CN117207732B - Real-time automobile height adjusting system - Google Patents
Real-time automobile height adjusting system Download PDFInfo
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- CN117207732B CN117207732B CN202311479146.4A CN202311479146A CN117207732B CN 117207732 B CN117207732 B CN 117207732B CN 202311479146 A CN202311479146 A CN 202311479146A CN 117207732 B CN117207732 B CN 117207732B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The invention discloses a real-time automobile height adjusting system, which relates to the technical field of automobile height adjustment, and further judges the adjusting state of an automobile at each acquisition time point by analyzing the road condition of a target running road surface corresponding to each acquisition time point according to the automobile, so that the adjusting height, the reference running speed and the adjusting time point corresponding to each fixed adjustment time point of the automobile are respectively analyzed according to the road condition information corresponding to each acquisition time point by the adjusting height and the reference running speed of each obstacle on the target running road surface corresponding to each flexible adjustment time point, the intelligent automobile height adjustment is realized, the running stability of the automobile on a complex road surface is improved, the automobile height adjusting frequency in a complex road section is effectively reduced, the loss of the automobile height adjusting system is reduced, the repeatability of the automobile height adjustment is reduced, and the comfort and the experience of passengers are improved.
Description
Technical Field
The invention relates to the technical field of automobile height adjustment, in particular to an automobile height real-time adjustment system.
Background
The appearance of car has also improved the comfort when people take the vehicle for people simultaneously and has provided convenient vehicle, but the demand of different road conditions to the car height is different, and car height real-time adjustment can be adjusted according to different road conditions to adapt to different driving demands, in order to ensure the stability that the car was driven, and also further ensured the comfort when people took the car in different road conditions.
In the prior art, the automobile height is adjusted according to the height of the road obstacle, the automobile height adjusting state is not analyzed according to the condition of the road obstacle, so that the loss of an automobile height adjusting system is increased due to the high-frequency automobile height adjustment in a complex road section, meanwhile, the proper automobile adjusting height and the reference running speed are not selected according to the load and the running speed of the automobile, and the stability and balance of the automobile in the running process can not be ensured.
Disclosure of Invention
In view of the above-mentioned technical shortcomings, the present invention aims to provide a real-time automobile height adjusting system.
In order to solve the technical problems, the invention adopts the following technical scheme: the invention provides a real-time automobile height adjusting system, which comprises: road condition acquisition module, car regulation analysis module, car altitude mixture control module, display terminal.
The road condition acquisition module is used for distributing each acquisition time point according to a preset time interval during running of the automobile so as to acquire road condition information corresponding to each acquisition time point;
the automobile adjusting and analyzing module comprises an adjusting state analyzing unit, a fixed adjusting parameter analyzing unit and a flexible adjusting parameter analyzing unit;
the adjusting state analyzing unit is used for extracting the number of the obstacles, the positions of the obstacles and the heights of the obstacles on the target driving road surface corresponding to each collecting time point from the road condition information corresponding to each collecting time point, and acquiring the heights of the automobiles at each collecting time point to analyze the adjusting state of the automobiles at each collecting time point, wherein the adjusting state comprises fixed adjustment, flexible adjustment and no need of adjustment;
the fixed adjustment parameter analysis unit is used for marking the acquisition time point as a fixed adjustment time point when the adjustment state of the automobile at a certain acquisition time point is fixed adjustment, so as to obtain each fixed adjustment time point corresponding to the automobile, further obtain the maximum height of the obstacle on the target driving road surface corresponding to each fixed adjustment time point, obtain the load corresponding to the automobile and the actual driving speed and the actual driving height corresponding to each fixed adjustment time point, and analyze the adjustment height and the reference driving speed corresponding to each fixed adjustment time point;
the flexible adjustment parameter analysis unit is used for marking the acquisition time point as a flexible adjustment time point when the adjustment state of the automobile at a certain acquisition time point is flexible adjustment, so that each flexible adjustment time point corresponding to the automobile is obtained, the height and the position corresponding to each obstacle on the target driving road surface corresponding to each flexible adjustment time point are obtained, simultaneously, the load corresponding to the automobile and the driving speed corresponding to each flexible adjustment time point are obtained, and the adjustment height and the reference driving speed of the automobile on the target driving road surface corresponding to each flexible adjustment time point through each obstacle are calculated;
the display terminal is used for displaying the reference running speed corresponding to each fixed adjustment time point of the automobile and the reference running speed corresponding to each obstacle on the target running road surface corresponding to each flexible adjustment time point.
Preferably, the road condition information corresponding to each acquisition time point includes the number of obstacles on the target driving road surface, the position of each obstacle, and the height of each obstacle.
Preferably, the analyzing the adjustment state of the automobile at each collecting time point comprises the following specific steps: a1, substituting the heights of the obstacles of the target driving road surface corresponding to each acquisition time point into a calculation formula of a high average value, and calculating to obtain the high average value of the obstacles of the target driving road surface corresponding to each acquisition time point; meanwhile, based on the positions of the obstacles on the target running road surface corresponding to the acquisition time points, obtaining the distance between the obstacles on the target running road surface corresponding to the acquisition time points, and calculating the complex value of the obstacle on the target running road surface corresponding to the acquisition time points according to the number of the obstacles on the target running road surface corresponding to the acquisition time points;
a2, comparing the high average value of the target driving road surface obstacle corresponding to each acquisition time point with a preset high average value threshold value, and comparing the complex value of the target driving road surface obstacle corresponding to each acquisition time point with a preset complex value threshold value;
a3, if the high average value of the target driving road surface obstacle corresponding to a certain acquisition time point is larger than or equal to a preset high average value threshold value, and the complex value of the target driving road surface obstacle corresponding to the acquisition time point is smaller than a set complex value threshold value, acquiring the maximum height of the target driving road surface obstacle corresponding to the acquisition time point, comparing the maximum height with the height of the automobile corresponding to the acquisition time point, and if the maximum height of the target driving road surface obstacle corresponding to the acquisition time point is smaller than the height of the automobile corresponding to the acquisition time point, judging that the adjusting state of the automobile corresponding to the acquisition time point is not needed to be adjusted; if the maximum height of the target driving road obstacle corresponding to the acquisition time point is greater than or equal to the height corresponding to the acquisition time point, judging that the adjustment state corresponding to the acquisition time point is flexible adjustment;
a4, if the high average value of the obstacle on the target driving road surface corresponding to a certain acquisition time point is smaller than a preset high average value threshold value, and the complex value of the obstacle on the target driving road surface corresponding to the acquisition time point is larger than or equal to a preset complex value threshold value, judging that the adjustment state corresponding to the acquisition time point of the automobile is fixed adjustment;
a5, if the high average value of the obstacle on the target driving road surface corresponding to a certain acquisition time point is larger than or equal to a preset high average value threshold value, and the complex value of the obstacle on the target driving road surface corresponding to the acquisition time point is larger than or equal to a preset complex value threshold value, judging that the adjustment state corresponding to the acquisition time point of the automobile is fixed adjustment;
a6, if the high average value of the obstacle corresponding to the target driving road surface at a certain acquisition time point is smaller than a preset high average value threshold value and the complex value of the obstacle corresponding to the target driving road surface at the acquisition time point is smaller than a preset complex value threshold value, judging that the adjustment state of the automobile corresponding to the acquisition time point is flexible adjustment; in this way, the control state of the vehicle at each acquisition time is obtained.
Preferably, the specific analysis process of analyzing the corresponding adjustment height and the reference running speed of the automobile at each fixed adjustment time point is as follows: extracting the complex value of the target driving road surface obstacle corresponding to each fixed time point from the complex value of the target driving road surface obstacle corresponding to each acquisition time point, and marking asWherein t represents the number corresponding to each fixed time point, t=1, 2. The term p is used herein, marking maximum height of obstacle on target driving road surface corresponding to each fixed adjustment time point as +.>Thereby substituting the calculation formula +.>In the method, the driving difficulty value corresponding to each fixed adjustment time point of the automobile is obtained>Wherein h is the set reference obstacle height, < > and>、/>respectively setting weight factors corresponding to the height and the complex value of the obstacle;
comparing the running difficulty value of the automobile at each fixed time point with the preset allowable running speed corresponding to each running difficulty value to obtain the allowable running speed of the automobile at each fixed time point, further comparing the actual running speed of the automobile at each fixed time point with the allowable running speed, if the actual running speed of the automobile at a certain fixed time point is smaller than or equal to the allowable running speed, taking the actual running speed of the automobile at the fixed time point as the reference running speed, otherwise taking the allowable running speed of the automobile at the fixed time point as the reference running speed, and obtaining the reference running speed of the automobile at each fixed time point in this way, and recording as the reference running speed of the automobile at each fixed time point；
Comparing the running difficulty value of the automobile at each fixed adjustment time point with the preset automobile reference height corresponding to each running difficulty value to obtain the reference height corresponding to each fixed adjustment time point, and marking asAnd then substitutes into the calculation formulaIn the process, the corresponding adjustment height of the automobile at each fixed adjustment time point is obtained>Wherein->For the height of the automobile corresponding to the t-th fixed adjustment time point, G represents the load corresponding to the automobile, G 0 Indicating the dead weight of the automobile>Indicating the actual driving speed of the vehicle at the t-th fixed time point,/for the vehicle>、/>The weight factors corresponding to the set truck load and the actual running speed are respectively represented by e, which represents a natural constant.
Preferably, the calculating the adjustment height and the reference running speed of the automobile on the target running road surface corresponding to each flexible adjustment time point through each obstacle comprises the following specific calculating process: marking the height of each obstacle on the target driving road surface corresponding to each flexible time point asWherein->Numbers corresponding to the time points of the tone, and +.>I represents the number corresponding to each obstacle, i=1, 2. Once again, n is, and then substituting the calculation formula +.>In the course, the driving difficulty value corresponding to each obstacle on the target driving road surface corresponding to each flexible time point is obtained>Wherein->A compensation factor corresponding to the set obstacle driving difficulty value;
according to the analysis process of the reference running speed of the automobile at each fixed adjustment time point, analyzing to obtain the target running speed of the automobile passing through each obstacle on the target running road surface corresponding to each flexible adjustment time point, and similarly, according to the analysis process of the adjustment height of the automobile at each fixed adjustment time point, analyzing to obtain the target adjustment height of the automobile passing through each obstacle on the target running road surface corresponding to each flexible adjustment time point;
confirming the sequence of the automobile passing through each obstacle on the target running road surface corresponding to each fixed adjustment time point based on the position corresponding to each obstacle on the target running road surface corresponding to each fixed adjustment time point, marking the first-ranked obstacle as a first obstacle, marking the second-ranked obstacle as a second obstacle, and marking each obstacle;
taking the target running speed of the automobile passing through the first obstacle on the target running road surface corresponding to each fixed time point as the reference running speed passing through the first obstacle; subtracting the reference running speed of the automobile passing through the first obstacle from the target running speed of the automobile passing through the second obstacle on the target running road corresponding to each fixed time point, and taking the reference running speed of the automobile passing through the first obstacle as the reference running speed of the automobile passing through the second obstacle on the target running road corresponding to the fixed time point if the target running speed of the automobile passing through the second obstacle on the target running road corresponding to a certain fixed time point is greater than or equal to the reference running speed of the automobile passing through the first obstacle; if the target running speed of the automobile passing through the second obstacle on the target running road corresponding to a certain fixed time point is smaller than the reference running speed of the automobile passing through the first obstacle, taking the target running speed of the automobile passing through the second obstacle on the target running road corresponding to the fixed time point as the reference running speed of the automobile passing through the second obstacle, and obtaining the reference running speeds of the automobile passing through the obstacles on the target running road corresponding to the flexible time points in this way;
and taking the target adjustment height of the automobile passing through the first obstacle on the target driving road surface corresponding to each fixed adjustment time point as the adjustment height passing through the first obstacle, if the target adjustment height of the automobile passing through the second obstacle on the target driving road surface corresponding to a certain fixed adjustment time point is larger than zero, taking the target adjustment height passing through the second obstacle as the adjustment height of the automobile passing through the second obstacle on the target driving road surface corresponding to the fixed adjustment time point, and if the target adjustment height of the automobile passing through the second obstacle on the target driving road surface corresponding to a certain fixed adjustment time point is smaller than or equal to zero, marking the adjustment height of the automobile passing through the second obstacle on the target driving road surface corresponding to the fixed adjustment time point as zero, and not adjusting, so that the adjustment height of the automobile passing through the obstacles on the target driving road surface corresponding to each flexible adjustment time point is obtained.
The invention has the beneficial effects that: according to the real-time automobile height adjusting system, the adjusting state of the automobile at each collecting time point is judged by analyzing according to the road condition of the target running road surface corresponding to each collecting time point, so that the adjusting height, the reference running speed and the adjusting height and the reference running speed of each obstacle on the target running road surface corresponding to each fixed adjusting time point of the automobile are respectively analyzed, controlled and prompted according to the road condition information corresponding to each collecting time point, the defect that the automobile height is only adjusted according to the obstacle height in the prior art is overcome, the intelligent automobile height adjustment is realized, the running stability of the automobile on a complex road surface is greatly improved, the automobile height adjusting frequency in a complex road section is effectively reduced, the loss of an automobile height adjusting system is reduced, the repeatability of automobile height adjustment is reduced, and the comfort and the experience of passengers are effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the system structure of 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. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, an automobile height real-time adjustment system includes a road condition acquisition module, an automobile adjustment analysis module, an automobile height adjustment module, and a display terminal.
The road condition acquisition module is used for distributing each acquisition time point according to a preset time interval during running of the automobile so as to acquire road condition information corresponding to each acquisition time point;
the road condition information corresponding to each acquisition time point includes the number of obstacles on the target driving road surface, the positions of the obstacles and the heights of the obstacles.
The camera is installed above the automobile, and then images of the automobile corresponding to the target driving road surface at each acquisition time point are acquired through the camera, and then the number of the obstacles, the positions of the obstacles and the heights of the obstacles on the target driving road surface corresponding to each acquisition time point are acquired.
The automobile adjusting and analyzing module comprises an adjusting state analyzing unit, a fixed adjusting parameter analyzing unit and a flexible adjusting parameter analyzing unit;
the adjusting state analyzing unit is used for extracting the number of the obstacles, the positions of the obstacles and the heights of the obstacles on the target driving road surface corresponding to each collecting time point from the road condition information corresponding to each collecting time point, and obtaining the heights of the automobiles corresponding to each collecting time point and analyzing the adjusting state of the automobiles at each collecting time point, wherein the adjusting state comprises fixed adjustment, flexible adjustment and no need of adjustment.
The height of the vehicle at each acquisition time point is acquired from the vehicle height adjustment system.
In a specific embodiment, the analysis of the adjustment state of the vehicle at each acquisition time point includes the following steps: a1, substituting the heights of the obstacles of the target driving road surface corresponding to each acquisition time point into a calculation formula of a high average value, and calculating to obtain the high average value of the obstacles of the target driving road surface corresponding to each acquisition time point; meanwhile, based on the positions of the obstacles on the target running road surface corresponding to the acquisition time points, obtaining the distance between the obstacles on the target running road surface corresponding to the acquisition time points, and calculating the complex value of the obstacle on the target running road surface corresponding to the acquisition time points according to the number of the obstacles on the target running road surface corresponding to the acquisition time points;
in the above, the calculation formula of the high average value is:wherein->High mean value +.>Wherein h is ji Represents the height of the ith obstacle of the target driving road surface corresponding to the jth acquisition time point, n represents the number of the obstacles of the target driving road surface, j represents the number corresponding to each acquisition time point, j=1, 2....m, j=1, 2. Once again, m is chosen>And the compensation factor corresponding to the set high average value is obtained.
In the above, the complex value of the target driving road obstacle corresponding to each acquisition time point is calculated, and the specific calculation process is as follows: calculating the average distance between the obstacles on the target driving road corresponding to each acquisition time point by means of average value, and recording asAnd then substitutes into the calculation formulaObtaining complex value c of the target driving road obstacle corresponding to each acquisition time point j Wherein L, & gt>Respectively, the set distance between the reference barriers, the number of permitted barriers,/for>、/>Respectively the set distance between the barriers and the weight factors corresponding to the number of the barriers.
A2, comparing the high average value of the target driving road surface obstacle corresponding to each acquisition time point with a preset high average value threshold value, and comparing the complex value of the target driving road surface obstacle corresponding to each acquisition time point with a preset complex value threshold value;
a3, if the high average value of the target driving road surface obstacle corresponding to a certain acquisition time point is larger than or equal to a preset high average value threshold value, and the complex value of the target driving road surface obstacle corresponding to the acquisition time point is smaller than a set complex value threshold value, acquiring the maximum height of the target driving road surface obstacle corresponding to the acquisition time point, comparing the maximum height with the height of the automobile corresponding to the acquisition time point, and if the maximum height of the target driving road surface obstacle corresponding to the acquisition time point is smaller than the height of the automobile corresponding to the acquisition time point, judging that the adjusting state of the automobile corresponding to the acquisition time point is not needed to be adjusted; if the maximum height of the target driving road obstacle corresponding to the acquisition time point is greater than or equal to the height corresponding to the acquisition time point, judging that the adjustment state corresponding to the acquisition time point is flexible adjustment;
a4, if the high average value of the obstacle on the target driving road surface corresponding to a certain acquisition time point is smaller than a preset high average value threshold value, and the complex value of the obstacle on the target driving road surface corresponding to the acquisition time point is larger than or equal to a preset complex value threshold value, judging that the adjustment state corresponding to the acquisition time point of the automobile is fixed adjustment;
a5, if the high average value of the obstacle on the target driving road surface corresponding to a certain acquisition time point is larger than or equal to a preset high average value threshold value, and the complex value of the obstacle on the target driving road surface corresponding to the acquisition time point is larger than or equal to a preset complex value threshold value, judging that the adjustment state corresponding to the acquisition time point of the automobile is fixed adjustment;
a6, if the high average value of the obstacle corresponding to the target driving road surface at a certain acquisition time point is smaller than a preset high average value threshold value and the complex value of the obstacle corresponding to the target driving road surface at the acquisition time point is smaller than a preset complex value threshold value, judging that the adjustment state of the automobile corresponding to the acquisition time point is flexible adjustment; in this way, the control state of the vehicle at each acquisition time is obtained.
The fixed adjustment parameter analysis unit is used for marking the acquisition time point as a fixed adjustment time point when the adjustment state of the automobile at a certain acquisition time point is fixed adjustment, so as to obtain each fixed adjustment time point corresponding to the automobile, further obtain the maximum height of the obstacle on the target driving road surface corresponding to each fixed adjustment time point, obtain the load corresponding to the automobile and the actual driving speed and the actual driving height corresponding to each fixed adjustment time point, and analyze the adjustment height and the reference driving speed corresponding to each fixed adjustment time point;
the load corresponding to the automobile and the actual running speed corresponding to each acquisition time point are obtained from the automobile management center, and the actual running speed and the actual running height corresponding to each fixed time point are obtained based on the actual running speed and the actual running height corresponding to each acquisition time point.
The load of the vehicle is the total weight of the vehicle.
In a specific embodiment, the analyzing the adjustment height and the reference running speed of the automobile at each fixed adjustment time point includes the following steps: extracting the complex value of the target driving road surface obstacle corresponding to each fixed time point from the complex value of the target driving road surface obstacle corresponding to each acquisition time point, and marking asWherein t represents the number corresponding to each fixed time point, t=1, 2. The term p is used herein, marking maximum height of obstacle on target driving road surface corresponding to each fixed adjustment time point as +.>Thereby substituting the calculation formula +.>In the method, the driving difficulty value corresponding to each fixed adjustment time point of the automobile is obtained>Wherein h is the set reference obstacle height, < > and>、/>respectively setting weight factors corresponding to the height and the complex value of the obstacle;
comparing the running difficulty value of the automobile at each fixed time point with the preset allowable running speed corresponding to each running difficulty value to obtain the allowable running speed of the automobile at each fixed time point, further comparing the actual running speed of the automobile at each fixed time point with the allowable running speed, and taking the actual running speed of the automobile at a fixed time point as the reference running speed if the actual running speed of the automobile at a fixed time point is less than or equal to the allowable running speed, otherwise taking the allowable running speed of the automobile at the fixed time point as the allowable running speedThe reference driving speed is obtained in this way and is recorded as the corresponding reference driving speed of the automobile at each fixed time point；
Comparing the running difficulty value of the automobile at each fixed adjustment time point with the preset automobile reference height corresponding to each running difficulty value to obtain the reference height corresponding to each fixed adjustment time point, and marking asAnd then substitutes into the calculation formulaObtaining the corresponding adjustment height of the automobile at each fixed adjustment time pointWherein->For the height of the automobile corresponding to the t-th fixed adjustment time point, G represents the load corresponding to the automobile, G 0 Indicating the dead weight of the automobile>Indicating the actual driving speed of the vehicle at the t-th fixed time point,/for the vehicle>、/>The weight factors corresponding to the set truck load and the actual running speed are respectively represented by e, which represents a natural constant.
The dead weight of the vehicle was obtained from the vehicle management center.
It should be noted that when the adjustment height of the automobile at a certain fixed adjustment time point is greater than zero, the adjustment direction of the automobile at the fixed adjustment time point is upward adjustment; when the adjusting height corresponding to the automobile at a certain fixed adjusting time point is smaller than zero, the adjusting direction corresponding to the automobile at the fixed adjusting time point is adjusted downwards; when the corresponding adjusting height of the automobile at a fixed adjusting time point is equal to zero, the height of the automobile at the fixed adjusting time point is not adjusted.
The flexible adjustment parameter analysis unit is used for marking the acquisition time point as a flexible adjustment time point when the adjustment state of the automobile at a certain acquisition time point is flexible adjustment, so that each flexible adjustment time point corresponding to the automobile is obtained, the height and the position corresponding to each obstacle on the target driving road surface corresponding to each flexible adjustment time point are obtained, simultaneously, the load corresponding to the automobile and the driving speed corresponding to each flexible adjustment time point are obtained, and the adjustment height and the reference driving speed of the automobile on the target driving road surface corresponding to each flexible adjustment time point through each obstacle are calculated;
the actual running speed and the actual running height of the automobile at each flexible adjustment time point are obtained based on the actual running speed and the actual running height of the automobile at each acquisition time point.
In a specific embodiment, the calculating the adjustment height and the reference driving speed of the automobile through each obstacle on the target driving road surface corresponding to each flexible adjustment time point specifically includes the following steps: marking the height of each obstacle on the target driving road surface corresponding to each flexible time point asWherein->Numbers corresponding to the time points of the tone, and +.>I represents the number corresponding to each obstacle, i=1, 2. Once again, n is, and then substituting the calculation formula +.>In the course, the driving difficulty value corresponding to each obstacle on the target driving road surface corresponding to each flexible time point is obtained>Wherein->A compensation factor corresponding to the set obstacle driving difficulty value;
according to the analysis process of the reference running speed of the automobile at each fixed adjustment time point, analyzing to obtain the target running speed of the automobile passing through each obstacle on the target running road surface corresponding to each flexible adjustment time point, and similarly, according to the analysis process of the adjustment height of the automobile at each fixed adjustment time point, analyzing to obtain the target adjustment height of the automobile passing through each obstacle on the target running road surface corresponding to each flexible adjustment time point;
confirming the sequence of the automobile passing through each obstacle on the target running road surface corresponding to each fixed adjustment time point based on the position corresponding to each obstacle on the target running road surface corresponding to each fixed adjustment time point, marking the first-ranked obstacle as a first obstacle, marking the second-ranked obstacle as a second obstacle, and marking each obstacle;
taking the target running speed of the automobile passing through the first obstacle on the target running road surface corresponding to each fixed time point as the reference running speed passing through the first obstacle; subtracting the reference running speed of the automobile passing through the first obstacle from the target running speed of the automobile passing through the second obstacle on the target running road corresponding to each fixed time point, and taking the reference running speed of the automobile passing through the first obstacle as the reference running speed of the automobile passing through the second obstacle on the target running road corresponding to the fixed time point if the target running speed of the automobile passing through the second obstacle on the target running road corresponding to a certain fixed time point is greater than or equal to the reference running speed of the automobile passing through the first obstacle; if the target running speed of the automobile passing through the second obstacle on the target running road corresponding to a certain fixed time point is smaller than the reference running speed of the automobile passing through the first obstacle, taking the target running speed of the automobile passing through the second obstacle on the target running road corresponding to the fixed time point as the reference running speed of the automobile passing through the second obstacle, and obtaining the reference running speeds of the automobile passing through the obstacles on the target running road corresponding to the flexible time points in this way;
and taking the target adjustment height of the automobile passing through the first obstacle on the target driving road surface corresponding to each fixed adjustment time point as the adjustment height passing through the first obstacle, if the target adjustment height of the automobile passing through the second obstacle on the target driving road surface corresponding to a certain fixed adjustment time point is larger than zero, taking the target adjustment height passing through the second obstacle as the adjustment height of the automobile passing through the second obstacle on the target driving road surface corresponding to the fixed adjustment time point, and if the target adjustment height of the automobile passing through the second obstacle on the target driving road surface corresponding to a certain fixed adjustment time point is smaller than or equal to zero, marking the adjustment height of the automobile passing through the second obstacle on the target driving road surface corresponding to the fixed adjustment time point as zero, and not adjusting, so that the adjustment height of the automobile passing through the obstacles on the target driving road surface corresponding to each flexible adjustment time point is obtained.
The display terminal is used for displaying the reference running speed corresponding to each fixed adjustment time point of the automobile and the reference running speed corresponding to each obstacle on the target running road surface corresponding to each flexible adjustment time point.
According to the embodiment of the invention, the adjustment state of the automobile at each acquisition time point is judged by analyzing the road condition of the target running road surface corresponding to each acquisition time point according to the road condition information of the automobile at each acquisition time point, so that the adjustment height, the reference running speed and the adjustment height and the reference running speed of each obstacle on the target running road surface corresponding to each fixed adjustment time point of the automobile are analyzed, controlled and prompted according to the road condition information corresponding to each acquisition time point, the defect that the automobile height is only adjusted according to the obstacle height in the prior art is overcome, the intelligent adjustment of the automobile height is realized, the running stability of the automobile on a complex road surface is greatly improved, the automobile height adjusting frequency in a complex road section is effectively reduced, the loss of an automobile height adjusting system is reduced, the repeatability of the automobile height adjustment is reduced, and the comfort and the experience of passengers are effectively improved.
The foregoing is merely illustrative and explanatory of the principles of the invention, as various modifications and additions may be made to the specific embodiments described, or similar thereto, by those skilled in the art, without departing from the principles of the invention or beyond the scope of the appended claims.
Claims (4)
1. A real-time automobile height adjustment system, comprising: the system comprises a road condition acquisition module, an automobile adjusting and analyzing module, an automobile height adjusting module and a display terminal;
the road condition acquisition module is used for distributing each acquisition time point according to a preset time interval during running of the automobile so as to acquire road condition information corresponding to each acquisition time point;
the automobile adjusting and analyzing module comprises an adjusting state analyzing unit, a fixed adjusting parameter analyzing unit and a flexible adjusting parameter analyzing unit;
the adjusting state analyzing unit is used for extracting the number of the obstacles, the positions of the obstacles and the heights of the obstacles on the target driving road surface corresponding to each collecting time point from the road condition information corresponding to each collecting time point, and acquiring the heights of the automobiles at each collecting time point to analyze the adjusting state of the automobiles at each collecting time point, wherein the adjusting state comprises fixed adjustment, flexible adjustment and no need of adjustment;
the method for analyzing the adjustment state of the automobile at each acquisition time point comprises the following specific analysis steps: a1, substituting the heights of the obstacles of the target driving road surface corresponding to each acquisition time point into a calculation formula of a high average value, and calculating to obtain the high average value of the obstacles of the target driving road surface corresponding to each acquisition time point; meanwhile, based on the positions of the obstacles on the target running road surface corresponding to the acquisition time points, obtaining the distance between the obstacles on the target running road surface corresponding to the acquisition time points, and calculating the complex value of the obstacle on the target running road surface corresponding to the acquisition time points according to the number of the obstacles on the target running road surface corresponding to the acquisition time points;
a2, comparing the high average value of the target driving road surface obstacle corresponding to each acquisition time point with a preset high average value threshold value, and comparing the complex value of the target driving road surface obstacle corresponding to each acquisition time point with a preset complex value threshold value;
a3, if the high average value of the target driving road surface obstacle corresponding to a certain acquisition time point is larger than or equal to a preset high average value threshold value, and the complex value of the target driving road surface obstacle corresponding to the acquisition time point is smaller than a set complex value threshold value, acquiring the maximum height of the target driving road surface obstacle corresponding to the acquisition time point, comparing the maximum height with the height of the automobile corresponding to the acquisition time point, and if the maximum height of the target driving road surface obstacle corresponding to the acquisition time point is smaller than the height of the automobile corresponding to the acquisition time point, judging that the adjusting state of the automobile corresponding to the acquisition time point is not needed to be adjusted; if the maximum height of the target driving road obstacle corresponding to the acquisition time point is greater than or equal to the height corresponding to the acquisition time point, judging that the adjustment state corresponding to the acquisition time point is flexible adjustment;
a4, if the high average value of the obstacle on the target driving road surface corresponding to a certain acquisition time point is smaller than a preset high average value threshold value, and the complex value of the obstacle on the target driving road surface corresponding to the acquisition time point is larger than or equal to a preset complex value threshold value, judging that the adjustment state corresponding to the acquisition time point of the automobile is fixed adjustment;
a5, if the high average value of the obstacle on the target driving road surface corresponding to a certain acquisition time point is larger than or equal to a preset high average value threshold value, and the complex value of the obstacle on the target driving road surface corresponding to the acquisition time point is larger than or equal to a preset complex value threshold value, judging that the adjustment state corresponding to the acquisition time point of the automobile is fixed adjustment;
a6, if the high average value of the obstacle corresponding to the target driving road surface at a certain acquisition time point is smaller than a preset high average value threshold value and the complex value of the obstacle corresponding to the target driving road surface at the acquisition time point is smaller than a preset complex value threshold value, judging that the adjustment state of the automobile corresponding to the acquisition time point is flexible adjustment; obtaining the adjustment state of the automobile at each acquisition time point in this way;
the fixed adjustment parameter analysis unit is used for marking the acquisition time point as a fixed adjustment time point when the adjustment state of the automobile at a certain acquisition time point is fixed adjustment, so as to obtain each fixed adjustment time point corresponding to the automobile, further obtain the maximum height of the obstacle on the target driving road surface corresponding to each fixed adjustment time point, obtain the load corresponding to the automobile and the actual driving speed and the actual driving height corresponding to each fixed adjustment time point, and analyze the adjustment height and the reference driving speed corresponding to each fixed adjustment time point;
the flexible adjustment parameter analysis unit is used for marking the acquisition time point as a flexible adjustment time point when the adjustment state of the automobile at a certain acquisition time point is flexible adjustment, so that each flexible adjustment time point corresponding to the automobile is obtained, the height and the position corresponding to each obstacle on the target driving road surface corresponding to each flexible adjustment time point are obtained, simultaneously, the load corresponding to the automobile and the driving speed corresponding to each flexible adjustment time point are obtained, and the adjustment height and the reference driving speed of the automobile on the target driving road surface corresponding to each flexible adjustment time point through each obstacle are calculated;
the display terminal is used for displaying the reference running speed corresponding to each fixed adjustment time point of the automobile and the reference running speed corresponding to each obstacle on the target running road surface corresponding to each flexible adjustment time point.
2. The system for adjusting the height of an automobile according to claim 1, wherein the road condition information corresponding to each acquisition time point includes the number of obstacles on the target driving surface, the position of each obstacle, and the height of each obstacle.
3. The real-time automobile height adjusting system according to claim 1, wherein the analyzing the corresponding adjusting height and the reference running speed of the automobile at each fixed adjusting time point comprises the following specific analyzing process:
extracting the complex value of the target driving road surface obstacle corresponding to each fixed time point from the complex value of the target driving road surface obstacle corresponding to each acquisition time point, and marking asWherein t represents the number corresponding to each fixed time point, t=1, 2. The term p is used herein, marking maximum height of obstacle on target driving road surface corresponding to each fixed adjustment time point as +.>Thereby substituting into the calculation formulaIn the method, the driving difficulty value corresponding to each fixed adjustment time point of the automobile is obtained>Wherein h is the set reference obstacle height, < > and>、/>respectively setting weight factors corresponding to the height and the complex value of the obstacle;
comparing the running difficulty value of the automobile at each fixed time point with the preset allowable running speed corresponding to each running difficulty value to obtain the allowable running speed of the automobile at each fixed time point, further comparing the actual running speed of the automobile at each fixed time point with the allowable running speed, if the actual running speed of the automobile at a certain fixed time point is smaller than or equal to the allowable running speed, taking the actual running speed of the automobile at the fixed time point as the reference running speed, otherwise taking the allowable running speed of the automobile at the fixed time point as the reference running speed, and obtaining the reference running speed of the automobile at each fixed time point in this way, and recording as the reference running speed of the automobile at each fixed time point；
Comparing the running difficulty value of the automobile at each fixed adjustment time point with the preset automobile reference height corresponding to each running difficulty value to obtain the reference height corresponding to each fixed adjustment time point, and marking asAnd then substitutes into the calculation formulaIn the process, the corresponding adjustment height of the automobile at each fixed adjustment time point is obtained>Wherein->For the height of the automobile corresponding to the t-th fixed adjustment time point, G represents the corresponding load of the automobile, G0 represents the dead weight of the automobile, and +.>Indicating the actual driving speed of the vehicle at the t-th fixed time point,/for the vehicle>、/>The weight factors corresponding to the set truck load and the actual running speed are respectively represented by e, which represents a natural constant.
4. The real-time automobile height adjusting system according to claim 3, wherein the calculating process comprises the following steps of:
marking the height of each obstacle on the target driving road surface corresponding to each flexible time point asWherein->Numbers corresponding to the time points of the tone, and +.>I represents the number corresponding to each obstacle, i=1, 2. Once again, n is, and then substitute intoCalculation formula->In the course, the driving difficulty value corresponding to each obstacle on the target driving road surface corresponding to each flexible time point is obtained>Wherein->A compensation factor corresponding to the set obstacle driving difficulty value;
according to the analysis process of the reference running speed of the automobile at each fixed adjustment time point, analyzing to obtain the target running speed of the automobile passing through each obstacle on the target running road surface corresponding to each flexible adjustment time point, and similarly, according to the analysis process of the adjustment height of the automobile at each fixed adjustment time point, analyzing to obtain the target adjustment height of the automobile passing through each obstacle on the target running road surface corresponding to each flexible adjustment time point;
confirming the sequence of the automobile passing through each obstacle on the target running road surface corresponding to each fixed adjustment time point based on the position corresponding to each obstacle on the target running road surface corresponding to each fixed adjustment time point, marking the first-ranked obstacle as a first obstacle, marking the second-ranked obstacle as a second obstacle, and marking each obstacle;
taking the target running speed of the automobile passing through the first obstacle on the target running road surface corresponding to each fixed time point as the reference running speed passing through the first obstacle; subtracting the reference running speed of the automobile passing through the first obstacle from the target running speed of the automobile passing through the second obstacle on the target running road corresponding to each fixed time point, and taking the reference running speed of the automobile passing through the first obstacle as the reference running speed of the automobile passing through the second obstacle on the target running road corresponding to the fixed time point if the target running speed of the automobile passing through the second obstacle on the target running road corresponding to a certain fixed time point is greater than or equal to the reference running speed of the automobile passing through the first obstacle; if the target running speed of the automobile passing through the second obstacle on the target running road corresponding to a certain fixed time point is smaller than the reference running speed of the automobile passing through the first obstacle, taking the target running speed of the automobile passing through the second obstacle on the target running road corresponding to the fixed time point as the reference running speed of the automobile passing through the second obstacle, and obtaining the reference running speeds of the automobile passing through the obstacles on the target running road corresponding to the flexible time points in this way;
and taking the target adjustment height of the automobile passing through the first obstacle on the target driving road surface corresponding to each fixed adjustment time point as the adjustment height passing through the first obstacle, if the target adjustment height of the automobile passing through the second obstacle on the target driving road surface corresponding to a certain fixed adjustment time point is larger than zero, taking the target adjustment height passing through the second obstacle as the adjustment height of the automobile passing through the second obstacle on the target driving road surface corresponding to the fixed adjustment time point, and if the target adjustment height of the automobile passing through the second obstacle on the target driving road surface corresponding to a certain fixed adjustment time point is smaller than or equal to zero, marking the adjustment height of the automobile passing through the second obstacle on the target driving road surface corresponding to the fixed adjustment time point as zero, and not adjusting, so that the adjustment height of the automobile passing through the obstacles on the target driving road surface corresponding to each flexible adjustment time point is obtained.
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