CN115837824A

CN115837824A - Active suspension control method and device, vehicle controller, medium and vehicle

Info

Publication number: CN115837824A
Application number: CN202111108005.2A
Authority: CN
Inventors: 纪铮
Original assignee: Beijing CHJ Automotive Information Technology Co Ltd
Current assignee: Beijing CHJ Automotive Information Technology Co Ltd
Priority date: 2021-09-22
Filing date: 2021-09-22
Publication date: 2023-03-24

Abstract

The disclosure provides an active suspension control method, an active suspension control device, a vehicle controller, a medium and a vehicle. The active suspension control method comprises the following steps: acquiring geometric feature information and relative position information of a plurality of road objects in a road in front of a vehicle; calculating a first feedforward control quantity based on the geometric characteristic information and the relative position information of each road object, and the driving state parameter of the vehicle and the performance parameter of the active suspension, wherein the first feedforward control quantity comprises a suspension height control quantity and a spring stiffness control quantity; the active suspension is controlled using a first feed forward control amount as the vehicle traverses the road ahead. According to the scheme provided by the embodiment of the disclosure, the geometric characteristics and the position characteristics corresponding to the plurality of road objects in front are considered, and the global first control quantity is determined, so that the state of the active suspension adapts to all the road objects in the road as far as possible when the vehicle passes through the road, and good driving stability is ensured when the vehicle passes through each road object.

Description

Active suspension control method and device, vehicle controller, medium and vehicle

Technical Field

The disclosure relates to the technical field of vehicle suspensions, in particular to an active suspension control method and device, a vehicle controller, a medium and a vehicle.

Background

At present, an active suspension is configured on the existing vehicle, and the active suspension is actively adjusted based on the road condition, so that the operation stability and riding comfort of the vehicle are improved. In the prior art, a vehicle active suspension control method is to formulate a suspension height control strategy and a spring stiffness control strategy of an active suspension according to geometric characteristic information and position parameters of a road object on the front side of a vehicle, so that the vehicle reaches a target suspension height and a target spring stiffness when running to the road object.

Suspension height and spring rate adjustment of active suspensions can take a long time because of the structural limitations of active suspensions. When a plurality of adjacent road objects with large geometric characteristic difference continuously appear on a road, the active suspension control method is adopted to ensure that the height and the spring stiffness of the suspension and the target suspension height and the target spring stiffness of the corresponding road object have large difference when the vehicle runs to each road object, so that the vehicle body seriously shakes when the vehicle passes through the road object, and further, the driving stability and the riding comfort are seriously reduced.

Disclosure of Invention

In order to solve the technical problems described above or at least partially solve the technical problems, the present disclosure provides an active suspension control method, apparatus, vehicle controller, medium, and vehicle.

In one aspect, an embodiment of the present disclosure provides an active suspension control method, including:

acquiring geometric feature information and relative position information of a plurality of road objects in a road in front of a vehicle;

calculating a first feedforward control quantity based on the geometric feature information and the relative position information of each road object, and the driving state parameter of the vehicle and the performance parameter of the active suspension, wherein the first feedforward control quantity comprises a suspension height control quantity and a spring stiffness control quantity;

controlling the active suspension using the first feed forward control amount as the vehicle traverses the forward road.

Optionally, the calculating a first feedforward control amount based on the geometric feature information and the relative position information of each of the road objects, and the driving state parameter of the vehicle and the performance parameter of the active suspension includes:

respectively calculating corresponding first target suspension states based on the geometric characteristic information of each road object, wherein the first target suspension states comprise target suspension height and target spring rigidity;

and calculating the first feedforward control quantity based on the driving state parameters of the vehicle, the performance parameters of the active suspension, the relative position information of each road object and the corresponding first target suspension state by adopting a global optimization algorithm.

Optionally, the global optimization algorithm is one of a particle swarm optimization algorithm, an ant colony algorithm, an evolutionary algorithm, or a genetic algorithm.

Optionally, the method further comprises:

respectively calculating corresponding target damping based on the geometric characteristic information of each road object;

determining a feedforward damping control amount corresponding to each road object based on the target damping;

and when the vehicle passes through each road object, adopting the corresponding feedforward damping control quantity to control the active suspension.

Optionally, said controlling said active suspension with said corresponding feedforward damping control amount comprises:

and when the front wheels of the vehicle pass through the road object, adopting the corresponding feedforward damping control quantity to control the front suspension of the vehicle.

Optionally, the method further comprises:

acquiring the displacement and the acceleration of a front side vehicle body of the vehicle in the height direction when front wheels of the vehicle pass through the road object;

calculating a feedback damping control quantity based on the displacement, the acceleration and the feedforward damping control quantity;

and when the rear wheel of the vehicle passes through the road object, controlling the rear suspension of the vehicle by adopting the corresponding feedback damping control quantity.

Optionally, the driving state parameter of the vehicle comprises a speed of the vehicle.

In another aspect, an embodiment of the present disclosure provides an active suspension control apparatus, including:

a parameter acquisition unit for acquiring geometric feature information and position information of a plurality of road objects in a road ahead of the vehicle;

a first feedforward control amount calculation unit configured to calculate a first feedforward control amount that controls the active suspension when the vehicle passes through the road ahead, based on geometric characteristic information and position information of each of the road objects, and a running state parameter of the vehicle and a performance parameter of the active suspension, the first feedforward control amount including a suspension height control amount and a spring rate control amount;

a suspension control unit for controlling the active suspension using the first feedforward control amount.

In yet another aspect, an embodiment of the present disclosure provides a vehicle controller, including: a memory and a processor, wherein the memory has stored therein a computer program which, when executed by the processor, implements the active suspension control method as described above.

In yet another aspect, embodiments of the present disclosure provide a vehicle including a vehicle controller and an active suspension; the vehicle controller is used in the active suspension control method as described above to achieve control of the active suspension.

In yet another aspect, embodiments of the present disclosure provide a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the active suspension control method as described above is implemented.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

according to the technical scheme provided by the embodiment of the disclosure, after the geometric characteristic information and the position information of a plurality of road objects in a front road are acquired, the first feedforward control quantity when a vehicle passes through the front road is determined according to the geometric characteristic information, the relative position information, the vehicle driving state parameter and the performance parameter of an active suspension of each road object. That is to say, the scheme provided by the embodiment of the present disclosure considers the geometric feature information and the relative position information corresponding to a plurality of road objects ahead, and determines the global first feedforward control amount, so that the suspension height and the spring rate of the active suspension can adapt to all the road objects as much as possible when the vehicle passes through the road ahead, and thus, the vehicle can have better driving stability when passing through each road object.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Obviously, for a person skilled in the art, without any inventive step, other figures can also be obtained according to these figures, in which:

FIG. 1 is a flow chart of an active suspension control method provided by some embodiments of the present disclosure;

FIG. 2 is a flow chart of a portion of a method for active suspension control provided by some embodiments of the present disclosure;

FIG. 3 is a schematic structural diagram of an active suspension control apparatus provided in accordance with certain embodiments of the present disclosure;

FIG. 4 is a schematic structural diagram of a vehicle provided in accordance with some embodiments of the present disclosure;

fig. 5 is a schematic structural diagram of a vehicle controller provided in the embodiment of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.

Fig. 1 is a flow chart of an active suspension control method provided by some embodiments of the present disclosure. As shown in FIG. 1, the active suspension control method provided by the implementation of the present disclosure comprises steps S101-S103. The active suspension control method provided by the embodiment of the disclosure is executed by a vehicle controller to realize the control of the vehicle active suspension.

S101: geometric feature information and relative position information of a plurality of road objects in a road ahead of the vehicle are acquired.

In the embodiment of the present disclosure, a road object is a target in a road that affects the driving stability and riding comfort of a vehicle. The road object may be an obstacle in a road, various types of road surfaces, or types of road segments. Wherein the obstacles of the road may include speed bumps, potholes, and well lids. Various types of road surfaces may be cement, dirt or asphalt. The type of road segment may be a sharp turn segment, an uphill segment, or a downhill segment.

The geometric feature information of the road object is information representing geometric characteristics of the road object. For example, in the case where the road object is an obstacle, the geometric feature information may be parameters such as the height of the obstacle and the width of the obstacle in the road. For another example, in the case where the road object is a sharp turn, the geometric feature information may be a curvature radius of the sharp turn. For another example, in the case where the road object is a slope road, the geometric feature information may be the gradient and the length of the slope section.

The relative position information is information representing the position of the road object with respect to the vehicle. For example, in the case where the road object is an obstacle, the position information may be a relative coordinate point of the obstacle in the vehicle coordinate system. For another example, when the road object is a sharp turn, the position information may be a coordinate section of the sharp turn.

In the disclosed embodiment, acquiring geometric characteristic information and relative position information of a plurality of road objects in a road ahead of the vehicle may include steps S1011-S1013.

S1011: and acquiring real-time positioning information of the vehicle.

The real-time positioning information of the vehicle is information representing the real-time position of the vehicle.

The real-time positioning information of the vehicle is information representing the real-time position of the vehicle. In some embodiments of the present disclosure, a satellite navigation positioning chip is configured in the vehicle, and positioning information generated by the satellite navigation positioning chip can be used as real-time positioning information of the vehicle.

In some embodiments of the present disclosure, the navigation positioning information generated by the vehicle satellite navigation system, the speed information and the acceleration information of the vehicle may be fused to obtain the real-time positioning information of the vehicle. In specific implementation, a data fusion algorithm known in the art, such as an adaptive particle filter algorithm, may be used to perform data fusion processing on the navigation positioning information, the speed information and the acceleration information of the vehicle, so as to obtain the real-time positioning information of the vehicle.

S1012: the method comprises the steps of obtaining labeling information of a plurality of road objects in a road map in the road in front of a vehicle based on real-time positioning information of the vehicle, wherein the labeling information comprises geometric feature labeling information and position feature labeling information of the road objects.

In the embodiment of the present disclosure, the geometric feature labeling information of the road object is labeling information representing geometric features of the road object, and the position feature labeling information is labeling information representing a relative position of the road object in the global coordinate system.

After obtaining the real-time positioning information of the vehicle, a road ahead of the vehicle may be determined based on the real-time positioning information of the vehicle, and then geometric feature labeling information and location feature labeling information of a road object in the road ahead of the vehicle may be determined.

S1013: and determining the relative position information of the road object based on the real-time positioning information and the position characteristic labeling information.

In the embodiment of the present disclosure, the geometric feature labeling information of the road object may be used as the geometric feature information, the position labeling parameter of the road object and the real-time positioning information of the vehicle are used to determine the relative coordinates of the road object in the vehicle coordinate system, and the relative coordinates are used as the relative position information of the road object.

In some embodiments of the present disclosure, step S101 may further include steps S1014-S1016 before performing S1013.

S1014: a road image formed by photographing a road ahead when a vehicle is running on the road is acquired.

And S1015, processing the road image to obtain the geometric feature identification information and the relative position identification information of the road object.

In some embodiments of the present disclosure, when the vehicle is running, the front camera of the vehicle works in real time to capture the road ahead of the vehicle to obtain the road image. And the vehicle controller processes the road image according to a preset image processing model to obtain the geometric characteristic identification information and the relative position identification information of the road object contained in the road image.

The corresponding step S1013 may include: and determining geometric feature information based on the geometric feature labeling parameters and the geometric feature identification information, and determining relative position information based on the position feature labeling parameters and the relative position identification information.

In a specific embodiment, the vehicle controller may perform fusion by using a fusion filter, such as a kalman filter, which is trained in advance and known in the art, to perform fusion processing on the geometric feature labeling information and the geometric feature identification information to obtain geometric feature information, and perform fusion processing on the position feature labeling parameter and the relative position identification information to obtain relative position information.

In addition to using the foregoing method to obtain the geometric feature information and the position information of the road object, in some other embodiments of the present disclosure, the vehicle controller may also process the road image to obtain geometric feature identification information and relative position identification information of the road object, and use the geometric feature identification information as the geometric feature information and the relative position identification information as the relative position information.

S102: and calculating a first feedforward control quantity for controlling the active suspension when the vehicle passes through the road ahead on the basis of the geometric characteristic information and the position information of each road object, the driving state parameter of the vehicle and the performance parameter of the active suspension.

The driving state parameter of the vehicle is a characteristic parameter that characterizes a driving state of the vehicle on a road. In some embodiments, the driving state parameter of the vehicle may include a speed of the vehicle; in some embodiments, the driving state parameters of the vehicle may include acceleration of the vehicle, a front wheel rotation angle of the vehicle, and the like, in addition to the speed of the vehicle.

In the disclosed embodiment, the first feedforward control amount includes a suspension height control amount and a spring stiffness control amount. The suspension height control amount is used to control the height of the active suspension so that the suspension height of the vehicle is raised or lowered. The spring rate control amount is used to control the stiffness of the active suspension to achieve an increase or decrease in the spring rate.

The performance parameter of the active suspension is a parameter that characterizes the performance of the active suspension. For example, the performance parameters of the active suspension may include a maximum liftable height of the active suspension, a height adjustment rate of the active suspension, a spring rate range of the active suspension, a spring rate adjustment rate of the active suspension, damping characteristic parameters of the active suspension, and the like.

In a particular embodiment, calculating the first feedforward control amount for controlling the active suspension in step S102 may include steps S1021-S1022.

S1021: and respectively calculating corresponding first target suspension states based on the geometric characteristic information of each road object.

The first target suspension state includes a target suspension height and a target spring rate. The target suspension height is a more ideal suspension height for a vehicle passing through a road object, and the target spring rate is a more ideal spring rate for a vehicle passing through a road object.

In some embodiments of the present disclosure, a predetermined correspondence table may be queried to determine a first target suspension state corresponding to geometric feature information of a road object. In some other embodiments of the present disclosure, the pre-trained road target recognition model may be used to process the geometric feature information of the road object, and determine a first target suspension state corresponding to the road object.

S1022: and calculating a first feedforward control quantity by adopting a global optimization algorithm based on the driving state parameters of the vehicle, the performance parameters of the active suspension, the relative position information of each road object and the corresponding first target suspension state.

In the embodiment of the present disclosure, the driving state parameter of the vehicle and the performance parameter of the active suspension may be used to determine a constraint condition, determine a possible first feedforward control amount based on the constraint condition, and use the possible first feedforward control amount as a control variable, calculate a state difference mean square difference between a calculated suspension state and a target suspension state when the vehicle passes through all road objects in the case where the active suspension is controlled by using each possible first feedforward control amount, and select the possible first feedforward control amount corresponding to the minimum state difference mean square difference as a first feedforward control amount to be finally used.

In a specific embodiment, the constraint condition is determined according to the driving state parameter of the vehicle and the performance parameter of the active suspension, and the constraint condition can be determined by determining the suspension adjusting time based on the driving state parameter of the vehicle, and determining the maximum adjusting rate of the suspension height and the maximum adjusting rate of the spring stiffness based on the performance parameter of the active suspension.

In a specific embodiment, the global optimization algorithm may be a particle swarm optimization algorithm, an ant swarm optimization algorithm, an evolutionary algorithm, a genetic algorithm, or the like known in the art and capable of determining a global optimal solution according to a constraint condition, an objective function, and a variable.

In a specific embodiment, the suspension height control amount and the spring rate control amount can be calculated by using the foregoing method for the suspension height and the spring rate, respectively. Specifically, the method comprises the following steps: (1) And calculating the globally optimal suspension height control quantity by adopting a global optimization algorithm based on the driving state parameters of the vehicle, the performance parameters of the active suspension, the relative position information of each road object and the corresponding target suspension height. (2) And calculating the globally optimal spring stiffness control quantity by adopting a global optimization algorithm based on the driving state parameters of the vehicle, the performance parameters of the active suspension, the relative position information of each road object and the corresponding spring stiffness control target.

For example, in some embodiments of the present disclosure, calculating a globally optimal suspension height control amount in step S1022 may include steps S1022A-S1022D.

S1022A: the suspension control period is calculated based on the running state parameters of the vehicle and the relative position information of the road object farthest from the vehicle.

In the embodiment of the present disclosure, the suspension control period is a period required for the vehicle to travel to the farthest road object. In some embodiments of the present disclosure, the suspension control period is calculated based on the driving state parameter of the vehicle and the relative position information of the road object farthest from the vehicle, and may be calculated based on the speed of the vehicle and the relative position of the farthest road object.

And S1022B, selecting multiple groups of available height control quantities based on the performance parameters of the active suspension and the suspension control duration.

In the embodiment of the disclosure, the suspension control duration is the duration of the suspension height control quantity, and the performance parameter of the active suspension determines the maximum range of the height adjustment rate of the active suspension at each moment. All possible suspension height control quantities can be determined based on the performance parameters of the active suspension and the suspension control duration. A plurality of sets of available height control quantities can be selected among all possible suspension height control quantities.

The disclosed embodiments may purposefully select multiple sets of available height control amounts based on empirical parameters, or may randomly determine multiple sets of available height control amounts. In the case where the available height control amount is randomly selected at random, more sets of initialized available height control amounts need to be set.

S1022C: respectively calculating the mean square error of height difference values between the calculated suspension height and the corresponding target suspension height when the vehicle passes through all road objects under the condition that the active suspension is controlled based on each group of available height control quantities;

in the embodiment of the disclosure, each group of available height control quantity is respectively adopted, the calculated suspension height of the vehicle passing through each road object is calculated based on the active suspension control model, and the height difference mean square error corresponding to each suspension height control quantity is calculated by adopting the calculated suspension height and the corresponding target suspension height.

The height difference mean square error represents the deviation condition of the calculated suspension height and the target suspension height when the vehicle drives to each road object when a group of available height control quantities are used for controlling the active suspension. The smaller the mean square error of the height difference value, the closer the corresponding available height control amount is to the ideal control amount is proved.

S1022D: and adopting the available suspension height control quantity corresponding to the minimum height difference mean square error as the suspension height control quantity.

In some embodiments of the present disclosure, calculating the globally optimal spring rate control amount in step S1022 may include steps S1022E-S1022H.

S1022E: calculating a suspension control duration based on the driving state parameters of the vehicle and the relative position information of the road object farthest from the vehicle;

S1022F: initializing multiple groups of available rigidity control quantity based on the performance parameters of the active suspension and the suspension control duration;

S1022G: respectively calculating the mean square error of the stiffness difference between the calculated spring stiffness and the corresponding target spring stiffness when the vehicle passes through all road objects under the condition that the active suspension is controlled based on each group of available stiffness control quantities;

S1022H: and adopting the available stiffness control quantity corresponding to the minimum stiffness difference mean square error as the spring stiffness control quantity.

After the first feedforward control amount is determined, step S103 may be performed.

S103: controlling the active suspension using the first feed forward control amount.

After the first feedforward control amount is determined, the active suspension can be controlled by using the first feedforward control amount when the vehicle runs to a front road, so that the adjustment control of the active suspension is realized.

By adopting the active suspension control method provided by the embodiment of the disclosure, after the geometric feature information and the relative position information of a plurality of road objects in a front road are acquired, the first feedforward control quantity when a vehicle passes through the front road is determined according to the geometric feature information, the relative position information, the vehicle driving state parameter and the performance parameter of the active suspension of each road object.

That is to say, the active suspension control method provided by the embodiment of the disclosure determines the global first control quantity in consideration of the geometric features and the relative position features of the multiple road objects ahead, so that the state of the active suspension can adapt to all the road objects as much as possible when the vehicle passes through the road ahead, and thus, the vehicle is guaranteed to have better driving stability when passing through each road object.

Fig. 2 is a flow chart of a method of a portion of active suspension control provided by some embodiments of the present disclosure. As shown in fig. 2, the active suspension control method provided by some embodiments of the present disclosure may further include steps S104 to S106 in addition to the aforementioned steps S101 to S103. In particular embodiments, steps S104-S105 may be performed after step S102, or may be performed in parallel with step S102.

S104: and respectively calculating corresponding target damping based on the geometric characteristic information of each road object.

In the disclosed embodiment, the target damping is a shock absorber damping that provides the vehicle body with better stability when the vehicle passes over a road object.

In some embodiments of the present disclosure, a predetermined correspondence table may be consulted to determine a target damping corresponding to geometric characteristic information of the road object. In some further embodiments of the present disclosure, a pre-trained control target recognition model may be employed to calculate target damping based on geometric feature information of the road object.

S105: based on the target damping, a feedforward damping control amount corresponding to each road object is determined.

S106: when the vehicle passes through the road object, the corresponding feedforward damping control quantity is adopted to control the active suspension.

In the prior art, the damping characteristic adjustment period of the active suspension is in the order of milliseconds, that is, the damping characteristic of the active suspension can be controlled in real time. Based on this, in the embodiments of the present disclosure, when the vehicle passes through the road object, the damping characteristic of the active suspension is controlled using the feedforward damping control amount so that the damping characteristic of the active suspension is the target damping. Because the feedforward damping control quantity is obtained by calculation based on the geometric characteristic information of the road object, the feedforward damping control quantity can be better adapted to the characteristic of the road object, and the vehicle body is ensured to have better stability.

In some embodiments of the present disclosure, step S106 may specifically include: and when the front wheels of the vehicle pass through the road object, controlling the suspension of the vehicle by adopting the corresponding feedforward damping control quantity.

In some embodiments of the present disclosure, an acceleration sensor and a displacement sensor are also mounted on a front body or wheels of the vehicle. The acceleration sensor may detect acceleration in a height direction of the front vehicle body and the displacement sensor may detect displacement of the front side of the vehicle body when the front wheels of the vehicle pass through the road object.

Correspondingly, after step S106 is executed, the control method of the active suspension may further include steps S107 to S109.

S107: the displacement and acceleration of the front side body of the vehicle in the height direction when the front wheels of the vehicle pass through the road object are acquired.

S108: based on the displacement, the acceleration and the feedforward damping control amount, a feedback damping control amount for controlling the damping characteristic of the active suspension is calculated.

In some embodiments of the present disclosure, the feedback damping control amount may be calculated by using a gaussian regression model based on the displacement, the acceleration and the feedforward control amount. In a specific embodiment, a gaussian regression model may be used to obtain the adjustment damping control quantity through calculation based on the displacement and the acceleration, and then the adjustment damping control quantity and the feedforward damping control quantity may be used to obtain the feedback damping control quantity through calculation. S106: and when the rear wheel of the vehicle runs to the road object, controlling the rear suspension of the vehicle by adopting the corresponding feedback damping control quantity.

Because the feedback damping control quantity is calculated based on the displacement, the acceleration and the feedforward control quantity of the front side of the vehicle body, the feedback damping signal is adopted to control the vehicle, so that the displacement of the vehicle body in the heaven-earth direction is smaller when the rear axle of the vehicle passes through the aisle object, and the stability of the vehicle body is further improved.

In the foregoing embodiment, the active suspension of the rear axle of the vehicle is controlled using only the feedback control amount. In other embodiments of the present disclosure, feedback damping control may also be used to control the active suspension of the front axle of the vehicle, for example, in certain types of longer roads, both the front and rear suspensions.

Fig. 3 is a schematic structural diagram of an active suspension control device according to some embodiments of the present disclosure. The active suspension control device may be understood as a part of the functional blocks of the above-described on-vehicle control. As shown in fig. 3, the active suspension control apparatus 300 provided by the present disclosure includes a parameter acquisition unit 301, a first feedforward control amount calculation unit 302, and a suspension control unit 303.

The parameter acquisition unit is used for acquiring geometric characteristic information and sex-pair position information of a plurality of road objects in a road in front of the vehicle.

And a first feedforward control amount calculation unit for calculating a first feedforward control amount for controlling the active suspension when the vehicle passes through the road ahead, based on the geometric characteristic information and the position information of each road object, and the driving state parameter of the vehicle and the performance parameter of the active suspension, the first feedforward control amount including a suspension height control amount and a spring rate control amount.

The suspension control unit is used for controlling the active suspension by adopting a first feedforward control quantity.

In some embodiments of the present disclosure, the first feedforward control amount calculation unit may include a first target suspension state determination subunit and a first feedforward control amount calculation subunit.

The first feedforward control quantity calculating unit is used for calculating corresponding first target suspension states respectively based on the geometric characteristic information of each road object, and the first target suspension states comprise target suspension heights and target spring rates.

The first feedforward control amount operator unit is used for calculating a first feedforward control amount based on the driving state parameters of the vehicle, the performance parameters of the active suspension, the relative position information of each road object and the corresponding first target suspension state by adopting a global optimization algorithm. The global optimization algorithm may be one of a particle swarm optimization algorithm, an ant colony algorithm, an evolutionary algorithm, or a genetic algorithm.

In some embodiments of the present disclosure, the calculating of the first feedforward control amount by the first feedforward control amount operator unit may specifically include: calculating a suspension control duration based on the driving state parameters of the vehicle and the relative position information of the road object farthest from the vehicle; selecting multiple groups of available height control quantities based on the performance parameters of the active suspension and the suspension control duration; respectively calculating the mean square error of height difference values between the calculated suspension height and the corresponding target suspension height when the vehicle passes through all road objects under the condition that the active suspension is controlled based on each group of available height control quantities; and adopting the available suspension height control quantity corresponding to the minimum height difference mean square error as the suspension height control quantity.

In some other embodiments of the present disclosure, the calculating of the first feedforward control amount by the first feedforward control amount operator unit may specifically include: calculating a suspension control duration based on the driving state parameters of the vehicle and the relative position information of the road object farthest from the vehicle; initializing multiple groups of available rigidity control quantity based on the performance parameters of the active suspension and the suspension control duration; respectively calculating the mean square error of the stiffness difference between the calculated spring stiffness and the corresponding target spring stiffness when the vehicle passes through all road objects under the condition that the active suspension is controlled based on each group of available stiffness control quantities; and adopting the available stiffness control quantity corresponding to the minimum stiffness difference mean square error as the spring stiffness control quantity.

In some embodiments of the present disclosure, the active suspension control apparatus may further include a target damping calculation unit, a feedforward damping control amount calculation unit. The target damping calculation unit calculates corresponding target damping respectively based on the geometric characteristic information of each road object. The feedforward damping control amount calculation unit calculates feedforward damping control amounts corresponding to the respective road objects based on the target damping and the performance parameter of the active suspension. The suspension control unit controls the active suspension using the corresponding feedforward damping control amount when the vehicle passes through the road object.

In some embodiments of the present disclosure, the suspension control unit controls the front suspension of the vehicle using a corresponding feed forward damping control amount as the front wheels of the vehicle pass over the road object.

In some embodiments of the present disclosure, the active suspension control apparatus may further include a signal acquisition unit and a feedback damping control amount calculation unit. The signal acquisition unit is used for acquiring the displacement and the acceleration of the front side vehicle body of the vehicle in the height direction when the front wheels of the vehicle pass through the road object. The feedback damping control amount calculation unit is used for calculating the feedback damping control amount based on the displacement, the acceleration and the feedforward damping control amount. Accordingly, the suspension control unit 303 controls the rear suspension of the vehicle using the corresponding feedback damping control amount when the rear wheel of the vehicle passes to the road object.

FIG. 4 is a schematic structural diagram of a vehicle provided in accordance with some embodiments of the present disclosure. As shown in fig. 4, a vehicle 400 provided by the embodiment of the present disclosure includes a vehicle controller 401 and an active suspension 402, and the vehicle controller 401 may execute the active suspension control method provided by the previous method embodiment and generate various control amounts for controlling the active suspension 402, wherein the control amounts include a suspension height control amount, a spring rate control amount, and a damping control amount. It should be noted that the vehicle in the embodiment of the present disclosure is not limited to include the aforementioned vehicle controller and active suspension, but also includes a vehicle body, a power system, a transmission system, a steering system, and various sensors associated therewith.

The embodiment of the present disclosure further provides a vehicle controller, which includes a processor and a memory, where the memory stores a computer program, and when the computer program is executed by the processor, the active suspension control method of any of the above embodiments can be implemented.

For example, fig. 5 is a schematic structural diagram of a vehicle controller provided in an embodiment of the present disclosure. Referring now specifically to FIG. 5, a schematic diagram of a vehicle controller 500 suitable for use in implementing embodiments of the present disclosure is shown. The vehicle controller shown in fig. 5 is only an example, and should not bring any limitation to the function and the range of use of the embodiment of the present disclosure.

As shown in fig. 5, the vehicle controller 500 may include a processing device (e.g., central processor, graphics processor, etc.) 501 that may perform various appropriate actions and processes in accordance with a program stored in a read only memory ROM502 or a program loaded from a storage device 508 into a random access memory RAM 503. In the RAM503, various programs and data necessary for the operation of the vehicle controller 500 are also stored. The processing device 501, the ROM502, and the RAM503 are connected to each other by a bus 504. An input/output I/O interface 505 is also connected to bus 504.

Generally, the following devices may be connected to the I/O interface 505: input devices 506 including, for example, a touch screen, touch pad, camera, microphone, accelerometer, gyroscope, etc.; output devices 507 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, and the like; storage devices 508 including, for example, magnetic tape, hard disk, etc.; and a communication device 509. The communication means 509 may allow the vehicle controller 500 to perform wireless or wired communication with other devices to exchange data. While fig. 5 illustrates a vehicle controller 500 having various devices, it is to be understood that not all illustrated devices are required to be implemented or provided. More or fewer devices may be alternatively implemented or provided.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program containing program code for performing the method illustrated by the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via the communication means 509, or installed from the storage means 508, or installed from the ROM 502. The computer program performs the above-mentioned functions defined in the method of the embodiments of the present disclosure when executed by the processing device 501.

It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer-readable signal medium may include a data signal propagating in a baseband or as part of a carrier wave, in which computer-readable program code is carried. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.

The computer readable medium may be included in the vehicle controller; or may be separate and not incorporated into the vehicle controller.

The computer readable medium carries one or more programs which, when executed by the vehicle controller, cause the vehicle controller to acquire geometric feature information and relative position information of a plurality of road objects in a road ahead of the vehicle; calculating a first feedforward control quantity based on the geometric characteristic information and the relative position information of each road object, and the driving state parameter of the vehicle and the performance parameter of the active suspension, wherein the first feedforward control quantity comprises a suspension height control quantity and/or a spring stiffness control quantity; the active suspension is controlled using a first feed forward control as the vehicle traverses the road ahead.

Computer program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including but not limited to an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present disclosure may be implemented by software or hardware. The name of a unit is not limited to the unit itself in some cases.

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium may include an electrical connection according to one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The embodiments of the present disclosure also provide a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the method of any of the above method embodiments can be implemented, which has similar execution manner and beneficial effects, and is not described herein in detail.

It is noted that, herein, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An active suspension control method, comprising:

calculating a first feedforward control quantity based on the geometric characteristic information and the relative position information of each road object, and the driving state parameter of the vehicle and the performance parameter of the active suspension, wherein the first feedforward control quantity comprises a suspension height control quantity and/or a spring stiffness control quantity;

controlling the active suspension using the first feedforward control amount as the vehicle traverses the road ahead.

2. The method according to claim 1, wherein the calculating a first feedforward control amount based on the geometric feature information and the relative position information of each of the road objects, and the running state parameter of the vehicle and the performance parameter of the active suspension, includes:

respectively calculating corresponding first target suspension states based on the geometric feature information of each road object, wherein the first target suspension states comprise target suspension heights and target spring stiffness;

and calculating the first feedforward control quantity based on the driving state parameter of the vehicle, the performance parameter of the active suspension, the relative position information of each road object and the corresponding first target suspension state by adopting a global optimization algorithm.

3. The method of claim 2, wherein the global optimization algorithm is one of a particle swarm optimization algorithm, an ant colony algorithm, an evolutionary algorithm, or a genetic algorithm.

4. The method of claim 1, further comprising:

respectively calculating corresponding target damping based on the geometric feature information of each road object;

determining a feedforward damping control amount corresponding to each of the road objects based on the target damping;

5. The method of claim 4, wherein said controlling said active suspension with said corresponding feedforward damping control amount comprises:

6. The method of claim 5, further comprising:

acquiring the displacement and the acceleration of the front side body of the vehicle in the height direction when the front wheels of the vehicle pass through the road object;

7. The method of claim 1, wherein the driving state parameter of the vehicle comprises a speed of the vehicle.

8. An active suspension control device, comprising:

a first feedforward control amount calculation unit configured to calculate a first feedforward control amount that controls the active suspension when the vehicle passes through the road ahead, based on geometric feature information and position information of each of the road objects, and a running state parameter of the vehicle and a performance parameter of the active suspension, the first feedforward control amount including a suspension height control amount and a spring rate control amount;

9. A vehicle controller, characterized by comprising: memory and a processor, wherein the memory has stored therein a computer program which, when executed by the processor, implements an active suspension control method according to any one of claims 1-7.

10. A vehicle comprising a vehicle controller and an active suspension; the vehicle controller is configured to execute the active suspension control method according to any one of claims 1 to 7 to achieve control of the active suspension.

11. A computer-readable storage medium, characterized in that a computer program is stored in the storage medium, which computer program, when being executed by a processor, carries out the active suspension control method according to any one of claims 1-7.