CN116923025B - Semi-active suspension roll control method, device, medium, electronic equipment and vehicle - Google Patents
Semi-active suspension roll control method, device, medium, electronic equipment and vehicle Download PDFInfo
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- CN116923025B CN116923025B CN202210346291.4A CN202210346291A CN116923025B CN 116923025 B CN116923025 B CN 116923025B CN 202210346291 A CN202210346291 A CN 202210346291A CN 116923025 B CN116923025 B CN 116923025B
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- 239000000725 suspension Substances 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000013016 damping Methods 0.000 claims abstract description 192
- 230000001133 acceleration Effects 0.000 claims abstract description 86
- 239000006096 absorbing agent Substances 0.000 claims abstract description 51
- 230000035939 shock Effects 0.000 claims abstract description 51
- 238000001914 filtration Methods 0.000 claims description 20
- 230000008859 change Effects 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 10
- 230000000694 effects Effects 0.000 abstract description 10
- 230000002411 adverse Effects 0.000 abstract description 7
- 238000004891 communication Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 230000005236 sound signal Effects 0.000 description 4
- 238000012360 testing method Methods 0.000 description 3
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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
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
- B60G17/0182—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method involving parameter estimation, e.g. observer, Kalman filter
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/90—Other conditions or factors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
- B60G2600/184—Semi-Active control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present disclosure relates to a semi-active suspension roll control method, apparatus, medium, electronic device, and vehicle. The method comprises the following steps: acquiring steering wheel rotation angle information and vehicle speed information of a vehicle; determining the lateral acceleration of the vehicle according to the steering wheel angle information and the vehicle speed information; determining anti-roll damping based on the lateral acceleration and steering wheel angle information; the current applied to the solenoid type semi-active shock absorber of the semi-active suspension is determined based on the anti-roll damping to vary the damping of the solenoid type semi-active shock absorber. Therefore, the accuracy of the determined anti-roll damping can be improved, the damping of the electromagnetic valve type semi-active shock absorber is changed according to the current corresponding to the anti-roll damping, so that the roll angle of the vehicle body is timely and accurately adjusted, adverse effects on the smoothness of the vehicle due to wrong damping adjustment are avoided, and the riding experience of personnel in the vehicle is improved.
Description
Technical Field
The present disclosure relates to the field of vehicles, and in particular, to a semi-active suspension roll control method, apparatus, medium, electronic device, and vehicle.
Background
The vehicle technology is developed gradually, and the requirements of people on driving experience are also higher and higher. Among them, smoothness and steering stability of vehicles are getting more and more attention as characteristics that directly affect sensory experience and personal safety of passengers. The damping coefficient of the semi-active shock absorber is adjusted in real time, so that the vehicle can adapt to different road conditions, and the vehicle can always run in an optimal state, and further the contradiction between the steering stability and smoothness is solved.
The existing damping control algorithm obtains anti-roll damping mainly through multiplication of the collected centroid lateral acceleration signal and the gain coefficient, and further changes the roll angle of the vehicle through changing the damping of the semi-active shock absorber. But this algorithm has the following problems: firstly, the lateral acceleration signal has certain hysteresis, so that the time for adjusting the contralateral dip angle is delayed; secondly, the lateral acceleration is increased when the road surface jolts, so that the obtained anti-roll damping is overlarge, and the smoothness of the vehicle is reduced; thirdly, in the continuous rotation process of the vehicle, the lateral acceleration signal approximately varies in a sine manner, and the obtained anti-roll damping also approximately varies in a sine manner, so that the anti-roll damping is too small. The above problems may cause the obtained anti-roll damping to be inaccurate, and thus the effect on the roll control of the vehicle body to be unsatisfactory.
Disclosure of Invention
The invention aims to provide a semi-active suspension roll control method, a semi-active suspension roll control device, a medium, electronic equipment and a vehicle, so that the accuracy of determined anti-roll damping is improved, the roll angle of a vehicle body is timely and accurately adjusted, and the riding experience of personnel in the vehicle is improved.
To achieve the above object, a first aspect of the present disclosure provides a semi-active suspension roll control method including:
Acquiring steering wheel rotation angle information and vehicle speed information of a vehicle;
Determining a lateral acceleration of the vehicle according to the steering wheel angle information and the vehicle speed information;
determining an anti-roll damping based on the lateral acceleration and the steering wheel angle information;
And determining a current applied to the solenoid valve type semi-active shock absorber of the semi-active suspension according to the anti-roll damping to change the damping of the solenoid valve type semi-active shock absorber.
Optionally, the determining anti-roll damping according to the lateral acceleration and the steering wheel angle information includes:
determining a first anti-roll damping reference value from the lateral acceleration;
determining a second anti-roll damping reference value according to the steering wheel angle information;
determining the anti-roll damping according to the first anti-roll damping reference value and the second anti-roll damping reference value.
Optionally, the determining a first anti-roll damping reference value according to the lateral acceleration includes:
Performing high-pass filtering processing on the lateral acceleration to obtain filtered lateral acceleration;
and if the absolute value of the filtered lateral acceleration is larger than a preset lateral acceleration threshold value, determining the first anti-roll damping reference value according to the product of the filtered lateral acceleration and a first gain coefficient.
Optionally, the determining a second anti-roll damping reference value according to the steering wheel angle information includes:
Determining the angular speed of the steering wheel according to the steering wheel angle information;
Performing low-pass filtering processing on the steering wheel angular velocity to obtain a filtered steering wheel angular velocity;
and if the absolute value of the filtered steering wheel angular velocity is larger than a preset steering wheel angular velocity threshold value, determining the second anti-roll damping reference value according to the product of the filtered steering wheel angular velocity and a second gain coefficient.
Optionally, the determining the anti-roll damping according to the first anti-roll damping reference value and the second anti-roll damping reference value includes:
and determining the maximum value of the first anti-roll damping reference value and the second anti-roll damping reference value as the anti-roll damping.
Optionally, the determining the current applied to the solenoid valve type semi-active shock absorber of the semi-active suspension according to the anti-roll damping to change the damping of the solenoid valve type semi-active shock absorber includes:
determining a target current corresponding to the anti-roll damping according to a predetermined corresponding relation between the anti-roll damping and the current of the electromagnetic valve type semi-active shock absorber;
The target current is applied to the solenoid valve type semi-active shock absorber to change damping of the solenoid valve type semi-active shock absorber.
A second aspect of the present disclosure provides a semi-active suspension roll control device comprising:
the acquisition module is used for acquiring steering wheel angle information and vehicle speed information of the vehicle;
The first determining module is used for determining the lateral acceleration of the vehicle according to the steering wheel rotation angle information and the vehicle speed information;
a second determination module for determining an anti-roll damping based on the lateral acceleration and the steering wheel angle information;
and a third determination module for determining a current applied to the solenoid valve type semi-active shock absorber of the semi-active suspension according to the anti-roll damping to change the damping of the solenoid valve type semi-active shock absorber.
Optionally, the second determining module includes:
A first determination sub-module for determining a first anti-roll damping reference value from the lateral acceleration;
The second determining submodule is used for determining a second anti-roll damping reference value according to the steering wheel angle information;
A third determination sub-module for determining the anti-roll damping based on the first and second anti-roll damping reference values.
Optionally, the first determining sub-module includes:
the first filtering sub-module is used for carrying out high-pass filtering processing on the lateral acceleration so as to obtain the filtered lateral acceleration;
And a fourth determination submodule, configured to determine the first anti-roll damping reference value according to a product of the filtered lateral acceleration and a first gain coefficient if the absolute value of the filtered lateral acceleration is greater than a preset lateral acceleration threshold.
Optionally, the second determining sub-module includes:
a fifth determining submodule for determining the angular velocity of the steering wheel according to the steering wheel angle information;
The second filtering sub-module is used for carrying out low-pass filtering processing on the steering wheel angular velocity so as to obtain the filtered steering wheel angular velocity;
And a sixth determining submodule, configured to determine the second anti-roll damping reference value according to a product of the filtered steering wheel angular velocity and a second gain coefficient if the absolute value of the filtered steering wheel angular velocity is greater than a preset steering wheel angular velocity threshold.
Optionally, the third determining sub-module includes:
A seventh determination sub-module is configured to determine a maximum of the first and second anti-roll damping reference values as the anti-roll damping.
Optionally, the third determining module includes:
An eighth determination submodule, configured to determine a target current corresponding to an anti-roll damping according to a predetermined correspondence between the anti-roll damping and a current of a solenoid valve type semi-active shock absorber;
and the control submodule is used for applying the target current to the electromagnetic valve type semi-active shock absorber so as to change the damping of the electromagnetic valve type semi-active shock absorber.
A third aspect of the present disclosure provides a non-transitory computer readable storage medium having stored thereon a computer program which when executed by a processor implements the steps of the method provided by the first aspect of the present disclosure.
A fourth aspect of the present disclosure provides an electronic device, comprising:
A memory having a computer program stored thereon;
And a controller, the computer program implementing the steps of the method provided in the first aspect of the disclosure when executed by the controller.
A fifth aspect of the present disclosure provides a vehicle comprising the apparatus provided in the second aspect of the present disclosure, or the electronic device provided in the fourth aspect of the present disclosure.
According to the technical scheme, the lateral acceleration of the vehicle can be timely and accurately determined according to the steering wheel angle information and the vehicle speed information; the accuracy of the determined anti-roll damping can be improved by determining the anti-roll damping based on the lateral acceleration and steering wheel angle information. Therefore, according to the current corresponding to the anti-roll damping, the damping of the electromagnetic valve type semi-active shock absorber is changed, the roll angle of the vehicle body can be timely and accurately adjusted, adverse effects on the smoothness of the vehicle due to wrong damping adjustment are avoided, and riding experience of personnel in the vehicle is improved.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:
FIG. 1 is a flowchart of a semi-active suspension roll control method provided by an exemplary embodiment of the present disclosure;
FIG. 2 is a schematic diagram of anti-roll damping reference value correspondence for a vehicle continuously steering according to an exemplary embodiment of the present disclosure;
FIG. 3 is a flowchart of a semi-active suspension roll control method provided by another exemplary embodiment of the present disclosure;
FIG. 4 is a block diagram of a semi-active suspension roll control device provided in an exemplary embodiment of the present disclosure;
fig. 5 is a block diagram of an electronic device provided by an exemplary embodiment of the present disclosure.
Detailed Description
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.
It should be noted that, all actions for acquiring signals, information or data in the present disclosure are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.
Fig. 1 is a flowchart of a semi-active suspension roll control method provided by an exemplary embodiment of the present disclosure. As shown in fig. 1, the method may include S101 to S104.
S101, steering wheel angle information and vehicle speed information of a vehicle are acquired.
For example, the steering wheel angle information may be acquired by a steering wheel angle sensor provided on the vehicle. The vehicle speed information may be acquired by a speed sensor provided on the vehicle. The acquired steering wheel angle information and vehicle speed information can provide data support for the determination of anti-roll damping.
S102, determining the lateral acceleration of the vehicle according to the steering wheel rotation angle information and the vehicle speed information.
Illustratively, the steering wheel angle information is free of hysteresis problems compared to the collected centroid lateral acceleration signal, and therefore, based on the steering wheel angle information and the vehicle speed information, the lateral acceleration of the vehicle can be determined in real time to ensure that the roll angle of the vehicle body can be adjusted in time.
S103, determining anti-roll damping according to the lateral acceleration and steering wheel angle information.
The steering wheel angle information can reflect the control intention of a driver, the steering wheel angle information and the vehicle speed information are combined, the current state of the vehicle and the control intention of the driver can be clarified, the accuracy of the determined anti-roll damping is improved, the roll angle of the vehicle body is timely and accurately adjusted, adverse effects on the smoothness of the vehicle due to wrong damping adjustment are avoided, and the riding experience of personnel in the vehicle is improved.
And S104, determining the current applied to the electromagnetic valve type semi-active shock absorber of the semi-active suspension according to the anti-roll damping so as to change the damping of the electromagnetic valve type semi-active shock absorber.
For example, the current applied to the solenoid-operated semi-active shock absorber of the semi-active suspension can be determined from the determined anti-roll damping, and the damping of the solenoid-operated semi-active shock absorber can be varied by controlling the magnitude of the current. The larger the damping of the electromagnetic valve type semi-active damper is, the larger the change range of the roll angle of the vehicle body is, for example, in the case of a larger roll angle of the vehicle, the roll angle of the vehicle body can be greatly reduced by increasing the damping of the electromagnetic valve type semi-active damper. Therefore, the roll angle of the vehicle body can be adjusted by changing the damping of the electromagnetic valve type semi-active shock absorber, so that the posture of the vehicle body is improved.
According to the technical scheme, the lateral acceleration of the vehicle can be timely and accurately determined according to the steering wheel angle information and the vehicle speed information; the accuracy of the determined anti-roll damping can be improved by determining the anti-roll damping based on the lateral acceleration and steering wheel angle information. Therefore, according to the current corresponding to the anti-roll damping, the damping of the electromagnetic valve type semi-active shock absorber is changed, the roll angle of the vehicle body can be timely and accurately adjusted, adverse effects on the smoothness of the vehicle due to wrong damping adjustment are avoided, and riding experience of personnel in the vehicle is improved.
Optionally, in S103, determining the anti-roll damping according to the lateral acceleration and the steering wheel angle information may include:
s1031, determining a first anti-roll damping reference value according to the lateral acceleration;
s1032, determining a second anti-roll damping reference value according to the steering wheel angle information;
and S1033, determining the anti-roll damping according to the first anti-roll damping reference value and the second anti-roll damping reference value.
In this way, the first anti-roll damping reference value determined from the lateral acceleration may be adapted to the current state of the vehicle. The steering wheel angle information may reflect the control intention of the driver, and the second anti-roll damping reference value may also reflect the control intention of the driver. Therefore, according to the first anti-roll damping reference value and the second anti-roll damping reference value, the anti-roll damping is determined, namely, the influence of the current state of the vehicle and the control intention of the driver on the determination of the anti-roll damping is comprehensively considered, so that the accuracy of the anti-roll damping is improved.
In S1031, determining a first anti-roll damping reference value from the lateral acceleration may include:
performing high-pass filtering processing on the lateral acceleration to obtain filtered lateral acceleration;
if the absolute value of the filtered lateral acceleration is greater than a preset lateral acceleration threshold, determining a first anti-roll damping reference value according to the product of the filtered lateral acceleration and the first gain coefficient.
The lateral acceleration may be high-pass filtered, for example, by a high-pass filter, so that it is ensured that no extreme disturbance values are present in the filtered lateral acceleration values. When the vehicle is in steady state over-bending or road jolting, the lateral acceleration of the vehicle is usually larger, and further the determined anti-roll damping is also larger, so that adverse effects on the smoothness of the vehicle can be generated, and the riding experience of personnel in the vehicle is greatly reduced. Therefore, the high-pass filtering processing can be carried out on the lateral acceleration, so that the situation that the excessive lateral acceleration does not exist when the vehicle is in steady-state overbent or jolt on the road surface is ensured, and the influence on the smoothness of the vehicle is reduced.
The first gain coefficient can be preset through a vehicle test, and is continuously corrected according to actual parameters of the vehicle in the running process of the vehicle. The lateral acceleration threshold may be set in advance, for example, may be set to 0.5m/s2. If the lateral acceleration is 0.8m/s2, a first anti-roll damping reference value may be determined based on the product of the filtered lateral acceleration and the first gain factor. If the lateral acceleration is 0.2m/s2, the first anti-roll damping reference value is determined to be extremely small through the filtered lateral acceleration and the first gain coefficient, and even if the first anti-roll damping reference value is used as the anti-roll damping for damping adjustment, the effect on the change of the roll angle of the vehicle body can be almost ignored due to the excessively small anti-roll damping, and the influence on the smoothness of the vehicle can be ignored. Thus, unnecessary consumption of vehicle energy can be avoided by setting the lateral acceleration threshold.
In S1032, determining a second anti-roll damping reference value based on the steering wheel angle information may include:
determining the angular speed of the steering wheel according to the steering wheel angle information;
Carrying out low-pass filtering treatment on the steering wheel angular velocity to obtain the filtered steering wheel angular velocity;
If the absolute value of the filtered steering wheel angular velocity is greater than a preset steering wheel angular velocity threshold, a second anti-roll damping reference value is determined according to the product of the filtered steering wheel angular velocity and a second gain coefficient.
For example, steering wheel angle information may be differentiated to determine steering wheel angular velocity. The steering wheel angular velocity can be subjected to low-pass filtering processing through the low-pass filter, so that the filtered steering wheel angular velocity value can be ensured not to have an extreme interference value, and the steering wheel angular velocity can be ensured to be smooth.
The second gain coefficient can be preset through a vehicle test, and is continuously corrected according to actual parameters of the vehicle in the running process of the vehicle. The steering wheel angular velocity threshold may be set in advance, for example, may be set to 30 degrees/sec. If the steering wheel angular velocity is 40 degrees/second, a second anti-roll damping reference value may be determined based on the filtered steering wheel angular velocity and a second gain factor. If the steering wheel angular velocity is 10 degrees/second, the second anti-roll damping reference value determined by the product of the filtered steering wheel angular velocity and the second gain coefficient is extremely small, and even if the second anti-roll damping reference value is used as the anti-roll damping for damping adjustment, the effect on the change of the roll angle of the vehicle body can be almost ignored due to the excessively small anti-roll damping, and the influence on the smoothness of the vehicle can be also ignored. Thus, unnecessary consumption of vehicle energy can be avoided by setting the steering wheel rotation speed threshold.
In S1033, determining an anti-roll damping from the first anti-roll damping reference value and the second anti-roll damping reference value may include:
the maximum of the first and second anti-roll damping reference values is determined to be anti-roll damping.
Fig. 2 is a schematic diagram of the correspondence of anti-roll damping reference values when a vehicle is continuously turned according to an exemplary embodiment of the present disclosure. As shown in fig. 2, the first roll damping reference value and the second roll damping reference value change approximately sinusoidally, and at a certain moment in the continuous steering process of the vehicle, for example, 0.2s is taken as an example, the first roll damping reference value corresponding to 0.2s is larger, the second roll damping reference value is smaller, and the first roll damping reference value is determined to be anti-roll damping, so that the roll angle of the vehicle body is adjusted to the greatest extent in combination with the current state of the vehicle and the control intention of a driver, and the posture of the vehicle body is effectively improved. Even if the vehicle is not in a continuously steering state during running, the maximum value of the first anti-roll damping reference value and the second anti-roll damping reference value is determined to be anti-roll damping, and the roll angle of the vehicle body is adjusted to the greatest extent by combining the current state of the vehicle and the control intention of a driver, so that the posture of the vehicle body is effectively improved.
Optionally, in S104, determining the current applied to the solenoid valve type semi-active shock absorber of the semi-active suspension according to the anti-roll damping to change the damping of the solenoid valve type semi-active shock absorber may include:
Determining a target current corresponding to the anti-roll damping according to a predetermined corresponding relation between the anti-roll damping and the current of the electromagnetic valve type semi-active shock absorber;
A target current is applied to the solenoid type semi-active shock absorber to change the damping of the solenoid type semi-active shock absorber.
For example, the correspondence of the pitch damping and the current of the electromagnetic valve type semi-active shock absorber can be set in advance by a vehicle test. Under the condition of determining the anti-roll damping, the target current corresponding to the anti-roll damping can be rapidly and accurately determined through the corresponding relation, and the target current is applied to the electromagnetic valve type semi-active shock absorber, so that the damping of the electromagnetic valve type semi-active shock absorber is changed, the roll angle of the vehicle body is adjusted, and the posture of the vehicle body is improved.
Fig. 3 is a flowchart of a semi-active suspension roll control method provided by another exemplary embodiment of the present disclosure. The implementation of the semi-active suspension roll control method provided by the present disclosure can be more clearly understood through this fig. 3. As shown in fig. 3, the method may include S301 to S312.
S301, steering wheel angle information and vehicle speed information of a vehicle are acquired.
S302, determining the lateral acceleration of the vehicle according to the steering wheel rotation angle information and the vehicle speed information.
S303, performing high-pass filtering processing on the lateral acceleration to obtain the filtered lateral acceleration.
S304, determining whether the absolute value of the filtered lateral acceleration is larger than a preset lateral acceleration threshold value. If yes, then execute S305; if not, then S302 is re-executed.
S305, determining a first anti-roll damping reference value according to the product of the filtered lateral acceleration and the first gain coefficient.
S306, determining the steering wheel angular velocity according to the steering wheel angle information.
S307, performing low-pass filtering processing on the steering wheel angular velocity to obtain the filtered steering wheel angular velocity.
S308, determining whether the absolute value of the filtered steering wheel angular velocity is greater than a preset steering wheel angular velocity threshold. If yes, then execute S309; if not, then S306 is re-executed.
S309, determining a second anti-roll damping reference value according to the product of the filtered steering wheel angular velocity and the second gain coefficient.
And S310, determining the maximum value of the first anti-roll damping reference value and the second anti-roll damping reference value as the anti-roll damping.
S311, determining a target current corresponding to the anti-roll damping according to the corresponding relation between the pre-determined anti-roll damping and the current of the electromagnetic valve type semi-active shock absorber.
S312, a target current is applied to the solenoid type semi-active shock absorber to change the damping of the solenoid type semi-active shock absorber.
Therefore, the accuracy of the determined anti-roll damping can be improved, the damping of the electromagnetic valve type semi-active shock absorber is changed according to the current corresponding to the anti-roll damping, so that the roll angle of the vehicle body is timely and accurately adjusted, adverse effects on the smoothness of the vehicle due to wrong damping adjustment are avoided, and the riding experience of personnel in the vehicle is improved.
Based on the same inventive concept, the present disclosure also provides a semi-active suspension roll control device. Fig. 4 is a block diagram of a semi-active suspension roll control device 400 provided in an exemplary embodiment of the present disclosure. Referring to fig. 4, the semi-active suspension roll control device 400 may include:
An acquisition module 401, configured to acquire steering wheel angle information and vehicle speed information of a vehicle;
A first determining module 402, configured to determine a lateral acceleration of the vehicle according to the steering wheel angle information and the vehicle speed information;
a second determination module 403 for determining an anti-roll damping based on the lateral acceleration and the steering wheel angle information;
a third determination module 404 determines a current applied to the solenoid semi-active shock absorber of the semi-active suspension based on the anti-roll damping to vary the damping of the solenoid semi-active shock absorber.
According to the technical scheme, the lateral acceleration of the vehicle can be timely and accurately determined according to the steering wheel angle information and the vehicle speed information; the accuracy of the determined anti-roll damping can be improved by determining the anti-roll damping based on the lateral acceleration and steering wheel angle information. Therefore, according to the current corresponding to the anti-roll damping, the damping of the electromagnetic valve type semi-active shock absorber is changed, the roll angle of the vehicle body can be timely and accurately adjusted, adverse effects on the smoothness of the vehicle due to wrong damping adjustment are avoided, and riding experience of personnel in the vehicle is improved.
Optionally, the second determining module 403 includes:
A first determination sub-module for determining a first anti-roll damping reference value from the lateral acceleration;
The second determining submodule is used for determining a second anti-roll damping reference value according to the steering wheel angle information;
A third determination sub-module for determining the anti-roll damping based on the first and second anti-roll damping reference values.
Optionally, the first determining sub-module includes:
the first filtering sub-module is used for carrying out high-pass filtering processing on the lateral acceleration so as to obtain the filtered lateral acceleration;
And a fourth determination submodule, configured to determine the first anti-roll damping reference value according to a product of the filtered lateral acceleration and a first gain coefficient if the absolute value of the filtered lateral acceleration is greater than a preset lateral acceleration threshold.
Optionally, the second determining sub-module includes:
a fifth determining submodule for determining the angular velocity of the steering wheel according to the steering wheel angle information;
The second filtering sub-module is used for carrying out low-pass filtering processing on the steering wheel angular velocity so as to obtain the filtered steering wheel angular velocity;
And a sixth determining submodule, configured to determine the second anti-roll damping reference value according to a product of the filtered steering wheel angular velocity and a second gain coefficient if the absolute value of the filtered steering wheel angular velocity is greater than a preset steering wheel angular velocity threshold.
Optionally, the third determining sub-module includes:
A seventh determination sub-module is configured to determine a maximum of the first and second anti-roll damping reference values as the anti-roll damping.
Optionally, the third determining module 404 includes:
An eighth determination submodule, configured to determine a target current corresponding to an anti-roll damping according to a predetermined correspondence between the anti-roll damping and a current of a solenoid valve type semi-active shock absorber;
and the control submodule is used for applying the target current to the electromagnetic valve type semi-active shock absorber so as to change the damping of the electromagnetic valve type semi-active shock absorber.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
Fig. 5 is a block diagram of an electronic device 500, according to an example embodiment. As shown in fig. 5, the electronic device 500 may include: a processor 701, a memory 702. The electronic device 500 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.
The processor 701 is configured to control the overall operation of the electronic device 500 to perform all or part of the steps in the semi-active suspension roll control method described above. The memory 702 is used to store various types of data to support operation at the electronic device 500, which may include, for example, instructions for any application or method operating on the electronic device 500, as well as application-related data, such as contact data, messages sent and received, pictures, audio, video, and so forth. The Memory 702 may be implemented by any type or combination of volatile or non-volatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM for short), electrically erasable programmable Read-Only Memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-Only Memory, EEPROM for short), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM for short), programmable Read-Only Memory (Programmable Read-Only Memory, PROM for short), read-Only Memory (ROM for short), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia component 703 can include a screen and an audio component. Wherein the screen may be, for example, a touch screen, the audio component being for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 702 or transmitted through the communication component 705. The audio assembly further comprises at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, which may be a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is for wired or wireless communication between the electronic device 500 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, near Field Communication (NFC) for short, 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or one or a combination of more of them, is not limited herein. The corresponding communication component 705 may thus comprise: wi-Fi module, bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic device 500 may be implemented by one or more Application-specific integrated circuits (ASICs), digital signal processors (DIGITAL SIGNAL processors, DSPs), digital signal processing devices (DIGITAL SIGNAL Processing Device, DSPDs), programmable logic devices (Programmable Logic Device, PLDs), field programmable gate arrays (Field Programmable GATE ARRAY, FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the semi-active suspension roll control method described above.
In another exemplary embodiment, a computer readable storage medium is also provided that includes program instructions that when executed by a processor implement the steps of the semi-active suspension roll control method described above. For example, the computer readable storage medium may be the memory 702 including program instructions described above that are executable by the processor 701 of the electronic device 500 to perform the semi-active suspension roll control method described above.
In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable apparatus, the computer program having code portions for performing the semi-active suspension roll control method described above when executed by the programmable apparatus.
The present disclosure also provides a vehicle including the semi-active suspension roll control device 400 provided by the present disclosure, or the present disclosure provides the electronic apparatus 500.
The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the embodiments described above, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations are not described further in this disclosure in order to avoid unnecessary repetition.
Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.
Claims (8)
1. A method of semi-active suspension roll control, the method comprising:
Acquiring steering wheel rotation angle information and vehicle speed information of a vehicle;
Determining a lateral acceleration of the vehicle according to the steering wheel angle information and the vehicle speed information;
determining an anti-roll damping based on the lateral acceleration and the steering wheel angle information;
determining a current applied to a solenoid type semi-active shock absorber of the semi-active suspension according to the anti-roll damping to change the damping of the solenoid type semi-active shock absorber;
Wherein said determining an anti-roll damping based on said lateral acceleration and said steering wheel angle information comprises:
determining a first anti-roll damping reference value from the lateral acceleration;
determining a second anti-roll damping reference value according to the steering wheel angle information;
Determining the anti-roll damping according to the first and second anti-roll damping reference values;
wherein said determining a first anti-roll damping reference value from said lateral acceleration comprises:
Performing high-pass filtering processing on the lateral acceleration to obtain filtered lateral acceleration;
and if the absolute value of the filtered lateral acceleration is larger than a preset lateral acceleration threshold value, determining the first anti-roll damping reference value according to the product of the filtered lateral acceleration and a first gain coefficient.
2. The method of claim 1, wherein said determining a second anti-roll damping reference value based on said steering wheel angle information comprises:
Determining the angular speed of the steering wheel according to the steering wheel angle information;
Performing low-pass filtering processing on the steering wheel angular velocity to obtain a filtered steering wheel angular velocity;
and if the absolute value of the filtered steering wheel angular velocity is larger than a preset steering wheel angular velocity threshold value, determining the second anti-roll damping reference value according to the product of the filtered steering wheel angular velocity and a second gain coefficient.
3. The method of claim 1, wherein the determining the anti-roll damping from the first anti-roll damping reference value and the second anti-roll damping reference value comprises:
and determining the maximum value of the first anti-roll damping reference value and the second anti-roll damping reference value as the anti-roll damping.
4. A method according to any one of claims 1-3, wherein said determining the current applied to the solenoid valve type semi-active shock absorber of the semi-active suspension in accordance with the anti-roll damping to vary the damping of the solenoid valve type semi-active shock absorber comprises:
determining a target current corresponding to the anti-roll damping according to a predetermined corresponding relation between the anti-roll damping and the current of the electromagnetic valve type semi-active shock absorber;
The target current is applied to the solenoid valve type semi-active shock absorber to change damping of the solenoid valve type semi-active shock absorber.
5. A semi-active suspension roll control device, comprising:
the acquisition module is used for acquiring steering wheel angle information and vehicle speed information of the vehicle;
The first determining module is used for determining the lateral acceleration of the vehicle according to the steering wheel rotation angle information and the vehicle speed information;
a second determination module for determining an anti-roll damping based on the lateral acceleration and the steering wheel angle information;
A third determination module for determining a current applied to the solenoid valve type semi-active shock absorber of the semi-active suspension based on the anti-roll damping to change the damping of the solenoid valve type semi-active shock absorber;
wherein the second determining module includes:
A first determination sub-module for determining a first anti-roll damping reference value from the lateral acceleration;
The second determining submodule is used for determining a second anti-roll damping reference value according to the steering wheel angle information;
a third determination sub-module for determining the anti-roll damping based on the first and second anti-roll damping reference values;
wherein the first determination submodule includes:
the first filtering sub-module is used for carrying out high-pass filtering processing on the lateral acceleration so as to obtain the filtered lateral acceleration;
And a fourth determination submodule, configured to determine the first anti-roll damping reference value according to a product of the filtered lateral acceleration and a first gain coefficient if the absolute value of the filtered lateral acceleration is greater than a preset lateral acceleration threshold.
6. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor realizes the steps of the method according to any of claims 1 to 4.
7. An electronic device, comprising:
A memory having a computer program stored thereon;
A controller, the computer program implementing the steps of the method according to any one of claims 1 to 4 when executed by the controller.
8. A vehicle comprising the apparatus of claim 5, or the electronic device of claim 7.
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| CN116923025A (en) | 2023-10-24 |
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