CN116461273A - Control method and equipment for vehicle suspension damping and computer readable storage medium - Google Patents
Control method and equipment for vehicle suspension damping and computer readable storage medium Download PDFInfo
- Publication number
- CN116461273A CN116461273A CN202310328049.9A CN202310328049A CN116461273A CN 116461273 A CN116461273 A CN 116461273A CN 202310328049 A CN202310328049 A CN 202310328049A CN 116461273 A CN116461273 A CN 116461273A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- road surface
- data
- grade
- damping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000013016 damping Methods 0.000 title claims abstract description 120
- 239000000725 suspension Substances 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000006096 absorbing agent Substances 0.000 claims abstract description 26
- 230000035939 shock Effects 0.000 claims abstract description 26
- 230000001133 acceleration Effects 0.000 claims description 13
- 230000003746 surface roughness Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000004590 computer program Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- 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
- B60G17/01933—Velocity, e.g. relative velocity-displacement sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/14—Photo or light sensitive means, e.g. Infrared
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a control method, equipment and a computer-readable storage medium of vehicle suspension damping, which relate to the technical field of vehicle vibration reduction control, in particular to a control method, equipment and a computer-readable storage medium of vehicle suspension damping, and respectively comprise a road surface data acquisition module, a vehicle data acquisition module, a controller module and an execution module, wherein the road surface data acquisition module is used for acquiring height data of obstacles in front of a vehicle and distance data of the wheels from the obstacles; through the cooperation setting of road surface data acquisition module, vehicle data acquisition module, controller module and execution module, realize the shock absorber damping of vehicle suspension adjustment vehicle, realized adjusting the effect of vehicle suspension and shock absorber damping force, reached through adjusting vehicle suspension and shock absorber damping force improvement vehicle security, travelling comfort's purpose.
Description
Technical Field
The invention relates to the technical field of vehicle vibration damping control, in particular to a method and equipment for controlling vehicle suspension damping and a computer readable storage medium.
Background
The vehicle suspension can adjust the shock absorber damping of the vehicle, so that a comfortable riding environment is provided for passengers of the vehicle, but when the vehicle is in special road conditions such as a lateral road, a ramp, a long-short wave road and the like, if the vehicle is in a conventional shock absorber damping strategy, the situations such as unstable vehicle body posture, vehicle rollover and the like are easily caused, in order to ensure the safety of the vehicle as far as possible, the shock absorber damping of the vehicle suspension in the prior art is not adjustable, the special road conditions are relatively common, and when the vehicle suspension is not adjustable, the riding comfort of the vehicle is greatly reduced.
Disclosure of Invention
(one) solving the technical problems
In order to overcome the defects in the prior art, the invention provides a control method, equipment and a computer readable storage medium for vehicle suspension damping, which solve the problems in the prior art.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by the following technical scheme: the control method of the vehicle suspension damping comprises a pavement data acquisition module, a vehicle data acquisition module, a controller module and an execution module, wherein the pavement data acquisition module is used for acquiring the height data of an obstacle in front of a vehicle and the distance data of a wheel from the obstacle; the vehicle data acquisition module is used for acquiring the vehicle speed, the preset vehicle speed and the acceleration of the vehicle body during movement; the execution module is used for controlling the vehicle suspension according to the control data so as to adjust the damping force of the shock absorber of the vehicle through the vehicle suspension.
The controller module comprises a vehicle state determining sub-module, a collected vehicle data calculating sub-module, a calibration data determining sub-module, a road condition grade determining sub-module and a control data generating sub-module.
The vehicle state determining submodule is used for determining a vehicle state according to the obstacle height data information acquired in the pavement data acquisition module and the distance data information between the wheels and the obstacles, wherein the vehicle state comprises a wheel passing obstacle state and a wheel not passing obstacle state, and is also used for determining the vehicle state according to the vehicle speed acquired in the vehicle data acquisition module and a preset vehicle speed, and the vehicle state comprises a parking state and a movement state.
The collected vehicle data calculation sub-module is used for calculating corresponding parameters according to the front road surface data information and the acceleration of the vehicle body during movement.
The calibration data determining submodule is used for determining calibration data of collected vehicle data corresponding to the vehicle state according to the data information in the vehicle data collecting module.
The road condition grade determining submodule is used for determining the road surface type and the road surface grade of the road surface where the vehicle is located according to the calibration data, the road surface data information and the vehicle data information.
The control data generation submodule is used for generating control data and damping data according to the vehicle state, the road surface type and the road surface grade, and the damping data comprises damping upper limit data and damping lower limit data.
Optionally, the calibration data comprises road surface roughness calibration data and vehicle speed calibration data; the road condition grade determination submodule is used for judging and determining: the roughness is below 2.5, is A grade road surface, is used for aiming at each said collection vehicle data, when the said collection vehicle data is smaller than the said road surface grade and marks the data, confirm the said road surface grade is A grade road surface; the roughness is 2.5-7.7 which is a B-class road surface, and the road surface grade is determined to be the B-class road surface when the collected vehicle data are in the road surface grade calibration data range for each collected vehicle data; the roughness is 7.7-11.5 which is a C-grade road surface, and the roughness is used for determining that the road surface grade is a C-grade road surface for each collected vehicle data when the collected vehicle data is in the road surface grade calibration data range; the roughness is 11.5-15 which is a grade-D road surface, and is used for determining that the road surface grade is a grade-D road surface for each collected vehicle data when the collected vehicle data is in the road surface grade calibration data range; the roughness is 15-25 grade E road surface, is used for aiming at each kind of collected vehicle data, when the collected vehicle data is in the range of the road surface grade calibration data, the road surface grade is determined to be grade E road surface; and the roughness is 25-50 and above grade F pavement, and the grade F pavement is determined when the collected vehicle data is in the grade calibration data range for each collected vehicle data.
Optionally, the road surface types respectively comprise a lateral road surface, a fluctuating road surface, a long-wave road surface, a short-wave road surface and a ramp road surface.
Optionally, the road surface grade comprises a grade A road surface, a grade B road surface, a grade C road surface, a grade D road surface, a grade E road surface and a grade F road surface; the control data generation submodule comprises a parameter range determining part, wherein the parameter range determining part is used for determining a damping range according to a vehicle state, a road surface type and collected vehicle data when the road surface grade is a B-grade road surface, a C-grade road surface and a D-grade road surface.
Optionally, the parameter range determining part includes a parameter determining unit, a damping limit determining unit and a damping range determining unit, and the parameter determining part is used for determining corresponding vehicle height upper limit data, vehicle height lower limit data, damping upper limit data and damping lower limit data according to the vehicle state and the road surface type; the damping limit value determining unit is used for determining a damping upper limit value in damping upper limit data corresponding to the acquired vehicle data and determining a damping lower limit value in corresponding damping lower limit data; the damping range determining unit is used for obtaining a damping range according to the damping upper limit value and the damping lower limit value.
Optionally, the controller module further includes a limiting adjustment data generation sub-module, and the limiting adjustment data generation sub-module includes a characteristic damping range determining section configured to, when there are a plurality of the damping ranges, set a damping range with a maximum damping lower limit value among the plurality of the damping ranges as a characteristic damping range; the control data generation sub-module is also used for generating control data according to the characteristic damping range.
The control equipment for the vehicle suspension damping comprises a camera, a controller, a plurality of sensors and an execution part, wherein the sensors are electrically connected with the controller, and the camera is used for collecting pavement data information; the sensor is used for collecting data information of the vehicle; the controller is used for determining the vehicle state of the vehicle, the road surface type and the road surface grade of the vehicle according to the collected road surface information data and the vehicle data, and generating corresponding control data according to the vehicle state, the road surface type and the road surface grade.
Optionally, the controller is used for receiving and processing information and data collected by the camera and the sensor, and calculating control data through processing, the execution component is used for executing the control data calculated and output by the controller, and the execution component comprises an electromagnetic valve arranged in the shock absorber, and the damping opening degree of the shock absorber is adjusted by controlling the current received by the electromagnetic valve.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps in a method of controlling vehicle suspension damping as claimed in any one of the preceding claims.
(III) beneficial effects
The invention provides a control method, equipment and a computer readable storage medium for vehicle suspension damping, which have the following beneficial effects:
1. the control method of the vehicle suspension damping comprises the steps of setting a road surface data acquisition module, a vehicle data acquisition module, a controller module and an execution module in a matched mode, wherein the road surface data acquisition module is used for acquiring road surface data information, the vehicle data acquisition module is used for acquiring vehicle driving data, the controller is used for determining the vehicle state of a vehicle according to the vehicle data and determining the road surface type and the road surface grade of the vehicle, generating control data according to the vehicle state, the road surface information, the road surface type and the road surface grade, and the execution module is used for controlling the vehicle suspension according to the control data so as to adjust the vibration damper damping of the vehicle through the vehicle suspension. The road surface grades of different road surfaces are acquired and set in advance, the controller determines the road surface grades and the road surface types according to the acquired vehicle running data, and correspondingly sets the control data of different vehicle suspensions according to different road surface information, road surface grades, road surface types and vehicle states, so that when the vehicle encounters the road surfaces of different road surface types and road surface grades, the executing component adopts the control data which are adaptive to the road surface types, the road surface grades and the vehicle states to adjust the shock absorber damping of the vehicle, and the different road surface grades are subjected to grading treatment, so that the vehicle suspension control system adopts more accurate control data to control the vehicle, the driving safety, the comfort of personnel in the vehicle and the operation stability of the vehicle are considered, the effect of adjusting the vehicle suspension and the damping force of the shock absorber is realized, and the aim of improving the safety and the comfort of the vehicle by adjusting the vehicle suspension and the damping force of the shock absorber is fulfilled.
2. The control equipment of the vehicle suspension damping is characterized in that a camera, a controller, a sensor and an execution part are arranged in a matched mode, wherein the sensor is used for collecting vehicle running data; the camera is used for collecting road surface data information; the controller is used for determining the vehicle state of the vehicle, the road surface type where the vehicle is located and the road surface grade according to the acquired vehicle running data, and generating control data according to the vehicle state, the road surface type, the road surface information and the road surface grade; the execution part is used for controlling the vehicle suspension according to the control data so as to adjust the damping force of the shock absorber of the vehicle through the vehicle suspension, thereby achieving the purpose of adjusting the damping force of the vehicle suspension and the shock absorber and further improving the safety and the comfort of the vehicle.
Drawings
FIG. 1 is a schematic diagram of a method and apparatus for controlling damping of a vehicle suspension according to the present invention;
FIG. 2 is a schematic diagram of the control method and apparatus for vehicle suspension damping (control data output) according to the present invention;
fig. 3 is a schematic diagram of a data relationship structure of a control method of vehicle suspension damping according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1 to 3, the present invention provides the following technical solutions: in the practical application process, the control device of the vehicle suspension damping takes a control method of the vehicle suspension damping as a flow step and is implemented by matching with hardware equipment.
Fig. 1 is a schematic structural diagram of a vehicle suspension control apparatus according to an embodiment of the present invention, where the embodiment is applicable to a vehicle suspension for adjusting a vehicle height and a damper damping to adapt to road conditions. As shown in fig. 1, the vehicle suspension control apparatus includes a controller 2, a sensor 1 connected to the controller 2, a camera 5, and an executing part (executing section 4).
The camera is used for gathering road surface information, and road surface information that gathers can include the distance of wheel from the barrier and the height of barrier, sends the data information that gathers to the controller and handles.
The sensors are used for collecting working condition data of the vehicle, the collected vehicle data can comprise vehicle speed, longitudinal acceleration, lateral acceleration, brake pedal pressure and the like, according to the required collected vehicle data, the sensors in the example comprise three vehicle body sensors, two acceleration sensors and the like, and different kinds of sensors can be installed at positions corresponding to the collected vehicle data. When the sensor collects vehicle data, the vehicle data is sent to the controller.
The controller determines a vehicle state of the vehicle, a road surface type on which the vehicle is located, and a road surface grade according to the vehicle data, and generates relevant control data according to the vehicle state, the road surface type, and the road surface grade.
The collected vehicle data may reflect vehicle status, road type, and road grade. Regarding the vehicle state, the coil spring of the vehicle has a certain elastic deformation, the vehicle height of the vehicle has a certain change when the vehicle runs, and the vehicle height of the vehicle is small or unchanged when the vehicle stops, so that the vehicle height of the vehicle can reflect the vehicle state to a certain extent; regarding the road surface type, the height difference between the left side and the right side of the vehicle at the same acquisition time can also reflect whether the vehicle is on a lateral road surface; the height difference of the vehicle at the same position of two adjacent acquisition times can also reflect whether the vehicle is in bumpy fluctuating road conditions; regarding the road surface level, when the road surface is uneven, the height difference between the left and right sides of the vehicle can reflect different movement strokes of the four shock absorbers under the current road surface. The corresponding relation between the vehicle state, the road surface type and the road surface grade and the collected vehicle data is stored in a storage unit of the controller, and the controller can determine the vehicle state, the road surface type and the road surface grade of the vehicle according to the comparison between the vehicle data collected in real time and the data stored in the controller.
The road surface grades can be preset and divided into a plurality of road surface grades, the road surface grades can indicate the roughness of the road surface to indirectly reflect the quality of the road surface, meanwhile, the road surface grades can also indicate the travel or the speed of the suspension movement when the vehicle adopts the conventional control mode of the semi-active suspension during the running of the road surface, and particularly, the road surface grades can be set according to actual requirements.
The controller can also generate control data according to the vehicle state, the road surface information, the road surface type and the road surface grade, the control data is calibrated and set in advance and corresponds to the vehicle state and the road surface grade, the control data is bound with the vehicle state and the road surface grade and stored in a storage medium of the controller, and when the vehicle state and the road surface grade are determined, the control data corresponding to the vehicle state and the road surface grade can be searched out from the storage medium.
The execution means (i.e. the execution part 4) is for controlling the vehicle suspension in accordance with the control data to adjust the shock absorber damping of the vehicle by the vehicle suspension.
The vehicle suspension, namely a semi-active suspension, is a variable suspension system which is used for adjusting the damping of a shock absorber by sensing data such as road surface information, vehicle body posture and the like through a sensor and a camera so as to improve the running smoothness and stability of an automobile. The control data are used for controlling the damping of the vehicle shock absorber, safety and comfort are considered, and the execution part adopts the control data to set the parameters of the vehicle suspension, so that the damping of the shock absorber is adjusted. The execution part is a damper damping adjusting part, and the damper damping adjusting part is used for controlling the current in the electromagnetic valve in the damper according to the control data so as to adjust the damper damping (the current is received by the electromagnetic valve to control the damping opening of the damper). The vibration damper accelerates the damping of vibration of the vehicle body part and chassis part, thereby improving the driving comfort of the vehicle.
In a conventional control mode of a vehicle suspension, the adjustable range of the shock absorber damping of the vehicle is larger, namely the variation range of the shock absorber damping is possibly larger, when a road surface is a special road condition which is unfavorable for vehicle control and stability, such as uneven height, larger gradient or larger side direction, the driving confidence of a driver and the comfort of passengers can be greatly reduced when the vehicle is controlled in an unadjustable state of the vehicle suspension, in the embodiment, the vehicle suspension is controlled by setting different road surface grades and adopting control data which are suitable for the vehicle state, the road surface information, the road surface type and the road surface grade to adjust the shock absorber damping, so that the vehicle is ensured to have enough supporting feel, and the comfort of the passengers in the vehicle is considered while the driver is given enough driving confidence.
The vehicle state determining submodule is used for determining the vehicle state of the vehicle according to the vehicle speed in the collected vehicle data and the preset vehicle speed, and the vehicle state comprises a parking state and a driving state.
The road surface data acquisition module is used for determining the time of the wheels passing through the obstacle according to the road surface type, the obstacle height and the distance between the wheels and the obstacle in the camera acquisition data. The vehicle speed in the collected vehicle data can reflect the vehicle state, compared with the running state, the vehicle in the parking state is slower in speed, the corresponding relation between the vehicle state and the working condition data is stored in the storage unit of the controller, and the controller can determine the vehicle state of the vehicle according to the working condition data. For example, the preset vehicle speed is 10km/h, when the vehicle speed is less than 10km/h, it may be determined that the vehicle is in a stopped state, at which time the damper outputs a conventional damper output state, and when the vehicle speed is greater than or equal to 10km/h, it may be determined that the vehicle is in a running state, and the damper control output enters automatic control.
The collected vehicle data calculation submodule is used for calculating according to the lateral acceleration, the longitudinal acceleration and the like in the collected vehicle data. The collected vehicle data can comprise vehicle speed, longitudinal lateral acceleration, braking pressure and the like, and the working condition parameters can comprise vehicle body pitching angle, longitudinal acceleration, lateral acceleration and the like.
The calibration data determining submodule is used for determining calibration data of the road surface corresponding to the vehicle state according to the data of each different road surface. The corresponding calibration data of each road surface are preset, are stored in the storage unit of the controller in a binding mode, and are used for dividing different road surface types and different road surface grades, each road surface corresponds to at least one calibration data, namely a plurality of parameter ranges can be determined according to the calibration parameters, and the different data ranges represent different road surface types and road surface grades.
The road condition grade determining submodule is used for determining the road surface type and the road surface grade of the vehicle according to the calibration data and the collected vehicle data. The calibration data can be used for dividing different road surface types and road surface grades, when the collected vehicle data are known, the collected vehicle data are compared with the calibration data, the range of the collected vehicle data at the moment is determined, and then the corresponding road surface type and road surface grade are determined; the calibration data are divided into vehicle speed calibration data and road surface grade calibration data, and are mainly used for comparison output in actual control. The road surface grade determining part comprises an A-grade road surface with the roughness below 2.5, a B-grade road surface with the roughness between 2.5 and 7.7, a C-grade road surface with the roughness between 7.7 and 11.5, a D-grade road surface with the roughness between 11.5 and 15, an E-grade road surface with the roughness between 15 and 25, and an F-grade road surface with the roughness between 25 and 50 and above, wherein the road surface grade road is used for calculating different road surface roughness values corresponding to each collected vehicle data and corresponding to different road surface grades. The corresponding calibration data of the road surface roughness and the corresponding calibration data of the vehicle speed acceleration are data determined after the actual vehicle is calibrated in the corresponding road surface type, and the applicable values of different vehicles are different.
The control data generation submodule is used for generating control data and damping data according to the vehicle state, the road surface type and the road surface grade, and the damping data comprises damping upper limit data and damping lower limit data.
Different vehicle states, road surface types and road surface grades can be corresponding to different control data, so that the driving safety, riding comfort and vehicle operation stability of the vehicle are considered.
The damping data can be data obtained by calibrating the real vehicle in advance according to the safe driving of the vehicle in different road conditions in the historical data, wherein the damping data comprises upper and lower limit values of damping, and the upper and lower limit values of damping are used for limiting the damping adjusting range of the shock absorber.
By determining different driving modes in different road surface grades to obtain control data corresponding to the driving modes, the riding comfort of the vehicle can be improved to the greatest extent on the basis of ensuring the driving safety of the vehicle.
The damper adjusting mode is a comfort mode, a standard mode, a sport mode and an off-road mode, and the damping range with the largest damping lower limit value in a plurality of damping ranges is used as a characteristic damping range, namely, the damper adjusting mode is limited to be in a harder adjusting mode, so that the smaller the adjusting amplitude of the damper is, the stronger the safety of vehicle driving is. Under the condition that multiple road condition types with middle risks exist, a vehicle height range with the minimum vehicle height adjusting range and a damping range which enables the damper adjusting mode to be harder are set according to the corresponding parameter ranges of the multiple road condition types, and riding comfort is considered on the basis of guaranteeing the safety of vehicle driving preferentially.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (9)
1. A control method of vehicle suspension damping is characterized in that: the system comprises a road surface data acquisition module, a vehicle data acquisition module, a controller module and an execution module, wherein the road surface data acquisition module is used for acquiring height data of obstacles in front of a vehicle and distance data of the wheels from the obstacles; the vehicle data acquisition module is used for acquiring the vehicle speed, the preset vehicle speed and the acceleration of the vehicle body during movement; the execution module is used for controlling the vehicle suspension according to the control data so as to adjust the damping force of the shock absorber of the vehicle through the vehicle suspension;
the controller module comprises a vehicle state determining sub-module, a collected vehicle data calculating sub-module, a calibration data determining sub-module, a road condition grade determining sub-module and a control data generating sub-module respectively;
the vehicle state determining submodule is used for determining a vehicle state according to the obstacle height data information and the distance data information between the wheels and the obstacles, wherein the vehicle state comprises a wheel passing obstacle state and a wheel not passing obstacle state, and is also used for determining a vehicle state according to the vehicle speed and a preset vehicle speed, which are acquired by the vehicle data acquisition module, and the vehicle state comprises a parking state and a movement state;
the collected vehicle data calculation sub-module is used for calculating corresponding parameters according to the front road surface data information and the acceleration of the vehicle body during movement;
the calibration data determining submodule is used for determining calibration data of collected vehicle data corresponding to the vehicle state according to the data information in the vehicle data collecting module;
the road condition grade determining submodule is used for determining the road surface type and the road surface grade of the road surface where the vehicle is located according to the calibration data, the road surface data information and the vehicle data information;
the control data generation submodule is used for generating control data and damping data according to the vehicle state, the road surface type and the road surface grade, and the damping data comprises damping upper limit data and damping lower limit data.
2. A control method of vehicle suspension damping according to claim 1, characterized in that: the calibration data comprise road surface roughness calibration data and vehicle speed calibration data; the road condition grade determination submodule is used for judging and determining:
the roughness is below 2.5, is A grade road surface, is used for aiming at each said collection vehicle data, when the said collection vehicle data is smaller than the said road surface grade and marks the data, confirm the said road surface grade is A grade road surface;
the roughness is 2.5-7.7 which is a B-class road surface, and the road surface grade is determined to be the B-class road surface when the collected vehicle data are in the road surface grade calibration data range for each collected vehicle data;
the roughness is 7.7-11.5 which is a C-grade road surface, and the roughness is used for determining that the road surface grade is a C-grade road surface for each collected vehicle data when the collected vehicle data is in the road surface grade calibration data range;
the roughness is 11.5-15 which is a grade-D road surface, and is used for determining that the road surface grade is a grade-D road surface for each collected vehicle data when the collected vehicle data is in the road surface grade calibration data range;
the roughness is 15-25 grade E road surface, is used for aiming at each kind of collected vehicle data, when the collected vehicle data is in the range of the road surface grade calibration data, the road surface grade is determined to be grade E road surface;
and the roughness is 25-50 and above grade F pavement, and the grade F pavement is determined when the collected vehicle data is in the grade calibration data range for each collected vehicle data.
3. A control method of vehicle suspension damping according to claim 1, characterized in that: the road surface types respectively comprise a lateral road surface, a relief road surface, a long-wave road surface, a short-wave road surface and a ramp road surface.
4. A control method of vehicle suspension damping according to claim 1, characterized in that: the road surface grades comprise a grade A road surface, a grade B road surface, a grade C road surface, a grade D road surface, a grade E road surface and a grade F road surface;
the control data generation submodule comprises a parameter range determining part, wherein the parameter range determining part is used for determining a damping range according to a vehicle state, a road surface type and collected vehicle data when the road surface grade is a B-grade road surface, a C-grade road surface and a D-grade road surface.
5. The method for controlling damping of a vehicle suspension according to claim 4, wherein: the parameter range determining part comprises a parameter determining unit, a damping limit value determining unit and a damping range determining unit, and is used for determining corresponding vehicle height upper limit data, vehicle height lower limit data, damping upper limit data and damping lower limit data according to the vehicle state and the road surface type;
the damping limit value determining unit is used for determining a damping upper limit value in damping upper limit data corresponding to the acquired vehicle data and determining a damping lower limit value in corresponding damping lower limit data;
the damping range determining unit is used for obtaining a damping range according to the damping upper limit value and the damping lower limit value.
6. A control method of vehicle suspension damping according to claim 1, characterized in that: the controller module further includes a limit adjustment data generation sub-module including a characteristic damping range determination section for taking, when a plurality of the damping ranges exist, a damping range having a maximum damping lower limit value among the plurality of the damping ranges as a characteristic damping range; the control data generation sub-module is also used for generating control data according to the characteristic damping range.
7. A control apparatus for vehicle suspension damping, characterized by: the device comprises a camera, a controller, a plurality of sensors and an execution part, wherein the sensors are electrically connected with the controller, and the camera is used for collecting pavement data information; the sensor is used for collecting data information of the vehicle; the controller is used for determining the vehicle state of the vehicle, the road surface type and the road surface grade of the vehicle according to the collected road surface information data and the vehicle data, and generating corresponding control data according to the vehicle state, the road surface type and the road surface grade.
8. A control apparatus for vehicle suspension damping as claimed in claim 7 wherein: the controller is used for receiving and processing information and data acquired by the camera and the sensor, calculating control data through processing, the execution component is used for executing the control data calculated and output by the controller, and the execution component comprises an electromagnetic valve arranged in the shock absorber, and the damping opening degree of the shock absorber is adjusted by controlling the current received by the electromagnetic valve.
9. A computer-readable storage medium, characterized by: the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps in the control method of vehicle suspension damping as claimed in any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310328049.9A CN116461273A (en) | 2023-03-30 | 2023-03-30 | Control method and equipment for vehicle suspension damping and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310328049.9A CN116461273A (en) | 2023-03-30 | 2023-03-30 | Control method and equipment for vehicle suspension damping and computer readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116461273A true CN116461273A (en) | 2023-07-21 |
Family
ID=87178116
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310328049.9A Pending CN116461273A (en) | 2023-03-30 | 2023-03-30 | Control method and equipment for vehicle suspension damping and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116461273A (en) |
-
2023
- 2023-03-30 CN CN202310328049.9A patent/CN116461273A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106985627B (en) | Vehicle road surface recognition system and suspension mode switching method | |
| US9809076B2 (en) | Suspension control apparatus for damping oscillation of a vehicle | |
| CN104853966B (en) | The method for determining preferable turning gradient of the motor vehicle when crossing bend section | |
| US20220332306A1 (en) | Vehicle Control Device, Vehicle Control Method, and Vehicle Control System | |
| EP2829424A1 (en) | Vehicle control device and vehicle control method | |
| US8473157B2 (en) | Control of a suspension system of a vehicle provided with four semi-active suspensions | |
| CN104024076A (en) | Vehicle control device | |
| CN112659841B (en) | Vehicle semi-active suspension integrated control method and control system | |
| CN102189909A (en) | Filtering control strategy for skyhook damping frequencies of semi-active suspension of vehicle | |
| US7083172B2 (en) | Method for controlling anti-roll/anti-yaw of vehicles | |
| JP5979221B2 (en) | Vehicle control apparatus and vehicle control method | |
| US20230294474A1 (en) | Suspension control apparatus and method for controlling a suspension control apparatus | |
| JPH0240522B2 (en) | ||
| CN113635726B (en) | Integrated control method and system for whole vehicle semi-active suspension system | |
| CN114559938A (en) | Cooperative control module, adaptive cruise system, control method of adaptive cruise system and vehicle | |
| CN108137057A (en) | The situation identification of active chassis | |
| CN107444052B (en) | Damping force control device for vehicle | |
| CN116461273A (en) | Control method and equipment for vehicle suspension damping and computer readable storage medium | |
| CN116061629A (en) | Automobile active suspension control method | |
| US20230017774A1 (en) | Proactive control of vehicle systems | |
| JP5970831B2 (en) | Pitch rate estimation device | |
| JP5970832B2 (en) | Roll rate estimation device | |
| JP7312707B2 (en) | suspension controller | |
| CN115447680B (en) | Semi-active suspension control method and system for commercial vehicle cab | |
| KR20020045771A (en) | Ride control apparatus and method, semi-active suspension system for automobile using it |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication |