditions, and meanwhile, in the process, the execution process and the state of the automatic driving system are fed back through the human-computer interaction system, and then the step 1 is returned to be executed);
and 8) finishing.
In this embodiment, when the vehicle travels on an abnormal road surface, as shown in fig. 4, the method of operating the automatic driving system includes the steps of:
step 1) judging whether the automatic driving system works normally, if so, executing step 2), and if not, executing step 8);
step 2) whether the self-adaptive function of the air suspension in the air suspension system is started, if so, executing the step 3), and if not, executing the step 8);
step 3) whether the basic map unit plans the navigation path and inputs the navigation path to the automatic driving main system, if so, executing step 4), and if not, executing step 8);
and 4) acquiring the position of the vehicle and the front road information in real time by the high-precision map and positioning unit and inputting the information to the automatic driving main system, wherein the automatic driving main system judges whether the vehicle runs to a second set distance from the abnormal road to the standard road or not, and the second set distance can be set according to the speed of the vehicleV t The actual value of the vehicle is measured and determined by the system in real time, and after the automatic driving main system judges that the vehicle runs to a second set distance from the abnormal road surface to the standard road surface, the step 5) is executed;
step 5) the automatic driving main system sends a control signal to the air suspension system, so that the air suspension system adjusts the air suspension, the height of the air suspension is reduced, the height of the air suspension is increased Ymm, the reduced height of the air suspension can be calibrated according to different conditions, and meanwhile, the execution process and the state of the automatic driving system are fed back through the human-computer interaction system in the process;
step 6) the automatic driving main system judges whether an abnormal road surface exists within a first set distance in front of the running of the vehicle, wherein the first set distance can be determined according to the speed of the vehicleV t The actual value of the vehicle is measured and determined by the system in real time, and when the automatic driving main system judges that an abnormal road surface exists in a first set distance in front of the vehicle, the step 7) is executed;
step 7) the automatic driving main system sends a control signal to the air suspension system, so that the air suspension system adjusts the air suspension, the height Xmm of the air suspension is increased, and the flexibility of the air suspension is improved; the rising height of the air suspension can be calibrated according to different conditions, and meanwhile, the execution process and the state of the automatic driving system are fed back through a human-computer interaction system in the process; then returning to execute the step 1);
and 8) finishing.
Compared with the prior art, when the automatic driving system is used for automatic driving, the self-adaptive function of the air suspension system is started, the navigation path is planned, the road condition and the distance are output to the automatic driving main system by the high-precision map and positioning unit, the automatic driving main system executes different adjustment strategies of the self-adaptive air suspension according to different road conditions, and the adjustment process and the state of the air suspension are fed back to a driver through the man-machine interaction system. Based on the current mainstream automatic driving technical scheme, the air suspension technology is applied to the field of automatic driving along with continuous maturity and universality of the air suspension technology on the basis of not changing the hardware architecture of the whole vehicle and not increasing the cost, so that the hardware system of the vehicle is utilized to the maximum extent, and the function is continuously expanded to improve the price-overflowing capacity of the vehicle. According to the invention, through a high-precision map and a positioning technology, different adaptive air suspension adjusting strategies are executed according to different roadside conditions, so that the automatic driving function operation scene is expanded, and the driving comfort is improved. The method has a simple working principle, is feasible and effective, fully utilizes the existing automatic driving technical scheme and hardware architecture, and improves the robustness and comfort of automatic driving continuously by using beyond-the-horizon information to assist the adjustment of the vehicle suspension.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.
Claims (8)
1. A self-adaptive suspension control method is characterized in that real-time position and front road surface information of a vehicle are obtained through a high-precision map and a positioning device, and when an abnormal road surface exists in a first set distance in front of the vehicle, the height of an air suspension is automatically increased, and the flexibility of the air suspension is improved; and when the vehicle runs to the standard road surface for a second set distance from the abnormal road surface, automatically reducing the height of the air suspension and improving the rigidity of the air suspension.
2. An autopilot system for implementing the adaptive suspension control method of claim 1, comprising an autopilot host system, an air suspension system, a gateway, a high-precision map and location unit, and a base map unit;
the high-precision map and positioning unit is in communication connection with the automatic driving main system, and is used for acquiring the real-time position of a vehicle and the front road information and transmitting the information to the automatic driving main system;
the basic map unit performs data interaction with the automatic driving main system through a gateway, is used for setting a destination, and plans a navigation path to be input into the automatic driving main system;
the automatic driving main system outputs corresponding control signals to the air suspension system according to the input information of the high-precision map, the positioning unit and the basic map unit;
and the air suspension system performs data interaction with the automatic driving main system through the gateway and is used for adjusting the air suspension according to a control signal of the automatic driving main system.
3. The autopilot system of claim 2 further comprising a human-computer interaction system that performs data interaction with the autopilot host system via the gateway for displaying the operational process and resulting status of the autopilot system and for prompting a user in the form of text, graphics, or animation.
4. An operating method of an automatic driving system, characterized in that, by adopting the automatic driving system as claimed in claim 2, the high-precision map and positioning unit acquires the real-time position of the vehicle and the information of the road surface ahead and inputs the information to the automatic driving main system;
when an abnormal road surface exists in a first set distance in front of the running of the vehicle, the automatic driving main system sends a control signal to the air suspension system, and the air suspension system raises the height of the air suspension and improves the flexibility of the air suspension;
and after the vehicle runs to a second set distance from the abnormal road surface to the standard road surface, the automatic driving main system sends a control signal to the air suspension system, and the air suspension system reduces the height of the air suspension and improves the rigidity of the air suspension.
5. Method for operating an automatic driving system according to claim 4, characterized in that the first set distanceS 1And a second set distanceS 2The calculating method comprises the following steps:
S 1 = V t ×t 0；
S 2 =V t ×t 0；
in the formula:V t is the speed at which the vehicle is traveling;t 0is the adjustment response time of the air suspension.
6. The operating method of the automatic driving system according to claim 4, wherein when the vehicle travels on a standard road surface, the operating method of the automatic driving system comprises the steps of:
step 1) judging whether the automatic driving system works normally, if so, executing step 2), and if not, executing step 8);
step 2) whether the self-adaptive function of the air suspension in the air suspension system is started, if so, executing step 3), and if not, executing step 8);
step 3) whether the basic map unit plans a navigation path and inputs the navigation path to the automatic driving main system, if so, executing step 4), and if not, executing step 8);
step 4) the high-precision map and positioning unit acquires the position of the vehicle and the front road information in real time and inputs the information to the automatic driving main system, the automatic driving main system judges whether an abnormal road exists within a first set distance ahead of the vehicle, and when the automatic driving main system judges that the abnormal road exists within the first set distance ahead of the vehicle, the step 5) is executed;
step 5) the automatic driving main system sends a control signal to the air suspension system, so that the air suspension system adjusts the air suspension, the height of the air suspension is increased, and the flexibility of the air suspension is improved;
step 6) the automatic driving main system judges whether the vehicle runs to a second set distance from the abnormal road surface to the standard road surface, and after the automatic driving main system judges that the vehicle runs to the second set distance from the abnormal road surface to the standard road surface, step 7) is executed;
step 7) the automatic driving main system sends a control signal to the air suspension system, so that the air suspension system adjusts the air suspension, the height of the air suspension is reduced, the rigidity of the air suspension is improved, and then the step 1) is executed;
and 8) finishing.
7. The operating method of the automatic driving system according to claim 4, wherein the operating method of the automatic driving system when the vehicle travels on an abnormal road surface comprises the steps of:
step 1) judging whether the automatic driving system works normally, if so, executing step 2), and if not, executing step 8);
step 2) whether the self-adaptive function of the air suspension in the air suspension system is started, if so, executing step 3), and if not, executing step 8);
step 3) whether the basic map unit plans a navigation path and inputs the navigation path to the automatic driving main system, if so, executing step 4), and if not, executing step 8);
step 4) the high-precision map and positioning unit acquires the position of the vehicle and the information of the front road surface in real time and inputs the information to the automatic driving main system, the automatic driving main system judges whether the vehicle runs from the abnormal road surface to a second set distance of the standard road surface, and after the automatic driving main system judges that the vehicle runs from the abnormal road surface to the second set distance of the standard road surface, the step 5) is executed;
step 5) the automatic driving main system sends a control signal to the air suspension system, so that the air suspension system adjusts the air suspension, the height of the air suspension is reduced, and the rigidity of the air suspension is improved;
step 6) the automatic driving main system judges whether an abnormal road surface exists within a first set distance in front of the vehicle, and when the automatic driving main system judges that the abnormal road surface exists within the first set distance in front of the vehicle, step 7) is executed;
step 7) the automatic driving main system sends a control signal to the air suspension system, so that the air suspension system adjusts the air suspension, the height of the air suspension is increased, and the flexibility of the air suspension is improved; then returning to execute the step 1);
and 8) finishing.
8. The method of claim 6 or 7, wherein the autopilot system further comprises a human-computer interaction system, and the human-computer interaction system performs data interaction with the autopilot main system through the gateway, and is used for displaying the working process and the result state of the autopilot system and prompting a user in a text, picture or animation manner.
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