CN115503417A - Road elevation pre-aiming method and active oil-gas suspension control system based on same - Google Patents
Road elevation pre-aiming method and active oil-gas suspension control system based on same Download PDFInfo
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- 239000000725 suspension Substances 0.000 title claims abstract description 63
- 239000003921 oil Substances 0.000 claims description 149
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/056—Regulating distributors or valves for hydropneumatic systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/056—Regulating distributors or valves for hydropneumatic systems
- B60G17/0565—Height adjusting valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/20—Spring action or springs
- B60G2500/22—Spring constant
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
- B60G2500/302—Height or ground clearance using distributor valves
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Abstract
The invention discloses a road surface elevation preview method and an active oil-gas suspension control system based on the same, which can sense the elevation of an area to be driven of a vehicle on a front uneven road surface by using the road surface preview method and actively control an oil-gas suspension in advance, thereby realizing high-precision vehicle height control and improving the performance of the oil-gas suspension and the driving smoothness of the vehicle.
Description
Technical Field
The invention belongs to the technical field of vehicle suspensions, and particularly relates to a road surface elevation preview method and an active oil-gas suspension control system based on the same.
Background
Ride comfort or ride comfort is one of the important properties of a vehicle. Although road conditions are greatly improved, there is still a certain undulation or partial breakage. When a vehicle passes through the road section at a high speed, the vehicle body can generate obvious attitude change along with the fluctuation of the road surface, and further serious influence is generated on the smoothness and the operation stability. The performance of the suspension system is of great significance for reducing the vibration and the attitude change of a vehicle body in the driving process, and the suspension performance is a main factor for determining the average passing speed of the vehicle when the vehicle is driven on a bad road or off-road. Active suspension is the fundamental approach to improve suspension performance.
The active suspension is based on an oil-gas suspension, a hydraulic suspension and an air suspension, wherein the oil-gas suspension is mainly equipped on military vehicles and special vehicles, and has the advantages of small size, light weight, adjustable vehicle height damping and the like. However, due to the complex system structure, high manufacturing cost, short maintenance period and the like of the hydro-pneumatic suspension, the functional price ratio (or the cost performance ratio) is not high, and the control precision of the vehicle height is difficult to meet the requirement, so that the hydro-pneumatic suspension cannot be widely applied. The strategy of the hydro-pneumatic suspension is optimized to achieve the effect of improving the driving performance of the automobile to a certain extent, but the change of the road unevenness is the main reason of causing the change of the posture of the automobile body, and the improvement effect is limited due to the input hysteresis of the hydro-pneumatic suspension.
Disclosure of Invention
In view of the above, the invention provides a road surface elevation preview method and an active oil-gas suspension control system based on the same, which can sense the elevation of an area to be driven of a vehicle on an uneven road surface in front by using the road surface preview method and actively control an oil-gas suspension in advance, thereby realizing high-precision vehicle height control and improving the performance of the oil-gas suspension and the smoothness of vehicle driving.
The invention is realized by the following technical scheme:
a road elevation preview method comprises the following specific processes:
step S1: acquiring a real-time road surface image of the front driving direction of the vehicle;
step S2: acquiring a drivable area in the real-time road surface image; meanwhile, acquiring a disparity map I of a real-time road surface image in the driving direction in front of the vehicle through a stereo matching algorithm, and acquiring three-dimensional point cloud of the real-time road surface image under a world coordinate system, thereby establishing a one-to-one corresponding relation between the disparity map I and the three-dimensional point cloud under the world coordinate system;
and step S3: taking the travelable area in the real-time road surface image obtained in the step S2 as a mask of the disparity map I, extracting a disparity map II of the travelable area from the disparity map I of the real-time road surface in the front traveling direction, and obtaining three-dimensional point cloud of the travelable area in the real-time road surface image in the world coordinate system according to the one-to-one correspondence relationship between the disparity map I and the three-dimensional point cloud in the world coordinate system in the step S2;
and step S4: establishing three-dimensional point cloud of a travelable area under a world coordinate system as a digital elevation map;
step S5: and projecting the tire track oriented by the vehicle into a digital elevation map, and determining the elevation of the area to be driven by the vehicle.
Further, the specific manner of acquiring the travelable region in the real-time road surface image is as follows: and deploying the trained LEDnet real-time semantic segmentation algorithm model to an edge computing platform, so as to obtain a travelable area in the real-time pavement image in real time.
Further, the LEDnet real-time semantic segmentation algorithm model is trained in the following manner: shooting a road picture data set by adopting a binocular camera under different illumination and different places; the method comprises the steps that a semantic segmentation data set comprising two categories of a vehicle drivable area and a vehicle non-drivable area is made through labeling, wherein the vehicle drivable area comprises areas where vehicles can pass, such as a road and a deceleration strip; and dividing the segmented data set into a training set, a verification set and a test set for training and testing an LEDNet real-time semantic segmentation algorithm model.
Further, the method comprises the following steps of obtaining a disparity map I of a real-time road surface image in the front driving direction of the vehicle through a stereo matching algorithm, and obtaining three-dimensional point clouds of the real-time road surface image under a world coordinate system, so as to establish a one-to-one correspondence relationship between the disparity map I and the three-dimensional point clouds under the world coordinate system, and the specific mode is as follows:
acquiring a disparity map I of the real-time road surface image by using a domain invariant stereo matching algorithm DSMNet, converting the disparity map I into a depth map, and acquiring three-dimensional point cloud under a camera coordinate system according to the depth map; and estimating the pose of the camera by adopting a VO method according to the three-dimensional point cloud under the camera coordinate system, and acquiring a translation and rotation matrix of the camera coordinate system relative to the world coordinate system according to the estimated camera pose, so that the three-dimensional point cloud under the camera coordinate system is converted into the three-dimensional point cloud under the world coordinate system, and the one-to-one corresponding relation between the parallax map I and the three-dimensional point cloud under the world coordinate system is established.
Further, the specific manner of step S4 is:
the pre-estimation mode of each frame of digital elevation map is as follows: voxelizing the three-dimensional point cloud, counting the average value of the heights of the three-dimensional point cloud in each voxel, and taking the average value as the height of a columnar body, wherein the length and the width of the columnar body and x and y coordinates are the length and the width of the voxel during voxelization of the point cloud and the x and y coordinates;
adopting an averaging method for the front and rear frames of digital elevation maps, further filtering, and establishing a digital elevation map at the current moment;
the specific mode of the step S5 is as follows:
combining internal parameters of a camera, a tire steering angle and the position of a tire relative to the camera, projecting the track of the tire of the vehicle into a digital elevation map in real time, and acquiring three-dimensional information of the track of the vehicle about to run; the height weighted sum of n voxels covered by the vehicle driving track in the width direction is used as the elevation of the driving area of the vehicle at the current position, and the specific formula is as follows:
wherein n is the number of voxels covered by the vehicle driving track in the width direction, w i As a weight,/ i Elevation information for the covered ith voxel.
Further, the averaging method specifically uses an exponential weighted average method to perform averaging, and the formula is as follows:
wherein alpha is a control coefficient and is set to be 0.5,
for the estimated digital elevation map at the current time t,
is a digital elevation map at time t-1,
for representing a digital elevation map at time t.
An active oil-gas suspension control system is based on a road surface elevation pre-aiming method and comprises an oil-gas spring, an active control oil cylinder, a hydraulic oil source, a binocular camera and a vehicle height controller;
the binocular camera is installed on a front windshield of the vehicle, the hydro-pneumatic spring is installed between a vehicle body and each wheel of the vehicle, the active control oil cylinder, the hydraulic oil source and the vehicle height controller are all installed in the vehicle, and the hydraulic oil source is connected with the hydro-pneumatic spring through the active control oil cylinder;
the transmission process of the control signal of the active oil-gas suspension control system is as follows: the method comprises the steps that after a binocular camera obtains a road surface image in the driving direction in front of a vehicle in real time, the elevation of an area where the vehicle is going to run is obtained through a road surface elevation pre-aiming method; the vehicle height control method has the advantages that the vehicle height is transmitted to the vehicle height controller through the FPGA, the ARM or the GPU, an active control algorithm based on prediction is embedded in the vehicle height controller, the output flow of a hydraulic oil source can be controlled according to the elevation of a region where a vehicle is going to run and a preset oil-gas suspension control strategy, the oil pressure in an oil-gas spring is changed through the active control oil cylinder due to the change of the output flow of the hydraulic oil source, the rigidity and the damping of the vehicle are actively adjusted in advance, the vehicle height is controlled, and the active control of an oil-gas suspension system is achieved.
Furthermore, the cylinder body of the active control oil cylinder is of a stepped cylindrical structure, a floating piston is arranged in the cylinder body, one end of the floating piston is provided with a large-diameter piston, the other end of the floating piston is provided with a small-diameter piston, the large-diameter piston and the small-diameter piston are connected through a straight rod, the large-diameter piston is arranged in a large-diameter section of the cylinder body, and the small-diameter piston is arranged in a small-diameter section of the cylinder body; the large-diameter section of the active control oil cylinder is communicated with an oil cylinder of the hydro-pneumatic spring, and the large-diameter section is filled with regulating oil; the small-diameter section is connected with a hydraulic oil source, control oil is filled in the small-diameter section, and the floating piston isolates the adjusting oil from the control oil.
Further, the active hydro-pneumatic suspension control system further comprises a height sensor and a displacement sensor;
the displacement sensor is arranged on the active control oil cylinder and used for monitoring and detecting the displacement of the floating piston, feeding the displacement detection amount back to an active control algorithm based on prediction in the vehicle height controller and correcting the control of the active control algorithm based on prediction on the main hydraulic oil source so as to correct the control on the active control oil cylinder;
the height sensor is used for detecting the vehicle height in real time and feeding back the vehicle height detection amount to an active control algorithm based on prediction in a vehicle height controller so as to correct the control of the active control algorithm based on prediction on a hydraulic oil source and correct the control of the vehicle height;
the hydro-pneumatic spring comprises: the inner cavity of the oil cylinder is communicated with the inner cavity of the energy accumulator I through a pipeline; the pipeline is provided with a damping valve;
the hydraulic oil source includes: the hydraulic control system comprises an oil tank, a hydraulic pump, a one-way valve, a hydraulic control one-way valve, a proportional servo valve, an energy accumulator II and an electromagnetic valve;
one end of the hydraulic pump is connected with the oil tank, the other end of the hydraulic pump is connected with an oil inlet of the one-way valve, an oil outlet of the one-way valve is connected with an oil inlet of the proportional servo valve, an oil outlet of the proportional servo valve is connected with an oil inlet of the hydraulic control one-way valve, and an oil outlet of the hydraulic control one-way valve is connected with the small-diameter section of the active control oil cylinder; the other oil inlet of the proportional servo valve is also directly connected with an oil tank; the small-diameter section of the active control oil cylinder, the hydraulic control one-way valve, the proportional servo valve, the one-way valve, the hydraulic pump and an oil way where the oil tank is located form an oil passage;
the energy accumulator II is connected to the oil passage and is positioned between the one-way valve and the proportional servo valve;
the oil tank is also connected with an energy accumulator II through a pipeline, the electromagnetic valve is connected between the energy accumulator II and the oil tank, and the electromagnetic valve is normally closed; when the vehicle is stopped and flamed out, the electromagnetic valve is opened, and the hydraulic control one-way valve is closed.
Further, a semi-active control algorithm is embedded in the vehicle height controller, and the control mode is as follows: the hydro-pneumatic suspension is subjected to limited bandwidth active control or semi-active control on the damping of a suspension system in a traditional mode through signals such as acceleration, vehicle height, vehicle speed and steering wheel angle;
when the vehicle runs, the binocular camera acquires a road surface image in the running direction in front of the vehicle in real time, the elevation of an area where the vehicle is about to run is acquired, and either of a semi-active control algorithm and an active control algorithm based on prediction is suitable, and the method specifically comprises the following steps:
under the condition that the vehicle normally runs and the road surface undulation does not exceed a set threshold value, setting an algorithm in a vehicle controller as a semi-active control algorithm;
when the fluctuation of the pre-aimed road surface exceeds a set threshold value, switching the algorithm in the vehicle controller to an active control algorithm based on prediction to realize active vehicle attitude control based on prediction of a suspension system;
when the road surface is recovered to be normal or the active control algorithm based on prediction fails, the semi-active control algorithm can be switched back, so that the normal work of the oil-gas suspension is not influenced.
Has the beneficial effects that:
(1) The method comprises the steps of acquiring a real-time road surface image of a vehicle in the front driving direction; dividing drivable areas in the real-time road surface image of the driving direction in front of the vehicle, simultaneously obtaining a disparity map I of the real-time road surface image of the driving direction in front of the vehicle through a stereo matching algorithm, and establishing a one-to-one corresponding relation between the disparity map I and three-dimensional point clouds under a world coordinate system; taking the travelable area as a mask of the parallax map I, extracting a parallax map II of the travelable area from the parallax map I of the real-time road surface in the front traveling direction, and obtaining three-dimensional point cloud of the travelable area in the real-time road surface image under the world coordinate system according to the one-to-one correspondence relationship between the parallax map I and the three-dimensional point cloud under the world coordinate system; and establishing a three-dimensional point cloud of the drivable area under a world coordinate system as a digital elevation map, projecting the tire track oriented by the vehicle into the digital elevation map, and determining the elevation of the area to be driven by the vehicle, thereby achieving the purpose of determining the elevation of the area to be driven by the vehicle and being applicable to the field of other active suspensions.
(2) According to the method, a binocular camera is adopted to shoot road picture data sets in different illumination and different places in advance, semantic segmentation data sets comprising two categories of a vehicle drivable area and a vehicle non-drivable area are manufactured through labeling, an LEDNet real-time semantic segmentation algorithm model is trained and tested, and then the LEDNet real-time semantic segmentation algorithm model is deployed to an edge computing platform, so that the drivable area in the real-time road image is obtained in real time, and the reliability is achieved.
(3) The invention adopts the method of taking the mean value for the front and the back frames of digital elevation maps, further filters and establishes the digital elevation map at the current moment, and the method can solve the problem of low precision of a certain frame of digital elevation map caused by picture noise or algorithm precision.
(4) The invention adopts a weighted average method for the front and the back frames of digital elevation maps, further filters and establishes the digital elevation map at the current moment, and the method can further solve the problem of low precision of a certain frame of digital elevation map caused by picture noise or algorithm precision.
(5) After acquiring a road surface image in the driving direction in front of a vehicle in real time, a binocular camera acquires the elevation of an area to be driven of the vehicle through a road elevation preview method; the automobile height control method has the advantages that the automobile height control method is transmitted to an automobile height controller through an FPGA, an ARM or a GPU, an active control algorithm based on prediction is embedded in the automobile height controller, output flow of a hydraulic oil source can be controlled according to the elevation of an area to be driven by an automobile and a preset oil-gas suspension control strategy, oil pressure in an oil-gas spring is changed through an active control oil cylinder according to changes of the output flow of the hydraulic oil source, accordingly, rigidity and damping of the automobile are actively adjusted in advance, automobile height is controlled, and active control of an oil-gas suspension system is achieved. The road surface elevation preview method is combined with a suspension structure capable of actively controlling the posture of a vehicle body, when the vehicle runs to a position with large elevation change, the vehicle can pass through the suspension structure with the minimum vehicle body fluctuation degree, the comfort and the smoothness of the vehicle are ensured, active vibration reduction can be realized even under the working conditions of staggered twisted roads, fluctuated roads, acceleration or braking, high-speed turning and the like, and the problem that the traditional active suspension is poor in vibration suppression effect is solved, such as: when the road surface is convex or concave, the oil liquid amount in the hydro-pneumatic spring is controlled, so that the vertical, pitching and rolling vibration of the vehicle body is reduced, and the vehicle can stably pass through the device; during acceleration and braking, nodding or head-up can be inhibited by changing the oil amount in the front oil-gas spring and the rear oil-gas spring; when the vehicle is steered at a high speed, the oil quantity in the left spring and the right spring is actively adjusted, and the side inclination of the vehicle body can be reduced.
(6) According to the invention, the body posture can be accurately controlled by utilizing the active control oil cylinder, the floating piston in the active control oil cylinder isolates the adjusting oil liquid in the large-diameter section from the control oil liquid in the small-diameter section, and common hydraulic oil can be used on the control side (namely the small-diameter section) instead of the oil liquid which is the same as the oil liquid in the oil-gas spring, because the viscosity of the oil liquid in the oil-gas spring is lower, the leakage is larger in an oil pump control valve and the like, the pressure is difficult to improve, and the control pressure can be improved by using the common hydraulic oil; and the design of the unequal diameters of the active control oil cylinders can reduce the flow demand in a small-diameter section and reduce the size and weight of the whole system.
(7) The invention is provided with a displacement sensor and a height sensor, wherein the displacement sensor is arranged on an active control oil cylinder and used for monitoring and detecting the displacement of a floating piston, feeding the displacement detection amount back to an active control algorithm based on prediction in a vehicle height controller and correcting the control of the active control algorithm based on prediction on a main hydraulic oil source so as to correct the control on the active control oil cylinder; the height sensor is used for detecting the vehicle height in real time and feeding back the vehicle height detection amount to an active control algorithm based on prediction in a vehicle height controller so as to correct the control of the active control algorithm based on prediction on a hydraulic oil source and correct the control of the vehicle height; when the height of the vehicle body is reduced due to reasons such as oil leakage during long-time parking and the like, the vehicle body can be monitored and sensed through the height sensor, and the height of the vehicle body is controlled to return to the original height by calling an active control algorithm based on prediction;
the hydraulic control one-way valve is closed at the moment, control oil can only flow from a hydraulic oil source to the active control oil cylinder, and cannot flow in the reverse direction, so that the vehicle height is prevented from being reduced due to the fact that the hydraulic control one-way valve stops for a long time and the control oil leaks.
In conclusion, the displacement sensor and the height sensor are arranged, and the hydraulic control one-way valve and the electromagnetic valve are arranged, so that high-precision vehicle height control is further realized.
(8) The invention can be transformed or upgraded on a mature equipped hydro-pneumatic spring vehicle, a vehicle height controller is combined with a traditional main controller, under the condition that the vehicle normally runs, the main controller actively controls the limited bandwidth or semi-actively controls the damping of a suspension system in a traditional mode through signals such as acceleration, vehicle height, vehicle speed, steering wheel angle and the like, a binocular camera acquires a road image in the front running direction of the vehicle in real time to obtain the elevation of an area where the vehicle is going to run, and when the fluctuation of the road exceeds a set threshold value, the vehicle controller is switched to the vehicle height controller through the main controller, so that the active vehicle attitude control based on prediction of the suspension system is realized; when the active vehicle attitude control based on prediction by using the vehicle height controller fails, the active vehicle attitude control can be switched back to the main controller, so that the normal work of the oil-gas suspension is not influenced.
Drawings
FIG. 1 is a schematic view of a method of pre-targeting a roadway;
FIG. 2 is a schematic diagram of a single wheel configuration of an active hydro-pneumatic suspension control system;
FIG. 3 is a schematic diagram of a vehicle traveling based on a semi-active control algorithm;
FIG. 4 is a vehicle travel schematic based on a predictive active control algorithm;
the system comprises an oil cylinder 1, an energy accumulator I2, a damping valve 3, a height sensor 4, an active control oil cylinder 5, a displacement sensor 6, a hydraulic control one-way valve 7, a proportional servo valve 8, an energy accumulator II 9, an electromagnetic valve 10, a binocular camera 11, a one-way valve 12, a hydraulic pump 13 and an oil tank 14.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
Example 1:
the embodiment provides a road elevation preview method, referring to fig. 1, which includes the following specific processes:
step S1: acquiring a real-time road surface image of the front driving direction of the vehicle; the real-time pavement image can be shot in real time by adopting a monocular camera or a binocular camera.
Step S2: acquiring a drivable area in the real-time road surface image; meanwhile, a disparity map I of a real-time road surface image in the driving direction in front of the vehicle is obtained through a stereo matching algorithm, and then three-dimensional point cloud of the real-time road surface image in a world coordinate system is obtained, so that a one-to-one corresponding relation between the disparity map I and the three-dimensional point cloud in the world coordinate system is established.
On one hand, the specific way of acquiring the travelable region in the real-time road surface image is as follows: deploying the trained LEDnet real-time semantic segmentation algorithm model to an edge computing platform, and thus acquiring a travelable area in the real-time pavement image in real time;
the LEDnet real-time semantic segmentation algorithm model is trained in the following mode: shooting a road picture data set by adopting a binocular camera under different illumination and different places; the method comprises the steps that a semantic segmentation data set comprising two categories of a vehicle drivable area and a vehicle non-drivable area is made through labeling, wherein the vehicle drivable area comprises areas where vehicles such as roads and deceleration strips can pass; and dividing the segmented data set into a training set, a verification set and a test set for training and testing an LEDNet real-time semantic segmentation algorithm model.
On the other hand, the three-dimensional point cloud under the world coordinate system of the real-time road surface image is obtained, so that the one-to-one correspondence relationship between the parallax map I and the three-dimensional point cloud under the world coordinate system is established, and the specific mode is as follows:
converting the parallax image I into a depth image, and obtaining three-dimensional point cloud under a camera coordinate system according to the depth image; and estimating the pose of the camera (or the vehicle body) by adopting a VO method according to the three-dimensional point cloud under the camera coordinate system, and acquiring a translation and rotation matrix of the camera coordinate system relative to the world coordinate system according to the estimated camera pose, so that the three-dimensional point cloud under the camera coordinate system is converted into the three-dimensional point cloud of the world coordinate system, and the one-to-one corresponding relation between the parallax map I and the three-dimensional point cloud under the world coordinate system is established. The method specifically comprises the following steps:
s21, acquiring a parallax map I of the real-time pavement image by using a domain invariant stereo matching algorithm DSMNet;
s22, converting the parallax map I into a depth map in a specific mode:
calculating the depth Z according to the principle of triangle similarity, and converting the parallax map I into a depth map, wherein the specific formula is as follows:
wherein d is a parallax value in the parallax image I, B is a base line length of the binocular camera, and f is a focal length of the camera;
s23, the three-dimensional point cloud and the depth map are in one-to-one correspondence, so that the three-dimensional point cloud under a camera coordinate system is obtained;
s24, estimating the pose of the camera (or the vehicle body) by adopting a VO (volume) method according to the three-dimensional point cloud under the camera coordinate system;
it should be noted that: inputting a left photo and a right photo once by the binocular camera, and obtaining a three-dimensional point cloud under the camera coordinate system as a three-dimensional point cloud under the camera coordinate system according to the steps S21-S23;
for three-dimensional point clouds under a camera coordinate system of two frames before and after (namely the same point of an object under the world coordinate system, only point cloud coordinates of the two frames of cameras under the camera coordinate system are different due to camera/vehicle motion), calculating a camera pose (a rotation matrix and a translation matrix relative to the previous frame) through the relationship of the two frames of point cloud matching points, and acquiring the translation matrix and the rotation matrix of the camera coordinate system relative to the world coordinate system;
and S25, converting the three-dimensional point cloud under the camera coordinate system into the three-dimensional point cloud under the world coordinate system according to the translation and rotation matrix of the camera coordinate system relative to the world coordinate system, so as to establish the one-to-one corresponding relation between the parallax map I and the three-dimensional point cloud under the world coordinate system.
And step S3: and taking the travelable area in the real-time road surface image obtained in the step S2 as a mask of the parallax map I, extracting a parallax map II of the travelable area from the parallax map I of the real-time road surface in the front traveling direction, and obtaining three-dimensional point cloud of the travelable area in the real-time road surface image in the world coordinate system according to the one-to-one correspondence relationship between the parallax map I and the three-dimensional point cloud in the world coordinate system in the step S2.
And step S4: and establishing a three-dimensional point cloud of the travelable area under a world coordinate system as a digital elevation map.
S41, pre-estimating the digital elevation map at the time t
The method comprises the steps of voxelization of three-dimensional point cloud, counting the average value of the height of the three-dimensional point cloud in each voxel, taking the average value as the height of a columnar body, wherein the length, the width, the x coordinates and the y coordinates of the columnar body are the length, the width, the x coordinates and the y coordinates of the voxel during voxelization of the point cloud, and the set of the columnar bodies of all voxels is an estimated digital elevation map at the t moment;
s42, establishing a digital elevation map at the t moment, namely, adopting an averaging method for the estimated digital elevation map at the t moment and the estimated digital elevation map at the t-1 moment, and further filtering to obtain the digital elevation map at the t moment.
The averaging method is specifically averaging by using an exponential weighted average method, and the formula is as follows:
wherein alpha is a control coefficient and is set to be 0.5,
for the estimated digital elevation map at time t,
is a digital elevation map at time t-1,
a digital elevation map representing time t;
step S5: projecting a tire track oriented by a vehicle into a digital elevation map, and determining the elevation of an area to be driven by the vehicle, wherein the specific mode is that the tire track of the vehicle is projected into the digital elevation map in real time by combining internal parameters of a camera, a steering angle of the tire and the position of the tire relative to the camera, and three-dimensional information of the track to be driven by the vehicle is acquired; adding the height weights of n voxels covered by the vehicle driving track in the width direction as the elevation of the driving area of the vehicle at the current position
The concrete formula is as follows:
wherein n is the number of voxels covered by the track of the vehicle about to run in the width direction, w i Is the weight of the ith voxel, l i Elevation information for the covered ith voxel.
Example 2:
the embodiment provides an active hydro-pneumatic suspension control system, which is based on a road surface elevation preview method in embodiment 1, and referring to the attached drawings 2 and 3, the control system comprises a hydro-pneumatic spring, an active control oil cylinder 5, a hydraulic oil source, a binocular camera 11 and a vehicle height controller;
the binocular camera 11 is installed on a front windshield of the vehicle, the hydro-pneumatic spring is installed between a vehicle body and each wheel of the vehicle and used for buffering and damping the vehicle, the active control oil cylinder 5, the hydraulic oil source and the vehicle height controller are all installed in the vehicle, and the hydraulic oil source is connected with the hydro-pneumatic spring through the active control oil cylinder 5;
the transmission process of the control signal of the active oil-gas suspension control system is as follows: the binocular camera 11 acquires a road surface image in the driving direction in front of the vehicle in real time, and then acquires the elevation of the area where the vehicle is going to run by the road surface elevation preview method; the vehicle height control method based on the oil gas spring is characterized in that the vehicle height is transmitted to a vehicle height controller through an FPGA (field programmable gate array), an ARM (advanced RISC machine) or a GPU (graphic processing unit), an active control algorithm based on prediction is embedded in the vehicle height controller, the output flow of a hydraulic oil source can be controlled according to the elevation of a region where a vehicle is going to run and a preset oil gas suspension control strategy, the oil pressure in the oil gas spring is changed through an active control oil cylinder 5 due to the change of the output flow of the hydraulic oil source, the rigidity and the damping of the vehicle are actively adjusted in advance, the vehicle height is controlled, and the active control of an oil gas suspension system is achieved.
Wherein, hydro-pneumatic spring includes: the oil cylinder 1, the energy accumulator I2 and the damping valve 3, wherein the inner cavity of the oil cylinder 1 is communicated with the inner cavity of the energy accumulator I2 through a pipeline; the pipeline is provided with a damping valve 3 for providing damping so as to realize the vibration reduction of the vehicle when passing through a rough road;
the cylinder body of the active control oil cylinder 5 is of a stepped cylindrical structure, a floating piston is arranged in the cylinder body, one end of the floating piston is provided with a large-diameter piston, the other end of the floating piston is provided with a small-diameter piston, the large-diameter piston and the small-diameter piston are connected through a straight rod, the large-diameter piston is arranged in a large-diameter section of the cylinder body, and the small-diameter piston is arranged in a small-diameter section of the cylinder body; the large-diameter section of the active control oil cylinder 5 is communicated with the oil cylinder 1 of the hydro-pneumatic spring, and the large-diameter section is filled with regulating oil; the small-diameter section is connected with a hydraulic oil source, control oil is filled in the small-diameter section, and the floating piston isolates the adjusting oil from the control oil.
Referring to fig. 2, the hydraulic oil source includes: the hydraulic control system comprises an oil tank 14, a hydraulic pump 13, a one-way valve 12, a hydraulic control one-way valve 7, a proportional servo valve 8, an energy accumulator II 9 and an electromagnetic valve 10;
one end of the hydraulic pump 13 is connected with the oil tank, the other end of the hydraulic pump is connected with an oil inlet of the one-way valve 12, an oil outlet of the one-way valve 12 is connected with an oil inlet of the proportional servo valve 8, an oil outlet of the proportional servo valve 8 is connected with an oil inlet of the hydraulic control one-way valve 7, and an oil outlet of the hydraulic control one-way valve 7 is connected with the small-diameter section of the active control oil cylinder 5; the other oil inlet of the proportional servo valve 8 is also directly connected with an oil tank 14; an oil channel formed by the small-diameter section of the active control oil cylinder 5, the hydraulic control one-way valve 7, the proportional servo valve 8, the one-way valve 12, the hydraulic pump 13 and the oil tank 14 is positioned; the proportional servo valve 8 accurately controls the position of a floating piston of the active control oil cylinder 5 by adjusting the flow rate of the control oil, so that the adjusting oil in the large-diameter section of the active control oil cylinder 5 is pushed to flow, and the rising and the falling of a suspension are controlled; when pressure exists at one end of an oil inlet of the hydraulic control one-way valve 7, the hydraulic control one-way valve 7 is opened, control oil can flow in two directions, and when the control oil flows from the active control oil cylinder 5 to a hydraulic oil source, the control oil can return to the oil tank 14 through the proportional servo valve 8; when the pressure at one end of the oil inlet of the hydraulic control one-way valve 7 is unloaded, the hydraulic control one-way valve 7 is closed, the control oil can only flow to the active control oil cylinder 5 from a hydraulic oil source, and the control oil can not flow in the reverse direction.
The energy accumulator II 9 is connected to the oil passage, is positioned between the one-way valve 12 and the proportional servo valve 8, and is used for storing control oil with certain volume and pressure for supplementing the control oil in real time so as to reduce the working load of the hydraulic pump 13;
the oil tank is also connected with an energy accumulator II 9 through a pipeline, the electromagnetic valve 10 is connected between the energy accumulator II 9 and the oil tank 14, and the electromagnetic valve 10 is normally closed; when the electromagnetic valve 10 is not electrified, the electromagnetic valve is closed, when the electromagnetic valve is electrified, control oil in the energy accumulator II 9 flows back to the oil tank 14 from the electromagnetic valve 10, the system unloads, and the pressure at one end of the oil inlet of the hydraulic control one-way valve 7 unloads. When the vehicle is stopped and flamed out, the electromagnetic valve 10 is opened for a while, namely the electromagnetic valve 10 is electrified, at the moment, the hydraulic control one-way valve 7 is closed, the control oil can only flow to the active control oil cylinder 5 from a hydraulic oil source, and the control oil can not flow in the reverse direction, so that the vehicle height is reduced due to the fact that the control oil is leaked for a long time when the vehicle is stopped.
The active hydro-pneumatic suspension control system further comprises a height sensor 4 and a displacement sensor 6;
the displacement sensor 6 is arranged on the active control oil cylinder 5 and used for monitoring and detecting the displacement of the floating piston, feeding the displacement detection amount back to an active control algorithm based on prediction in the vehicle height controller and correcting the control of the active control algorithm based on prediction on the main hydraulic oil source so as to correct the control on the active control oil cylinder 5;
the height sensor 4 is used for detecting the vehicle height in real time and feeding back the vehicle height detection amount to an active control algorithm based on prediction in a vehicle height controller so as to correct the control of the active control algorithm based on prediction on a hydraulic oil source and further correct the control of the vehicle height; and when the height of the vehicle body is reduced due to reasons such as oil leakage during long-time parking and the like, the height can be monitored and sensed through the height sensor, and the height of the vehicle body is controlled to return to the original height by calling an active control algorithm based on prediction.
Example 3:
in this embodiment, on the basis of embodiment 2, referring to fig. 3 and 4, a semi-active control algorithm is further embedded in the vehicle height controller, and the control method is as follows: the hydro-pneumatic suspension is subjected to limited bandwidth active control or semi-active control on damping of a suspension system in a traditional mode through signals such as acceleration, vehicle height, vehicle speed and steering wheel angle.
When the vehicle runs, the binocular camera acquires a road surface image in the front running direction of the vehicle in real time, the elevation (namely the road surface fluctuation) of an area where the vehicle is about to run is acquired, and either a semi-active control algorithm or an active control algorithm based on prediction is suitable, and the method specifically comprises the following steps:
referring to fig. 3, in the case of normal driving of the vehicle, when the road surface undulation does not exceed the set threshold, the algorithm in the vehicle controller is set as a semi-active control algorithm;
referring to fig. 4, when the undulation of the pre-aimed road surface exceeds a set threshold value, the algorithm in the vehicle controller is switched to the active control algorithm based on prediction, so as to realize the active vehicle attitude control based on prediction of the suspension system;
when the road surface is recovered to be normal or the active control algorithm based on prediction fails, the semi-active control algorithm can be switched back, so that the normal work of the oil-gas suspension is not influenced.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A road surface elevation preview method is characterized by comprising the following specific processes:
step S1: acquiring a real-time road surface image of the front driving direction of a vehicle;
step S2: acquiring a travelable area in the real-time pavement image; meanwhile, acquiring a disparity map I of a real-time road surface image in the front driving direction of the vehicle through a stereo matching algorithm, and then acquiring three-dimensional point cloud of the real-time road surface image under a world coordinate system, thereby establishing a one-to-one correspondence relationship between the disparity map I and the three-dimensional point cloud under the world coordinate system;
and step S3: taking the travelable region in the real-time road surface image obtained in the step S2 as a mask of the disparity map I, extracting a disparity map II of the travelable region from the disparity map I of the real-time road surface in the front traveling direction, and obtaining three-dimensional point cloud of the travelable region in the real-time road surface image in the world coordinate system according to the one-to-one correspondence relationship between the disparity map I and the three-dimensional point cloud in the world coordinate system in the step S2;
and step S4: establishing three-dimensional point cloud of a travelable area under a world coordinate system as a digital elevation map;
step S5: and projecting the tire track oriented by the vehicle into a digital elevation map, and determining the elevation of the area to be driven by the vehicle.
2. The method for predicting the elevation of the road surface according to claim 1, wherein the travelable area in the real-time road surface image is acquired by the following specific method: and deploying the trained LEDnet real-time semantic segmentation algorithm model to an edge computing platform, so as to obtain a travelable area in the real-time road surface image in real time.
3. The road surface elevation preview method of claim 2, wherein the LEDnet real-time semantic segmentation algorithm model is trained in the following manner: shooting a road picture data set by adopting a binocular camera under different illumination and different places; the method comprises the steps that a semantic segmentation data set comprising two categories of a vehicle drivable area and a vehicle non-drivable area is made through labeling, wherein the vehicle drivable area comprises areas where vehicles can pass, such as a road and a deceleration strip; and dividing the segmented data set into a training set, a verification set and a test set for training and testing an LEDNet real-time semantic segmentation algorithm model.
4. The method as claimed in claim 1, wherein the step of obtaining a disparity map i of a real-time road image in a driving direction in front of the vehicle by a stereo matching algorithm and obtaining a three-dimensional point cloud of the real-time road image in a world coordinate system is performed to establish a one-to-one correspondence relationship between the disparity map i and the three-dimensional point cloud in the world coordinate system, and comprises:
acquiring a disparity map I of the real-time road surface image by using a domain invariant stereo matching algorithm DSMNet, converting the disparity map I into a depth map, and acquiring a three-dimensional point cloud under a camera coordinate system according to the depth map; and estimating the pose of the camera by adopting a VO method according to the three-dimensional point cloud under the camera coordinate system, and acquiring a translation and rotation matrix of the camera coordinate system relative to the world coordinate system according to the estimated pose of the camera, so that the three-dimensional point cloud under the camera coordinate system is converted into the three-dimensional point cloud under the world coordinate system, and the one-to-one corresponding relation between the parallax map I and the three-dimensional point cloud under the world coordinate system is established.
5. A road elevation preview method according to any one of claims 1 to 4,
the specific mode of the step S4 is as follows:
the pre-estimation mode of each frame of digital elevation map is as follows: voxelizing the three-dimensional point cloud, counting the average value of the heights of the three-dimensional point cloud in each voxel, and taking the average value as the height of a cylindrical body, wherein the length and the width of the cylindrical body and x and y coordinates are the length and the width of the voxel when the point cloud is voxelized, and the x and y coordinates are the x and y coordinates of the voxel when the point cloud is voxelized;
adopting an averaging method for the front and the back frames of digital elevation maps, further filtering, and establishing a digital elevation map at the current moment;
the specific mode of the step S5 is as follows:
projecting the track of the vehicle tire into a digital elevation map in real time by combining camera internal parameters, the tire steering angle and the position of the tire relative to the camera, and acquiring three-dimensional information of the track of the vehicle about to run; the height weighted sum of n voxels covered by the vehicle driving track in the width direction is used as the elevation of the driving area of the vehicle at the current position, and the specific formula is as follows:
wherein n is the number of voxels covered by the track of the vehicle about to run in the width direction, w i As a weight,/ i Elevation information for the covered ith voxel.
6. A road elevation preview method according to claim 5, wherein said averaging is performed by using an exponential weighted average, and the formula is as follows:
wherein alpha is a control coefficient and is set to be 0.5,
for the estimated digital elevation map at the current time t,
is a digital elevation map at time t-1,
for representing a digital elevation map at time t.
7. An active hydro-pneumatic suspension control system is based on the road surface elevation preview method in any one of claims 1 to 6, and is characterized in that the control system comprises a hydro-pneumatic spring, an active control oil cylinder, a hydraulic oil source, a binocular camera and a vehicle height controller;
the binocular camera is installed on a front windshield of the vehicle, the hydro-pneumatic spring is installed between a vehicle body and each wheel of the vehicle, the active control oil cylinder, the hydraulic oil source and the vehicle height controller are all installed in the vehicle, and the hydraulic oil source is connected with the hydro-pneumatic spring through the active control oil cylinder;
the transmission process of the control signal of the active hydro-pneumatic suspension control system is as follows: after acquiring a road surface image in the driving direction in front of the vehicle in real time by a binocular camera, acquiring the elevation of an area where the vehicle is about to drive by the road surface elevation pre-aiming method; the automobile height control method has the advantages that the automobile height control method is transmitted to an automobile height controller through an FPGA, an ARM or a GPU, an active control algorithm based on prediction is embedded in the automobile height controller, output flow of a hydraulic oil source can be controlled according to the elevation of an area to be driven by an automobile and a preset oil-gas suspension control strategy, oil pressure in an oil-gas spring is changed through an active control oil cylinder according to changes of the output flow of the hydraulic oil source, accordingly, rigidity and damping of the automobile are actively adjusted in advance, automobile height is controlled, and active control of an oil-gas suspension system is achieved.
8. The active hydro-pneumatic suspension control system as claimed in claim 7, wherein the cylinder body of the active control hydro-cylinder is a stepped cylindrical structure, a floating piston is arranged in the cylinder body, one end of the floating piston is provided with a large diameter piston, the other end of the floating piston is provided with a small diameter piston, the large diameter piston and the small diameter piston are connected through a straight rod, wherein the large diameter piston is arranged in the large diameter section of the cylinder body, and the small diameter piston is arranged in the small diameter section of the cylinder body; the large-diameter section of the active control oil cylinder is communicated with an oil cylinder of the hydro-pneumatic spring, and the large-diameter section is filled with regulating oil; the small-diameter section is connected with a hydraulic oil source, control oil is filled in the small-diameter section, and the floating piston isolates the adjusting oil from the control oil.
9. The active hydro-pneumatic suspension control system of claim 7 further comprising a height sensor and a displacement sensor;
the displacement sensor is arranged on the active control oil cylinder and used for monitoring and detecting the displacement of the floating piston, feeding the displacement detection amount back to an active control algorithm based on prediction in the vehicle height controller and correcting the control of the active control algorithm based on prediction on the main hydraulic oil source so as to correct the control on the active control oil cylinder;
the height sensor is used for detecting the vehicle height in real time and feeding back the vehicle height detection amount to an active control algorithm based on prediction in a vehicle height controller so as to correct the control of the active control algorithm based on prediction on a hydraulic oil source and correct the control of the vehicle height;
the hydro-pneumatic spring includes: the inner cavity of the oil cylinder is communicated with the inner cavity of the energy accumulator I through a pipeline; the pipeline is provided with a damping valve;
the hydraulic oil source includes: the hydraulic control system comprises an oil tank, a hydraulic pump, a one-way valve, a hydraulic control one-way valve, a proportional servo valve, an energy accumulator II and an electromagnetic valve;
one end of the hydraulic pump is connected with the oil tank, the other end of the hydraulic pump is connected with an oil inlet of the one-way valve, an oil outlet of the one-way valve is connected with an oil inlet of the proportional servo valve, an oil outlet of the proportional servo valve is connected with an oil inlet of the hydraulic control one-way valve, and an oil outlet of the hydraulic control one-way valve is connected with the small-diameter section of the active control oil cylinder; the other oil inlet of the proportional servo valve is also directly connected with an oil tank; the small-diameter section of the active control oil cylinder, the hydraulic control one-way valve, the proportional servo valve, the one-way valve, the hydraulic pump and an oil way in which the oil tank is arranged form an oil channel;
the energy accumulator II is connected to the oil passage and is positioned between the one-way valve and the proportional servo valve;
the oil tank is also connected with an energy accumulator II through a pipeline, the electromagnetic valve is connected between the energy accumulator II and the oil tank, and the electromagnetic valve is normally closed; when the vehicle is stopped and flamed out, the electromagnetic valve is opened, and the hydraulic control one-way valve is closed.
10. The active hydro-pneumatic suspension control system of any one of claims 7-9, wherein a semi-active control algorithm is embedded in the vehicle height controller, and the control mode is as follows: the hydro-pneumatic suspension is subjected to limited bandwidth active control or semi-active control on the damping of a suspension system in a traditional mode through signals such as acceleration, vehicle height, vehicle speed and steering wheel angle;
when the vehicle runs, the binocular camera acquires a road surface image in the running direction in front of the vehicle in real time, the elevation of the area where the vehicle is about to run is acquired, and either a semi-active control algorithm or an active control algorithm based on prediction is suitable, and the method specifically comprises the following steps:
under the condition that the vehicle normally runs and the road surface undulation does not exceed a set threshold value, setting an algorithm in a vehicle controller as a semi-active control algorithm;
when the fluctuation of the pre-aimed road surface exceeds a set threshold value, switching the algorithm in the vehicle controller to an active control algorithm based on prediction to realize active vehicle attitude control based on prediction of a suspension system;
when the road surface is recovered to be normal or the active control algorithm based on prediction fails, the semi-active control algorithm can be switched back, so that the normal work of the oil-gas suspension is not influenced.
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