CN114619823A - Vehicle body posture adjusting method, device, medium and electronic equipment - Google Patents

Vehicle body posture adjusting method, device, medium and electronic equipment Download PDF

Info

Publication number
CN114619823A
CN114619823A CN202210276016.XA CN202210276016A CN114619823A CN 114619823 A CN114619823 A CN 114619823A CN 202210276016 A CN202210276016 A CN 202210276016A CN 114619823 A CN114619823 A CN 114619823A
Authority
CN
China
Prior art keywords
plane
vehicle body
vehicle
height
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210276016.XA
Other languages
Chinese (zh)
Other versions
CN114619823B (en
Inventor
洪日
张建
王御
韩亚凝
谢飞
王珊
高勇
赵凤凯
杜杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
FAW Group Corp
Original Assignee
FAW Group Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by FAW Group Corp filed Critical FAW Group Corp
Priority to CN202210276016.XA priority Critical patent/CN114619823B/en
Publication of CN114619823A publication Critical patent/CN114619823A/en
Application granted granted Critical
Publication of CN114619823B publication Critical patent/CN114619823B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • 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
    • B60G17/018—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 use of a specific signal treatment or control method
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/90—Other conditions or factors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/90—Other conditions or factors
    • B60G2400/95—Position of vehicle body elements
    • 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
    • B60G2800/01—Attitude or posture control
    • 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
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control

Abstract

The embodiment of the application discloses a method, a device, a medium and electronic equipment for adjusting the posture of a vehicle body. The method comprises the following steps: determining the posture of a target vehicle body according to the user body data and the road gradient data; determining the relative position relationship of the vehicle object placing plane, the road plane and the horizontal plane; and calculating a vehicle body attitude parameter according to the relative position relation and the target vehicle body attitude, adjusting the height of a vehicle suspension based on the vehicle body attitude parameter, and adjusting the vehicle body attitude to the target vehicle body attitude. According to the embodiment of the application, the vehicle posture is automatically adjusted, the vehicle using convenience is improved, and the user experience is improved.

Description

Vehicle body posture adjusting method, device, medium and electronic equipment
Technical Field
The embodiment of the application relates to the technical field of vehicle control, in particular to a method, a device, a medium and electronic equipment for adjusting a vehicle body posture.
Background
In recent years, with the rapid development of the automobile industry and the improvement of the economic level of people, controllable suspensions such as active suspensions and air suspensions are gradually lowered, and more vehicles are equipped with the controllable suspensions.
The suspension height of the controllable suspension has adjustability, and the comfort and the control stability of the whole vehicle can be effectively improved. When loading and unloading articles to and from a vehicle provided with a controllable suspension, the vehicle body is often in an improper posture, which makes the loading and unloading of articles difficult. At present, when a vehicle is in a static state and articles are loaded and unloaded to the vehicle, the posture of the vehicle body can be adjusted only by manually adjusting the height of a suspension.
Disclosure of Invention
The embodiment of the application provides a vehicle body posture adjusting method, a vehicle body posture adjusting device, a medium and electronic equipment, and aims of improving vehicle use convenience and improving user experience through automatic adjustment of vehicle body postures.
In a first aspect, an embodiment of the present application provides a vehicle body posture adjustment method, including:
determining the posture of a target vehicle body according to the user body data and the road gradient data;
determining the relative position relationship between the vehicle object placing plane, the road plane and the horizontal plane;
and calculating a vehicle body attitude parameter according to the relative position relation and the target vehicle body attitude, adjusting the height of a vehicle suspension based on the vehicle body attitude parameter, and adjusting the vehicle body attitude to be the target vehicle body attitude.
In a second aspect, an embodiment of the present application provides a vehicle body posture adjustment device, including:
the target vehicle body posture determining module is used for determining the target vehicle body posture according to the user body data and the road gradient data;
the plane position relation determining module is used for determining the relative position relation among the vehicle object placing plane, the road plane and the horizontal plane;
and the vehicle body posture adjusting module is used for calculating vehicle body posture parameters according to the relative position relation and the target vehicle body posture, adjusting the height of a vehicle suspension based on the vehicle body posture parameters and adjusting the vehicle body posture to the target vehicle body posture.
In a third aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, the program, when executed by a processor, implementing a vehicle body attitude adjustment method as described in embodiments of the present application.
In a fourth aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the vehicle body posture adjustment method according to the present application.
According to the technical scheme provided by the embodiment of the application, the target vehicle body posture is determined according to the user body data and the road gradient data; determining the relative position relationship of the vehicle object placing plane, the road plane and the horizontal plane; and calculating a vehicle body attitude parameter according to the relative position relation and the target vehicle body attitude, adjusting the height of a vehicle suspension based on the vehicle body attitude parameter, and adjusting the vehicle body attitude to the target vehicle body attitude. According to the vehicle body posture adjusting method and device, the influence of the actual body of the user and the road condition where the vehicle is located on the vehicle body posture is considered, the vehicle body posture is automatically adjusted to be the posture required by the user according to the user body data and the road gradient data, the vehicle using convenience is improved, and the user experience is improved.
Drawings
Fig. 1 is a flowchart of a vehicle body posture adjusting method according to an embodiment of the present application;
fig. 2A is a flowchart of another vehicle body posture adjustment method provided in the second embodiment of the present application;
FIG. 2B is a schematic diagram of determining a relative positional relationship between a vehicle storage plane, a road plane, and a horizontal plane, as provided by an embodiment of the present application;
fig. 2C is a top view of a stabilizer bar structure provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a vehicle body posture adjusting device provided in the third embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a flowchart of a vehicle body posture adjustment method according to a first embodiment of the present invention, which is applicable to a case where an article is loaded into and unloaded from a vehicle equipped with an active suspension, and a vehicle posture is controlled to improve the convenience of loading and unloading the article. The method can be executed by the vehicle body posture adjusting device provided by the embodiment of the application, and the device can be realized by software and/or hardware and can be integrated in electronic equipment for operating the system.
As shown in fig. 1, the vehicle body posture adjustment method includes:
and S110, determining the target vehicle body posture according to the user body data and the road gradient data.
Wherein, the user shape data is used for describing the shape of the user. For example, the user shape data may be height of the user, weight of the user, or height of the hand, wherein the height of the hand refers to a height of the fingertip from the ground in a state that the hand naturally hangs down. The road gradient data is used for describing the inclination degree of the road where the vehicle is located, the road gradient data can be collected through an angle sensor arranged on the vehicle, and the inclination degree of the road can influence the angle of a vehicle body. Wherein the body angle is used to describe the degree of body lean.
During the use of the vehicle, for example, when loading and unloading articles to or unloading from the vehicle, the posture of the vehicle body, especially the relative relationship between the height of the vehicle body and the height of the hands, can affect the user experience, and the difference between the height of the vehicle body and the height of the hands exceeds a certain value, which can cause difficulty in loading and unloading articles or difficulty in loading and unloading the vehicle. The body angle also affects the user experience, and when the body angle exceeds a certain value, the article loading and unloading are difficult or the vehicle loading and unloading are difficult.
The target body posture means a body posture adapted to the user's body shape and the road gradient. The body posture may include: body height and body angle. The target vehicle body posture is determined according to the user body data and the road gradient data, and specifically, the target vehicle body height and the target vehicle body angle can be respectively determined according to the user body data and the road gradient data.
In an alternative embodiment, determining the target body attitude based on the user profile data and the road grade data comprises: determining the vertical distance between the vehicle object placing plane and the road plane according to the user body data to serve as the target vehicle body height; determining alternative included angles between the vehicle object placing plane and the horizontal plane based on the road gradient data and the vehicle suspension process, and determining a target vehicle body angle from the alternative included angles; and determining the target vehicle body posture according to the target vehicle body height and the target vehicle body angle.
The object placing plane of the vehicle is a plane where the object placing device is arranged in the vehicle, and the object placing device can be used for placing objects. For example, the vehicle storage plane may be a plane of the trunk platform, and a vertical distance between the vehicle storage plane and the road plane corresponds to a height of the trunk platform. In the case of loading and unloading articles to and from a vehicle, the difficulty of securing the articles is increased by the improper height of the trunk bed, so that the user often needs to spend more effort and time to complete the loading and unloading of the articles.
The height of the vehicle body refers to the vertical distance between the object placing plane of the vehicle and the road plane. Specifically, a reference line perpendicular to the horizontal plane is made through the middle point of the rear axle of the vehicle, the intersection point of the reference line and the vehicle object placing plane is a first intersection point, the intersection point of the reference line and the road plane is a second intersection point, and the height of the vehicle body is the distance between the first intersection point and the second intersection point.
The target body height is correlated with the user profile data. And determining the vertical distance between the vehicle object placing plane and the road plane according to the user body data, and determining the vertical distance matched with the user body as the target vehicle body height. Optionally, the hand height is determined according to the user body data, and the hand height is used as the target vehicle body height. The set value can be determined according to the user body shape data by combining with the actual service requirements, and is taken as the target vehicle body height. The convenience of article loading and getting on and off of a user can be improved, and the user experience is improved.
The vehicle body angle refers to an included angle between a vehicle object placing plane and a horizontal plane, the target vehicle body angle is generated in an alternative included angle, the alternative included angle refers to an adjusting range corresponding to the vehicle body angle, the alternative included angle is related to road gradient data and a vehicle suspension process, and the vehicle suspension process refers to a sliding distance of the vehicle suspension from the lowest point to the highest point. The road gradient data can influence the inclination degree of the vehicle body, and under the condition that the road gradient data are determined, the vehicle body angle can be adjusted by adjusting the height of a vehicle suspension, so that the inclination condition of the vehicle body is improved to a certain extent.
The target body angle may be determined according to actual user requirements, and is not limited herein. Optionally, the method takes the reduction of the difficulty in fixing the articles and the improvement of the convenience in loading the articles as starting points, and can take the minimum included angle in the alternative included angles as a target vehicle body angle, so that the object placing plane of the vehicle is parallel to the horizontal plane as far as possible.
The height and the angle of the vehicle body are two important aspects influencing the user experience, and the target vehicle body posture is determined according to the target vehicle body height and the target vehicle body angle.
And S120, determining the relative position relation of the vehicle object placing plane, the road plane and the horizontal plane.
The vehicle object placing plane is a plane where devices for placing objects or carrying passengers are arranged in the vehicle; the road plane is a plane corresponding to a road on which the vehicle is located, and specifically, the road plane may be a plane determined by a contact point between each wheel and the road.
The relative position relationship between the vehicle object placing plane and the road plane and the horizontal plane is determined, and specifically, the angle relationship between the vehicle object placing plane and the road plane and the horizontal plane is determined.
S130, calculating vehicle body attitude parameters according to the relative position relation and the target vehicle body attitude, adjusting the height of a vehicle suspension based on the vehicle body attitude parameters, and adjusting the vehicle body attitude to be the target vehicle body attitude.
Wherein the body attitude parameter is related to the body attitude. The relative positional relationship between the vehicle storage plane, the road plane, and the horizontal plane may be represented by vehicle body attitude parameters. Optionally, the vehicle body attitude parameters include: the wheel radius, the front axle suspension height, the rear axle suspension height, the distance between the vehicle object placing plane and the lower edge of the vehicle body and the like.
And (3) taking the target vehicle body attitude as a constraint condition, utilizing the target vehicle body attitude to constrain the relative position relation between the vehicle object placing plane and the road plane and the horizontal plane respectively, and calculating the vehicle body attitude parameter.
And adjusting the height of the vehicle suspension based on the vehicle body posture parameters, and adjusting the vehicle body posture to be the target vehicle body posture.
According to the technical scheme provided by the embodiment of the application, the target vehicle body posture is determined according to the user body data and the road gradient data; determining the relative position relationship of the vehicle object placing plane, the road plane and the horizontal plane; and calculating a vehicle body attitude parameter according to the relative position relation and the target vehicle body attitude, adjusting the height of a vehicle suspension based on the vehicle body attitude parameter, and adjusting the vehicle body attitude to be the target vehicle body attitude. According to the vehicle body posture adjusting method and device, the influence of the actual body of the user and the road condition where the vehicle is located on the vehicle body posture is considered, the vehicle body posture is automatically adjusted to be the posture required by the user according to the user body data and the road gradient data, the vehicle using convenience is improved, and the user experience is improved.
In an alternative embodiment, prior to determining the target body attitude based on the user profile data and the road grade data, the method further comprises: determining a data acquisition channel of the user body data as a candidate data channel; allocating a use priority to the candidate data channel based on the data accuracy of the data acquisition channel; and selecting a target data channel from at least two candidate data channels according to the using priority, and acquiring the user body data by using the target data channel.
The candidate data channel is used for acquiring user shape data, and may include, for example: the first acquisition channel acquires user shape data preset by a user through a user terminal, wherein the user terminal can be a user mobile phone. The user can set user body data through mobile phone software, and the user body data is sent to the vehicle-mounted T-Box, and the vehicle-mounted T-Box receives and stores the user body data; the second acquisition channel is used for acquiring a face image by using image acquisition equipment and inquiring user body data from a user database based on the face image, wherein the user database is used for storing the user body data; and the third acquisition channel is used for determining the user body data according to the identity information of the user and the sensor data. For example, the user identity may be a driver, a loading/unloading person, a passenger, or the like, and if the user identity is the driver, the user shape data is determined according to seat data such as a seat height, a seat position, and the like; and if the user identity is not the driver, acquiring the body shape image through image acquisition equipment, taking the body shape image as a standard human body model, and determining the user body shape data through the standard human body model.
The number of candidate data channels is at least two. It should be noted that the candidate data channels include, but are not limited to, a first acquisition channel, a second acquisition channel, and a third acquisition channel, and the candidate data channels may be any available means for acquiring the user profile data, and are determined according to actual business requirements, and are not limited herein.
And in order to ensure the accuracy of the user shape data, allocating use priority to the candidate data channel according to the data accuracy of the data acquisition channel.
Continuing the description of the above example, the first acquisition channel directly acquires the preset user shape data; a second acquisition channel, which is used for inquiring user body data from a user database based on the face image, wherein the accuracy of the face image can influence the accuracy of the user body data; and the third acquisition channel is used for determining the user body data according to the identity information of the user and the sensor data. The accuracy of the user profile data is affected by the identity information of the user and the accuracy of the sensor data. A first usage priority is assigned to the first acquisition channel, a second usage priority is assigned to the second acquisition channel, and a third usage priority is assigned to the third acquisition channel. Wherein the first usage priority is highest and the second usage priority is higher than the third usage priority.
And determining the use sequence of the data acquisition channels by using the priority, and preferentially adopting the data acquisition channels with high use priority to acquire the user form data under the same condition. Optionally, the use priority of the candidate data channel may be further determined by combining with other factors such as data acquisition efficiency.
And selecting a target data channel from the at least two candidate data channels according to the using priority, and acquiring the user shape data by using the target data channel. Specifically, the candidate data channels are ranked according to the sequence of the use priorities from high to low, the candidate data channel with the high use priority is selected as a target data channel, and the target data channel is used for acquiring the user form data. Continuing with the above example, the user shape data may be preferentially acquired by using the first acquisition channel with the first usage priority, and if the user shape data cannot be acquired through the first acquisition channel, the user shape data may be acquired sequentially by using the second acquisition channel and the third acquisition channel until the user shape data is successfully acquired. According to the technical scheme, the accuracy and the acquisition efficiency of the user body data are ensured by the various data acquisition channels for acquiring the user body data, the use priority is distributed to the data acquisition channels, and the target data channel is determined according to the use priority.
Example two
Fig. 2A is a flowchart of another vehicle body posture adjustment method provided in the second embodiment of the present application. The present embodiment is further optimized on the basis of the above-described embodiments. Specifically, the operation "determining the relative position relationship between the vehicle object placing plane, the road plane and the horizontal plane" is refined.
As shown in fig. 2A, the vehicle body posture adjustment method includes:
and S210, determining the target vehicle body posture according to the user body data and the road gradient data.
S220, determining an included angle between the vehicle object placing plane and the road plane according to the height difference of the front axle suspension and the rear axle suspension and the vehicle wheelbase, and taking the included angle as a first plane included angle.
And S230, taking the vertical distance between the vehicle storage plane and the road plane as a second plane distance.
S240, determining an included angle between the road plane and the horizontal plane as a second plane included angle according to the second plane distance and the actual vehicle body height based on the plane geometric relationship.
Fig. 2B is a schematic diagram of determining a relative positional relationship between a vehicle object plane, a road plane, and a horizontal plane according to an embodiment of the present disclosure. In fig. 2B, a is a vehicle storage plane, B is a road plane, and C is a horizontal plane.
As shown in fig. 2B, from P1The points are respectively perpendicular to the horizontal plane and the vehicle body plane to obtain two intersection points P with the horizontal plane2And P3，P1、P2And P3Form a triangle P1P2P3Wherein P is1The point is the intersection point of a reference line which passes through the middle point of the rear axle of the vehicle and is vertical to the horizontal plane and the object placing plane of the vehicle. Due to P1P2And P1P3The included angle between the vehicle body plane and the vehicle object placing plane is equal to a third plane included angle beta formed by the vehicle object placing plane and the horizontal plane, namely the third plane included angle beta and P1P2And P1P3Formed angle P2P1P3Are equal.
From P1The points are respectively perpendicular to the road plane and the horizontal plane to obtain two intersection points P with the horizontal plane5And P4. Due to P1P5And P1P4Perpendicular to the road plane and the horizontal plane respectively, and based on the plane geometric relationship, the second plane included angle alpha formed by the road plane and the horizontal plane and P can be obtained1P4And P1P5Formed triangle inner angle P4P1P5Are equal.
As shown in FIG. 2B, hrIs the rear axle suspension height, hfHeight of front axle suspension, hf-hrIs the difference in suspension height, L, between the front axle suspension height and the rear axle suspension heightaIs the vehicle wheelbase.
Figure BDA0003555761860000101
The first included plane angle γ can be expressed. The included angle between the first plane gamma and the first plane P1P3And P1P5Formed angle P3P1P5Are equal.
Line segment P1P3And a line segment P1P2Compare with road plane to P respectively6Point sum P7And (4) point. P1、P6And P7Form a triangle P1P6P7Two sides P of the triangle1P6And P1P7Corresponding to the second plane distance and the actual body height, respectively. Wherein the actual height of the vehicle body is hhAnd (4) showing. The vertical distance between the vehicle object placing plane A and the road plane B is a second plane distance which can be rw+hr+hoIs shown in the formula, wherein rwIs the radius of the wheel, hrIs the rear axle suspension height, hoThe vertical distance between the object placing plane of the vehicle and the edge of the bottom of the vehicle body. Based on the cosine theorem, the second plane included angle α can be expressed as
Figure BDA0003555761860000102
S250, determining an included angle between the vehicle object placing plane and the horizontal plane according to the first plane included angle and the second plane included angle to serve as a third plane included angle.
The situation that the vehicle is parked on the road in an upward slope state is explained, the vehicle body slightly tilts backwards under the influence of the gravity of the vehicle body, so that a third plane included angle beta formed between a vehicle storage plane and a horizontal plane is slightly larger than a second plane included angle alpha formed between a road plane and the horizontal plane.
According to the first plane included angle gamma and the second plane included angle alpha, a third plane included angle beta formed between the vehicle object placing plane and the horizontal plane can be determined. Specifically, under the condition that a first plane included angle gamma formed by the vehicle storage plane and the road surface and a second plane included angle alpha formed by the road surface and the horizontal plane are determined, the sum of the first plane included angle gamma and the second plane included angle alpha is used as a third plane included angle beta. The third plane included angle beta is formed by the vehicle storage platform and the horizontal plane.
S260, determining the relative position relation among the vehicle object placing plane, the road plane and the horizontal plane according to the first plane included angle, the second plane included angle and the third plane included angle.
The first plane included angle, the second plane included angle and the third plane included angle clearly reflect the relative position relation among the vehicle object placing plane, the road plane and the horizontal plane.
S270, calculating vehicle body attitude parameters according to the relative position relation and the target vehicle body attitude, adjusting the height of a vehicle suspension based on the vehicle body attitude parameters, and adjusting the vehicle body attitude to the target vehicle body attitude.
The method comprises the steps of utilizing vehicle body attitude parameters to express relative position relations in a quantitative mode, using target vehicle body attitude as constraint conditions to constrain the quantitative expression of relative positions, determining attitude parameter values corresponding to the vehicle body attitude parameters, adjusting the vehicle body attitude to be the target vehicle body attitude based on the attitude parameter values and the attitude parameter values corresponding to the vehicle body attitude parameters.
According to the technical scheme, the target vehicle body posture is determined according to user body data and road gradient data, and the relative position relation among the vehicle object placing plane, the road plane and the horizontal plane is quantized by utilizing the first plane included angle, the second plane included angle and the third plane included angle. And calculating vehicle body parameters based on the relative position relation and the target vehicle body posture, and adjusting the vehicle body posture based on the vehicle body posture parameters. The embodiment of the application provides a specific vehicle body posture adjusting method, which realizes automatic adjustment of vehicle body posture, improves vehicle use convenience and improves user experience.
In an optional embodiment, calculating a vehicle body attitude parameter according to the relative position relationship and the target vehicle body attitude, and adjusting the vehicle suspension height based on the vehicle body attitude parameter to adjust the vehicle body attitude to the target vehicle body attitude comprises: respectively determining vehicle body attitude parameters related to the first plane included angle, the second plane included angle and the third plane based on a first preset relation; and calculating a vehicle body attitude numerical value corresponding to the vehicle body attitude parameter according to the target vehicle body attitude, adjusting the height of the vehicle suspension based on the vehicle body attitude numerical value, and adjusting the vehicle body attitude to the target vehicle body attitude.
In an optional embodiment, the determining the body posture parameters associated with the first plane included angle, the second plane included angle and the third plane respectively based on a first preset relationship includes:
respectively determining vehicle body attitude parameters related to the first plane included angle, the second plane included angle and the third plane based on the following formulas;
Figure BDA0003555761860000121
wherein gamma is a first plane angle, alpha is a second plane angle, beta is a third plane angle, wherein,
Figure BDA0003555761860000122
represents the first plane angle gamma, hrIs the rear axle suspension height, hfTo the front axle suspension height, hoFor the vertical distance, r, of the vehicle-accommodating plane from the bottom edge of the vehicle bodywIs the radius of the wheel, hhActual vehicle body height; h isr＝(hrl+hrr)/2，hrlIndicating left rear suspension height, hrrRepresenting the right rear suspension height; h is a total off＝(hfl+hfr)/2，hflIndicating the left front suspension height, hfrRepresenting the left rear suspension height; i.e. ixFor road longitudinal gradient data, iyIs road lateral gradient data; l isaFor vehicle wheel base, LwIs the vehicle track;
as can be seen, ixAnd iyAll can be acquired through a bus, hoAnd rwAre all known amounts, h can be obtainedhAnd hrCorrelation of hr＝hh×cosα-ho-rwAssigning the target vehicle body height to the actual vehicle body height hhThen h can be obtainedrThe specific numerical values of (a); h is to berSubstitution into
Figure BDA0003555761860000131
At hrIn certain cases, β and h can be obtainedfThe association relationship of (2). Then the target vehicle bodySubstituting the angle as the third plane included angle
Figure BDA0003555761860000132
To obtain hfThe specific numerical value of (1).
At hfAnd hrIn all cases, further determining the height of each vehicle suspension, in particular, the height h of the front left suspensionflLeft rear suspension height hrlRight front suspension height hfrAnd a right rear suspension height hrr. Wherein h isr＝(hrl+hrr)/2，hf＝(hfl+hfr)/2，LwIs the vehicle track. H is to ber＝(hrl+hrr)/2，hf＝(hfl+hfr) Substitution of/2
Figure BDA0003555761860000133
Bonding of
Figure BDA0003555761860000134
The left front suspension height h can be respectively obtainedflLeft rear suspension height hrlRight front suspension height hfrAnd right rear suspension height hrrThe specific numerical value of (1).
Figure BDA0003555761860000135
The longitudinal angle of the vehicle body is limited,
Figure BDA0003555761860000136
defining a body side angle. Wherein β ═ α + γ, which represents the correlation among the first planar angle, the second planar angle, and the third planar angle;
the longitudinal direction in the embodiment of the application refers to the vehicle advancing direction and is indicated by a subscript x; the lateral direction is perpendicular to the direction of vehicle travel, indicated by the subscript y. The road slope includes a road lateral slope iyAnd road longitudinal gradient ixWherein the longitudinal gradient value i of the roadxRefers to a gradient value parallel to the direction of travel of the vehicle; road side slope iyRefers to a value of a gradient perpendicular to the direction of travel of the vehicle.
The included angle alpha of the second plane and the longitudinal gradient value i of the roadxAnd related, longitudinal body angle. The second plane included angle alpha can utilize the longitudinal gradient value i of the roadxIs expressed as alpha-tan-1(ix/100)。
Road side slope value iyInfluencing the lateral body angle, the lateral body angle and the lateral road slope value iyThe association of (a) can be expressed as:
Figure BDA0003555761860000141
wherein h isrrIndicating the right rear suspension height, hfrIndicating the right front suspension height, hflIndicating the left front suspension height, hrlIndicating the left rear suspension height.
The second plane angle α may utilize hr、ho、rwAnd hhThe quantization is expressed as
Figure BDA0003555761860000142
Wherein h isrIs the rear axle suspension height, hoVertical distance r between the vehicle storage plane and the bottom edge of the vehicle bodywIs the wheel radius, ixIs a longitudinal road slope value.
The first plane angle γ may utilize hr、hfAnd LaThe quantization is expressed as
Figure BDA0003555761860000143
Wherein h isfTo the front axle suspension height, hrFor rear axle suspension height, |aIs the vehicle wheelbase.
hfIs the average of the left front suspension height and the right front suspension height, which can be expressed as hf＝(hfl+hfr) 2; corresponding to hrIs the average of the left rear suspension height and the right rear suspension height, which can be expressed as hr＝(hrl+hrr)/2。
Correspondingly, according to the target vehicle body posture, calculating a vehicle body posture value corresponding to the vehicle body posture parameter, adjusting the vehicle suspension height based on the vehicle body posture parameter, and adjusting the vehicle body posture to the target vehicle body posture, including:
substituting the target vehicle body height and the target vehicle body angle into the formula as the third plane included angle and the actual vehicle body height respectively, and calculating the left front suspension height, the left rear suspension height, the right front suspension height and the right rear suspension height;
the target body angle may be determined according to actual user requirements, and is not limited herein. Optionally, the object fixing difficulty is reduced, the object loading convenience is improved, and the minimum included angle in the alternative included angles can be used as the target vehicle body angle, so that the object placing plane of the vehicle is kept parallel to the horizontal plane as much as possible. Accordingly, the target vehicle height may be determined according to actual user requirements, and is not limited herein. Optionally, with saving user's physical power, improving article and loading convenience as the starting point, can regard user's hand height as target automobile body angle for the user need not to raise article, can place the vehicle with article and put the thing plane.
And substituting the target vehicle body height and the target vehicle body angle as a third plane included angle and an actual vehicle body height into the formula respectively to obtain the front axle suspension height and the rear axle suspension height respectively, and further obtain the left front suspension height, the left rear suspension height, the right front suspension height and the right rear suspension height.
And respectively adjusting the left front suspension, the left rear suspension, the right front suspension and the right rear suspension of the vehicle based on the left front suspension height, the left rear suspension height, the right front suspension height and the right rear suspension height, adjusting the vehicle height to the target vehicle height, and adjusting the vehicle angle to the target vehicle angle.
According to the technical scheme, the relative position relation of the vehicle object placing plane, the road plane and the horizontal plane is represented quantitatively by the vehicle body posture parameters, and the posture parameter values corresponding to the vehicle body posture parameters are reversely deduced on the basis of the relative position relation of the vehicle object placing plane, the road plane and the horizontal plane, so that accurate data support is provided for adjusting the vehicle body posture, the vehicle body posture adjusting method is simplified, and the vehicle body posture adjusting efficiency and precision are improved. By adjusting the posture of the vehicle body to the target posture of the vehicle body, the use convenience of the vehicle is improved, and the user experience is improved.
In an alternative embodiment, after adjusting the vehicle suspension height based on the vehicle body attitude parameter to adjust the vehicle body attitude to the target vehicle body attitude, the method further comprises: determining a suspension lateral height difference between a vehicle left side suspension and a vehicle right side suspension; determining a torsion angle of the stabilizer bar according to the lateral height difference of the suspension frame based on a second preset relation; and controlling the stabilizer bar based on the stabilizer bar torsion angle to maintain the vehicle body posture and maintain the target vehicle body posture.
It is known that for a vehicle with an active stabilizer bar, when the vehicle left and right suspensions have a height difference, the vehicle stabilizer bar will eliminate the suspension lateral height difference through the elastic torsion of the vehicle stabilizer bar, i.e. when the vehicle realizes the vehicle body lateral attitude control by changing the suspension heights on both sides of the vehicle, the vehicle stabilizer bar will provide a barrier to the vehicle active roll. Therefore, it is also necessary for a vehicle equipped with an active stabilizer bar to further control the stabilizer bar torsion angle to maintain the vehicle posture at the target vehicle body posture. Fig. 2C is a top view of a stabilizer bar structure provided in an embodiment of the present application. As shown in FIG. 2C, wherein LsFor the longitudinal length of the trailing arm of the stabilizer bar, LbThe stabilizer bar lateral total length, R, denotes a wheel, and θ, denotes a stabilizer bar twist angle.
The difference in lateral height of the suspension between the left and right side suspensions of the vehicle can be based on (h)fr+hrr-hfl-hrl) And (4) calculating. The second predetermined relationship is used to quantify the correlation between the stabilizer bar twist angle and the suspension lateral height difference. The second predetermined relationship is as follows:
Figure BDA0003555761860000161
wherein L issThe longitudinal length of the drag arm of the transverse stabilizer bar; l is a radical of an alcoholbThe lateral total length of the transverse stabilizer bar; theta is a stabilizer bar torsion angle.
Accordingly, the stabilizer bar twist angle θ can be expressed as:
Figure BDA0003555761860000162
according to the technical scheme, the transverse stabilizer bar is controlled, so that the transverse stabilizer bar is free from torsional stress, the vehicle side-rolling posture control is not hindered by the transverse stabilizer bar, and the interference of the transverse stabilizer bar on the vehicle body side-rolling posture adjustment can be weakened or eliminated.
EXAMPLE III
Fig. 3 is a vehicle body posture adjustment device according to a third embodiment of the present invention, which is applicable to a case where an article is loaded into and unloaded from a vehicle in which an active suspension is disposed, and a vehicle posture is controlled to improve the convenience of loading and unloading the article. The device can be realized by software and/or hardware, and can be integrated in electronic equipment such as an intelligent terminal.
As shown in fig. 3, the apparatus may include: a target body attitude determination module 310, a planar positional relationship determination module 320, and a body attitude adjustment module 330.
The target body posture determining module 310 is configured to determine a target body posture according to the user shape data and the road gradient data;
a plane position relation determining module 320, configured to determine a relative position relation between the vehicle storage plane, the road plane, and the horizontal plane;
and the vehicle body posture adjusting module 330 is configured to calculate a vehicle body posture parameter according to the relative position relationship and the target vehicle body posture, adjust the height of the vehicle suspension based on the vehicle body posture parameter, and adjust the vehicle body posture to the target vehicle body posture.
According to the technical scheme provided by the embodiment of the application, the target vehicle body posture is determined according to the user body data and the road gradient data; determining the relative position relationship of the vehicle object placing plane, the road plane and the horizontal plane; and calculating a vehicle body attitude parameter according to the relative position relation and the target vehicle body attitude, adjusting the height of a vehicle suspension based on the vehicle body attitude parameter, and adjusting the vehicle body attitude to the target vehicle body attitude. According to the vehicle body posture adjusting method and device, the influence of the actual body of the user and the road condition where the vehicle is located on the vehicle body posture is considered, the vehicle body posture is automatically adjusted to be the posture required by the user according to the user body data and the road gradient data, the vehicle using convenience is improved, and the user experience is improved.
Optionally, the target body posture determining module 310 includes: the target vehicle body height determining submodule is used for determining the vertical distance between the vehicle object placing plane and the road plane according to the user shape data to serve as the target vehicle body height; the target vehicle body angle determining submodule is used for determining alternative included angles between the vehicle object placing plane and the horizontal plane based on the road gradient data and the vehicle suspension process, and determining a target vehicle body angle from the alternative included angles; and the target vehicle body posture determining submodule is used for determining the target vehicle body posture according to the target vehicle body height and the target vehicle body angle.
Optionally, the plane position relationship determining module 320 includes: the first plane included angle determining submodule is used for determining an included angle between the vehicle storage plane and the road plane according to the suspension height difference between the front axle suspension height and the rear axle suspension height and the vehicle wheelbase, and the included angle is used as a first plane included angle; the second plane distance determination submodule is used for taking the vertical distance between the vehicle object placing plane and the road plane as a second plane distance; the second plane included angle determining submodule is used for determining an included angle between the road plane and the horizontal plane as a second plane included angle according to the second plane distance and the actual vehicle body height on the basis of a plane geometric relation; the third plane included angle determining submodule is used for determining an included angle between the vehicle object placing plane and the horizontal plane according to the first plane included angle and the second plane included angle to serve as a third plane included angle; and the relative position relation determining submodule is used for determining the relative position relation of the vehicle object placing plane, the road plane and the horizontal plane according to the first plane included angle, the second plane included angle and the third plane included angle.
Optionally, the body posture adjusting module 330 includes: the vehicle body attitude parameter determining submodule is used for respectively determining vehicle body attitude parameters related to the first plane included angle, the second plane included angle and the third plane based on a first preset relation; and the vehicle body posture adjusting submodule is used for calculating a vehicle body posture value corresponding to the vehicle body posture parameter according to the target vehicle body posture, adjusting the height of the vehicle suspension based on the vehicle body posture value and adjusting the vehicle body posture to the target vehicle body posture.
Optionally, the vehicle body posture parameter determining submodule includes: body attitude parameter determination unit for
Respectively determining vehicle body attitude parameters related to the first plane included angle, the second plane included angle and the third plane based on the following formulas;
Figure BDA0003555761860000191
wherein gamma is a first plane angle, alpha is a second plane angle, beta is a third plane angle, wherein,
Figure BDA0003555761860000192
represents the first plane angle gamma, hrIs the rear axle suspension height, hfTo the front axle suspension height, hoFor the vertical distance, r, of the vehicle-accommodating plane from the bottom edge of the vehicle bodywIs the radius of the wheel, hhActual vehicle body height; h isr＝(hrl+hrr)/2，hrlIndicating left rear suspension height, hrrRepresenting the right rear suspension height; h isf＝(hfl+hfr)/2，hflIndicating the left front suspension height, hfrRepresenting the left rear suspension height; i.e. ixFor road longitudinal gradient data, iyIs road lateral gradient data; l isaFor vehicle wheel base, LwIs the vehicle track;
correspondingly, the automobile body posture adjustment submodule includes: a vehicle suspension height determining unit, configured to substitute the target vehicle body height and the target vehicle body angle into the formula as the third plane included angle and the actual vehicle body height, and calculate a left front suspension height, a left rear suspension height, a right front suspension height, and a right rear suspension height; and a vehicle body posture adjusting unit which adjusts the vehicle left front suspension, the vehicle left rear suspension, the vehicle right front suspension and the vehicle right rear suspension based on the left front suspension height, the left rear suspension height, the right front suspension height and the right rear suspension height respectively, adjusts the vehicle body height to the target vehicle body height, and adjusts the vehicle body angle to the target vehicle body angle.
Optionally, the apparatus further comprises: a suspension lateral height difference value determination module for determining a suspension lateral height difference value between a vehicle left side suspension and a vehicle right side suspension after adjusting the vehicle suspension height based on the vehicle body attitude parameter and adjusting the vehicle body attitude to the target vehicle body attitude; the transverse stabilizer bar torsion angle determining module is used for determining a transverse stabilizer bar torsion angle according to the suspension lateral height difference value based on a second preset relation; and the transverse stabilizer bar control module is used for controlling the transverse stabilizer bar based on the torsion angle of the transverse stabilizer bar, maintaining the vehicle body posture and maintaining the target vehicle body posture.
Optionally, the device further includes a candidate data channel determining module, configured to determine a data acquisition channel of the user shape data as a candidate data channel before determining the target body posture according to the user shape data and the road gradient data; the channel use priority distribution module is used for distributing use priorities for the candidate data channels based on the data accuracy of the data acquisition channels; and the user shape data acquisition module is used for selecting a target data channel from at least two candidate data channels according to the use priority and acquiring the user shape data by utilizing the target data channel.
The vehicle body posture adjusting device provided by the embodiment of the invention can execute the vehicle body posture adjusting method provided by any embodiment of the invention, and has corresponding performance modules and beneficial effects for executing the vehicle body posture adjusting method.
Example four
A fourth embodiment of the present application further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method for adjusting a body posture, the method including:
determining the attitude of a target vehicle body according to the user shape data and the road gradient data;
determining the relative position relationship of the vehicle object placing plane, the road plane and the horizontal plane;
and calculating a vehicle body attitude parameter according to the relative position relation and the target vehicle body attitude, adjusting the height of a vehicle suspension based on the vehicle body attitude parameter, and adjusting the vehicle body attitude to the target vehicle body attitude.
Storage media refers to any of various types of memory electronics or storage electronics. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network (such as the internet). The second computer system may provide the program instructions to the computer for execution. The term "storage medium" may include two or more storage media that may reside in different unknowns (e.g., in different computer systems connected by a network). The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium containing the computer-executable instructions provided in the embodiments of the present application is not limited to the vehicle body posture adjusting operation described above, and may also perform related operations in the vehicle body posture adjusting method provided in any embodiment of the present application.
EXAMPLE five
An embodiment of the present invention provides an electronic device, where the vehicle body posture adjustment apparatus provided in the embodiment of the present invention may be integrated into the electronic device, and the electronic device may be configured in a system, or may be a device that performs part or all of the functions in the system. Fig. 4 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present application. As shown in fig. 4, the present embodiment provides an electronic device 400, which includes: one or more processors 420; a storage device 410, configured to store one or more programs, when the one or more programs are executed by the one or more processors 420, so that the one or more processors 420 implement the vehicle body attitude adjustment method provided by the embodiment of the present application, where the method includes:
determining the posture of a target vehicle body according to the user body data and the road gradient data;
determining the relative position relationship between the vehicle object placing plane, the road plane and the horizontal plane;
and calculating a vehicle body attitude parameter according to the relative position relation and the target vehicle body attitude, adjusting the height of a vehicle suspension based on the vehicle body attitude parameter, and adjusting the vehicle body attitude to the target vehicle body attitude.
Of course, those skilled in the art can understand that the processor 420 also implements the technical solution of the vehicle body posture adjustment method provided in any embodiment of the present application.
The electronic device 400 shown in fig. 4 is only an example, and should not bring any limitation to the performance and the scope of use of the embodiments of the present application.
As shown in fig. 4, the electronic device 400 includes a processor 420, a storage device 410, an input device 430, and an output device 440; the number of the processors 420 in the electronic device may be one or more, and one processor 420 is taken as an example in fig. 4; the processor 420, the storage device 410, the input device 430, and the output device 440 in the electronic apparatus may be connected by a bus or other means, and are exemplified by a bus 450 in fig. 4.
The storage device 410 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and module units, such as program instructions corresponding to the vehicle body posture adjustment method in the embodiment of the present application.
The storage device 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for performance; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage 410 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, storage 410 may further include memory located remotely from processor 420, which may be connected via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 430 may be used to receive input numbers, character information, or voice information, and to generate key signal inputs related to user settings and performance control of the electronic device. Output device 440 may include a display screen, speakers, or other electronic equipment.
The vehicle body posture adjusting device, the medium and the electronic equipment provided in the above embodiments can execute the vehicle body posture adjusting method provided in any embodiment of the present application, and have corresponding performance modules and beneficial effects for executing the method. For technical details that are not described in detail in the above embodiments, reference may be made to a vehicle body posture adjustment method provided in any embodiment of the present application.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. Those skilled in the art will appreciate that the present application is not limited to the particular embodiments described herein, but is capable of many obvious modifications, rearrangements and substitutions without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims (10)

1. A vehicle body attitude adjustment method, characterized by comprising:
determining the posture of a target vehicle body according to the user body data and the road gradient data;
determining the relative position relationship of the vehicle object placing plane, the road plane and the horizontal plane;
and calculating a vehicle body attitude parameter according to the relative position relation and the target vehicle body attitude, adjusting the height of a vehicle suspension based on the vehicle body attitude parameter, and adjusting the vehicle body attitude to the target vehicle body attitude.
2. The method of claim 1, wherein determining a target body attitude based on the user profile data and the road grade data comprises:
determining the vertical distance between the vehicle object placing plane and the road plane according to the user body data to serve as the target vehicle body height;
determining alternative included angles between the vehicle object placing plane and the horizontal plane based on the road gradient data and the vehicle suspension process, and determining a target vehicle body angle from the alternative included angles;
and determining the target vehicle body posture according to the target vehicle body height and the target vehicle body angle.
3. The method of claim 1, wherein determining the relative positional relationship of the vehicle occupancy plane, the road plane, and the horizontal plane comprises:
determining an included angle between the vehicle object placing plane and the road plane according to a suspension height difference between the front axle suspension height and the rear axle suspension height and a vehicle wheelbase, wherein the included angle is used as a first plane included angle;
taking the vertical distance between the vehicle object placing plane and the road plane as a second plane distance;
determining an included angle between the road plane and the horizontal plane as a second plane included angle according to the second plane distance and the actual vehicle body height on the basis of a plane geometric relationship;
determining an included angle between the vehicle object placing plane and the horizontal plane as a third plane included angle according to the first plane included angle and the second plane included angle;
and determining the relative position relation of the vehicle object placing plane, the road plane and the horizontal plane according to the first plane included angle, the second plane included angle and the third plane included angle.
4. The method according to claim 3, wherein calculating a body attitude parameter from the relative positional relationship and the target body attitude, and adjusting a vehicle suspension height based on the body attitude parameter to adjust a body attitude to the target body attitude comprises:
respectively determining vehicle body attitude parameters related to the first plane included angle, the second plane included angle and the third plane based on a first preset relation;
and calculating a vehicle body attitude numerical value corresponding to the vehicle body attitude parameter according to the target vehicle body attitude, adjusting the height of the vehicle suspension based on the vehicle body attitude numerical value, and adjusting the vehicle body attitude to the target vehicle body attitude.
5. The method according to claim 4 or 2, wherein the determining the body posture parameters associated with the first plane included angle, the second plane included angle and the third plane based on a first preset relationship comprises:
respectively determining vehicle body attitude parameters related to the first plane included angle, the second plane included angle and the third plane based on the following formulas;
Figure FDA0003555761850000021
wherein gamma is a first plane angle, alpha is a second plane angle, beta is a third plane angle, and alpha is tan-1(iy/100)
Figure FDA0003555761850000022
Represents the first plane angle gamma, hrIs the rear axle suspension height, hfTo the front axle suspension height, hoFor the vertical distance, r, of the vehicle-accommodating plane from the bottom edge of the vehicle bodywIs the radius of the wheel, hhActual vehicle body height; h isr＝(hrl+hrr/2，hrlIndicating left rear suspension height, hrrRepresenting the right rear suspension height; h isf＝(hfl+hfr)/2，hflIndicating the left front suspension height, hfrRepresenting the left rear suspension height; i.e. ixFor road longitudinal gradient data, iyIs road lateral gradient data; l isaFor vehicle wheel base, LwIs the vehicle track;
correspondingly, according to the target body posture, calculating a body posture value corresponding to the body posture parameter, and adjusting the vehicle suspension height based on the body posture value to adjust the body posture to the target body posture, including:
substituting the target vehicle body height and the target vehicle body angle into the formula as the third plane included angle and the actual vehicle body height respectively, and calculating the left front suspension height, the left rear suspension height, the right front suspension height and the right rear suspension height;
and respectively adjusting the left front suspension, the left rear suspension, the right front suspension and the right rear suspension of the vehicle based on the left front suspension height, the left rear suspension height, the right front suspension height and the right rear suspension height, adjusting the vehicle height to the target vehicle height, and adjusting the vehicle angle to the target vehicle angle.
6. The method of claim 5, wherein after adjusting the vehicle body attitude to the target body attitude based on the vehicle body attitude parameter adjusting the vehicle suspension height, the method further comprises:
determining a suspension lateral height difference between a vehicle left side suspension and a vehicle right side suspension;
determining a torsion angle of the transverse stabilizer bar according to the lateral height difference of the suspension on the basis of a second preset relation;
and controlling the stabilizer bar based on the stabilizer bar torsion angle to maintain the vehicle body posture and maintain the target vehicle body posture.
7. The method of claim 1, wherein prior to determining the target body attitude based on the user profile data and the road grade data, the method further comprises:
determining a data acquisition channel of the user body data as a candidate data channel;
distributing use priority to the candidate data channel based on the data accuracy of the data acquisition channel;
and selecting a target data channel from at least two candidate data channels according to the using priority, and acquiring the user body data by using the target data channel.
8. A vehicle body attitude adjusting apparatus, characterized by comprising:
the target vehicle body posture determining module is used for determining the target vehicle body posture according to the user body data and the road gradient data;
the plane position relation determining module is used for determining the relative position relation among the vehicle object placing plane, the road plane and the horizontal plane;
and the vehicle body posture adjusting module is used for calculating vehicle body posture parameters according to the relative position relation and the target vehicle body posture, adjusting the height of a vehicle suspension based on the vehicle body posture parameters and adjusting the vehicle body posture to the target vehicle body posture.
9. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the vehicle body attitude adjustment method according to any one of claims 1 to 7.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the body attitude adjustment method according to any one of claims 1 to 7 when executing the computer program.
CN202210276016.XA 2022-03-21 2022-03-21 Vehicle body posture adjusting method, device, medium and electronic equipment Active CN114619823B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210276016.XA CN114619823B (en) 2022-03-21 2022-03-21 Vehicle body posture adjusting method, device, medium and electronic equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210276016.XA CN114619823B (en) 2022-03-21 2022-03-21 Vehicle body posture adjusting method, device, medium and electronic equipment

Publications (2)

Publication Number Publication Date
CN114619823A true CN114619823A (en) 2022-06-14
CN114619823B CN114619823B (en) 2023-11-21

Family

ID=81904580

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210276016.XA Active CN114619823B (en) 2022-03-21 2022-03-21 Vehicle body posture adjusting method, device, medium and electronic equipment

Country Status (1)

Country Link
CN (1) CN114619823B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116674333A (en) * 2023-07-28 2023-09-01 成都赛力斯科技有限公司 Active suspension control method, device, computer equipment and storage medium

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140371976A1 (en) * 2012-02-15 2014-12-18 Jagur Land Rover Limited Method and system for determining a wading depth of a vehicle
CN110901325A (en) * 2019-11-29 2020-03-24 北京理工大学重庆创新中心 Active suspension control method and system
CN112208515A (en) * 2020-10-19 2021-01-12 一汽解放汽车有限公司 Vehicle transverse control method, device, equipment and medium

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140371976A1 (en) * 2012-02-15 2014-12-18 Jagur Land Rover Limited Method and system for determining a wading depth of a vehicle
CN110901325A (en) * 2019-11-29 2020-03-24 北京理工大学重庆创新中心 Active suspension control method and system
CN112208515A (en) * 2020-10-19 2021-01-12 一汽解放汽车有限公司 Vehicle transverse control method, device, equipment and medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116674333A (en) * 2023-07-28 2023-09-01 成都赛力斯科技有限公司 Active suspension control method, device, computer equipment and storage medium
CN116674333B (en) * 2023-07-28 2023-09-29 成都赛力斯科技有限公司 Active suspension control method, device, computer equipment and storage medium

Also Published As

Publication number Publication date
CN114619823B (en) 2023-11-21

Similar Documents

Publication Publication Date Title
CN110654195A (en) Vehicle, vehicle suspension system and adjusting method and device thereof
US11008014B2 (en) Methods and apparatus to determine vehicle weight information based on ride height
CN114619823B (en) Vehicle body posture adjusting method, device, medium and electronic equipment
JP4882848B2 (en) Integrated vehicle behavior controller
CN112339622B (en) Seat adjusting method and device and vehicle-mounted system
CN110422024A (en) Method and apparatus for compensating the body roll in vehicle weight calculating
CN110103660B (en) Method, system, equipment and storage medium for dynamic compensation of automobile suspension
CN112477750A (en) Headlamp irradiation angle adjusting method, device, system, equipment and storage medium
CN116674333B (en) Active suspension control method, device, computer equipment and storage medium
CN113547985A (en) Control method for adaptively adjusting position of external rearview mirror based on human body model memory
JP2009001059A (en) Travel support information provision system
CN115476634A (en) Vehicle suspension control method, device, equipment and medium
CN116108323A (en) Method and device for determining damping coefficient of seat, vehicle and machine and storage medium
CN111027132B (en) Vehicle roll control method, device, equipment and storage medium
CN115056617A (en) Method and system for automatically adjusting height of vehicle by air suspension during ramp parking
US20230271470A1 (en) Vehicle active suspension control system and method
CN113547959A (en) Seat control method and device, readable storage medium and vehicle
CN113044045A (en) Self-adaptive adjustment method for seats in intelligent cockpit
CN113566777A (en) Vehicle pitch angle estimation method and system, computer device and storage medium
CN114801909B (en) Seat control method, device, equipment and medium
CN114043836B (en) Automobile threshold control method, device, equipment and readable storage medium
US20230138941A1 (en) Method and apparatus for optimal control of driving torque for smooth ride on uneven road
CN115284976B (en) Automatic adjustment method, device and equipment for vehicle seat and storage medium
CN114056029A (en) Vehicle shake control device and control method
US20230294472A1 (en) Vehicle active suspension control system and method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant