WO2019061502A1 - 车辆悬挂调节方法、系统及可调悬挂的车辆 - Google Patents

车辆悬挂调节方法、系统及可调悬挂的车辆 Download PDF

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Publication number
WO2019061502A1
WO2019061502A1 PCT/CN2017/105041 CN2017105041W WO2019061502A1 WO 2019061502 A1 WO2019061502 A1 WO 2019061502A1 CN 2017105041 W CN2017105041 W CN 2017105041W WO 2019061502 A1 WO2019061502 A1 WO 2019061502A1
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Prior art keywords
vehicle
height
suspension
passenger
chassis
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PCT/CN2017/105041
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English (en)
French (fr)
Inventor
吴军
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深圳市大疆创新科技有限公司
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Priority to CN201780087317.5A priority Critical patent/CN110325384A/zh
Priority to PCT/CN2017/105041 priority patent/WO2019061502A1/zh
Publication of WO2019061502A1 publication Critical patent/WO2019061502A1/zh

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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
    • B60G17/08—Characteristics of fluid dampers

Definitions

  • the invention relates to a vehicle suspension adjusting method, a vehicle suspension adjusting system and an adjustable suspension vehicle.
  • the invention provides a vehicle suspension adjusting method, comprising the steps of: detecting a height of a passenger approaching a vehicle body; calculating according to a passenger height and a vehicle chassis height to obtain an adapted vehicle chassis height; and the vehicle according to the adapted vehicle chassis height Suspension for adjustment.
  • the vehicle acquires detection data for the passenger approaching the vehicle body through the sensor, and processes the detection data to obtain the height of the passenger. At the same time, the vehicle also obtains the height of the passenger's sole and the vehicle chassis height to calculate the adapted vehicle chassis height.
  • the senor may include: a camera, more specifically, a wide-angle camera; in another possible technical solution, the sensor may further include: a laser radar.
  • adjusting the vehicle suspension may include: the vehicle automatically adjusts the suspension; in another possible technical solution, adjusting the vehicle suspension may further include: manually adjusting the vehicle suspension.
  • adjusting the vehicle suspension may include: adjusting the suspension on one side; in another possible solution, adjusting the suspension of the vehicle may further include simultaneously adjusting the suspension on both sides.
  • the invention also provides a vehicle suspension adjustment system comprising a detection device, a central processing unit, an execution device and a suspension, wherein:
  • the detecting device is configured to detect the height of a passenger approaching the vehicle body
  • a central processor is coupled to the detecting device for calculating a height of the passenger and a height of the vehicle chassis to obtain an adapted vehicle chassis height and generating a control command;
  • An execution device is coupled to the central processor for receiving a control command of the central processor and executing a control command to adjust a chassis height of the vehicle to the adapted vehicle chassis height;
  • a suspension is coupled to the actuator and is controlled by the actuator to adjust the chassis height of the vehicle.
  • the present invention also provides an adjustable suspension vehicle, including the above vehicle suspension adjustment system, and including at least one of a passenger car, a medium passenger car, and a large passenger car.
  • the invention provides a vehicle adjusting method capable of calculating an adapted vehicle chassis height by detecting the height of an approaching passenger, and correspondingly adjusting the vehicle suspension, thereby realizing adaptive adjustment of the vehicle chassis height when the passenger enters the vehicle, which is convenient. Passengers of different heights enter the vehicle to improve the comfort of the passenger entering the vehicle.
  • FIG. 1 is a schematic diagram showing the steps of an embodiment of a vehicle suspension adjustment method according to the present invention
  • FIG. 2 is a schematic diagram of a system of an embodiment of a vehicle suspension adjustment system according to the present invention.
  • FIG. 3 is a schematic structural view of an embodiment of a vehicle suspension adjustment system according to the present invention.
  • FIG. 4 is a schematic diagram of a system of another embodiment of a vehicle suspension adjustment system of the present invention.
  • the method described in the embodiments of the present invention is not limited to the steps and the sequence in the flowcharts described or illustrated in the specification. Depending on the embodiment, the steps in the method may add, remove, or change the order.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be in the middle.
  • a component when a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • Embodiments of the present invention provide a vehicle suspension adjustment method, a vehicle suspension adjustment system, and an adjustable suspension vehicle. For ease of understanding, the embodiments of the present invention are specifically described below.
  • FIG. 1 is a schematic flowchart diagram of a method for adjusting a suspension of a vehicle according to an embodiment of the present invention.
  • the vehicle suspension adjustment method described in this embodiment includes:
  • the height of the passenger has a great influence on the ride comfort. People with higher heights, such as adults, need to lean over and avoid the roof to enter when they enter a passenger car such as a car. When passengers with low heights such as children and pets enter the SUV and other passenger vehicles, they need to climb up. The steps are the same to enter. Therefore, detecting the height of the passenger approaching the vehicle body helps the vehicle adjust the suspension to obtain an adapted vehicle height.
  • the detection process of the passenger's height is completed by the driver and passenger. Specifically, the driver and passenger are visually inspected the height of the passenger before choosing how to adjust the vehicle suspension.
  • the process of detecting the height of the passenger further includes detecting the detected data by the sensor, and processing the detected data to obtain the height of the passenger approaching the vehicle body.
  • the senor can be a wide angle camera.
  • the wide-angle camera can be placed in the middle of the door, or it can be placed in other positions as needed, and can be powered by the vehicle battery to ensure that it can work normally even when the vehicle is not started.
  • the wide-angle camera is used for taking pictures or taking pictures of the surrounding environment, so the detected data is visual image data.
  • the processing herein may analyze the visual image data for applying a visual recognition algorithm.
  • the senor can be a lidar.
  • the lidar can be placed on the door side or at the desired position on the roof as needed.
  • the laser radar in this embodiment may be omnidirectional or directional. The laser radar scans the surrounding environment to obtain a point cloud, so the detected data is laser dot matrix data. When the passenger approaches the car body, the overall shape will be presented on the dot cloud, and the dot data can be processed to obtain the passenger's height. More specifically, the processing herein may analyze the laser dot matrix data for applying a dot matrix calculation method.
  • the senor can also be a combination of a distance sensor and an infrared sensor.
  • the detected data at this time is the distance of the passenger from the vehicle body and the infrared sensing data.
  • the passenger's profile can be obtained on the infrared sensor data, and the passenger's height can be calculated by combining the distance data and the initial sensor calibration data.
  • the sensor used in this step to detect the height of the passenger approaching the body of the vehicle is
  • the processing method of the detection data is not limited to the above several types of sensors, and any other sensor and processing method capable of achieving the same purpose are within the protection scope of this step.
  • the “passenger” is not limited to the person who rides the vehicle, but also includes the driver. More specifically, “passenger” includes all personnel who are preparing to enter the vehicle and will be sitting in the vehicle. Illustratively, when the driver of the vehicle is ready to enter the vehicle, the sensor will also detect its height.
  • the height of the vehicle is calculated based on the height of the passenger and the height of the vehicle chassis.
  • the vehicle since the vehicle is stationary and the vehicle can be considered to be in an unloaded state when the passenger enters the vehicle, it can be considered as a vehicle chassis for a stationary vehicle that is not activated.
  • the height is ok.
  • the height of the vehicle chassis can be measured at the factory, and can be considered as a certain value in the calculation of this step.
  • the vehicle is not necessarily in an unloaded state when the passenger enters the vehicle, and there may already be passengers or cargo on the vehicle and possibly the vehicle is already in an activated state.
  • the load on the vehicle is less, and the impact on the vehicle suspension is small.
  • the pre-measured vehicle chassis height it can be considered that the finally calculated adapted vehicle chassis height does not actually affect the passenger entering the vehicle. Comfort.
  • the vehicle has a large load and has a great influence on the vehicle suspension.
  • the use of the pre-measured vehicle chassis height may result in a large error in the height of the finally fitted vehicle chassis, thereby affecting the passenger's accessibility to the vehicle. Therefore, the pre-measured vehicle chassis height should not be used in this case.
  • the vehicle chassis height is acquired in real time and used for calculations.
  • the detection data is obtained by the sensor and processed to obtain the height of the passenger; and in this step, the height of the vehicle chassis when the passenger enters the vehicle can also be obtained by the sensor.
  • the sensor herein may be a distance sensor or any sensor that can measure a distance, such as an ultrasonic sensor, an infrared sensor, a visual sensor, or the like.
  • the calculation can be performed by using the instantaneously measured vehicle chassis height data for calculation. When the vehicle has a load or other conditions that cause the chassis height to change, the error caused by the calculation using the pre-measured data.
  • the relative height between the two needs to be considered in the calculation of this step. Otherwise, when the relative height between the two is large, if the same plane hypothesis is used for calculation, the same will result in a large error in the height of the adapted chassis.
  • the sensor height can be pre-determined, and the height of the passenger's head and sole can be obtained in conjunction with the measured passenger height in the previous step. Moreover, since the position of the sensor and the vehicle chassis in the normal idle state is fixed, the relative height between the passenger's head and the sole and the vehicle chassis can be obtained by combining the measured vehicle chassis height in real time. Using relative height calculations during the calculation eliminates the error of using the same plane hypothesis for calculations. In another embodiment, more generally, since the passenger enters the vehicle as a foot into the cabin, it is also feasible to use only the relative height between the passenger's sole and the vehicle's chassis.
  • the vehicle suspension is adjusted to achieve the passenger's most comfortable entry into the vehicle. More specifically, the vehicle is suspended to raise or lower the vehicle chassis to accommodate passengers of different heights entering the vehicle. Obviously, the vehicle suspension adjustment here to raise or lower the vehicle chassis can either adjust the suspension on one side of the vehicle or simultaneously adjust the suspension on both sides of the vehicle.
  • adjusting the vehicle suspension may be an automatic adjustment. More specifically, when the passenger is ready to open the door to enter the vehicle, the sensor acquires the detection data and obtains the passenger's height, and calculates the adapted vehicle chassis height in combination with the vehicle chassis height; after obtaining the adapted vehicle chassis height, the vehicle electronic control unit ( The Electronic Control Unit (ECU) automatically controls the actuator to adjust the vehicle suspension to an adapted vehicle chassis height.
  • the actuator can be a device that is placed in the vicinity of the suspension to control the suspension adjustment. Since the suspension adjustment range is limited, when the calculated adapted vehicle chassis height exceeds the adjustment range of the suspension itself, the vehicle electronic control unit will control the actuator to adjust the vehicle suspension to the closest adapted vehicle chassis height. In the process of automatically adjusting the suspension, the whole The adjustment process is completed during the time period when the passenger opens the door and enters the vehicle. This prevents the passerby approaching the vehicle body but not riding the vehicle from triggering the vehicle suspension adjustment.
  • adjusting the vehicle suspension may be manual adjustment. More specifically, the manual adjustment may be a manual operation for the in-vehicle driver to adjust the vehicle suspension when observing that the passenger is ready to enter the vehicle, the manual operation may be pressing a button on the center console of the vehicle, etc.; After entering the vehicle, the passenger entering the vehicle chooses whether to adjust the vehicle suspension. If the adjustment is selected, it can be adjusted by remote operation or gesture operation. If the adjustment is not adjusted, the vehicle suspension will not change. Likewise, when the adapted vehicle chassis height exceeds the suspension adjustment range, the vehicle suspension is adjusted to the position closest to the adapted vehicle chassis height.
  • Embodiments of the present invention also provide a vehicle suspension adjustment system. Please refer to FIG. 2 and FIG. 3, FIG. 2 is a schematic diagram of a system of a vehicle suspension adjustment system, and FIG. 3 is a schematic structural view of a vehicle suspension adjustment system.
  • the vehicle suspension adjustment system 10 includes a detection device 101, a central processor 102, an actuator 103, and a suspension 104.
  • the detecting device 101 is for detecting the height of a passenger approaching the vehicle body.
  • the central processor 102 is coupled to the detection device 101 for calculating based on the passenger's height and the vehicle chassis height to obtain an adapted vehicle chassis height and generating control commands.
  • the execution device 103 is coupled to the central processor 102 for receiving control commands from the central processor and executing control commands to adjust the chassis height of the vehicle to the adapted vehicle chassis height.
  • Suspension 104 is coupled to actuator 103 and controlled by actuator 103 to adjust the chassis height of the vehicle.
  • the detecting device 101 further includes a detecting sensor and a detecting processor.
  • the detection sensor is configured to acquire detection data
  • the detection processor is configured to process the detection data and obtain the height of the passenger.
  • the detection processor can be set separately, for example, directly setting the detection processor at the detection sensor, directly processing the detection data to obtain the passenger height, and then transmitting the passenger height to the central processor; the detection processor can also be integrated in the central processor.
  • the function of the detection processor is directly performed by the central processing unit, that is, the detection data acquired by the detection sensor is not processed, and is transmitted to the central processing unit, and then processed by the central processing unit or the integrated detection processor therein.
  • the detection sensor can be a wide angle camera.
  • the detecting device 101 including the wide-angle camera is disposed at a middle position of the door.
  • the image capturing range of the wide-angle camera can acquire an image of the passenger as a whole, thereby generating detection data for subsequent detection by the processor.
  • the detection sensor can also be a laser radar.
  • the laser radar acquires the bitmap image data of the passenger approaching the vehicle body by scanning, and similarly generates the detection data for subsequent processing by the detection processor.
  • the detection sensor can also be placed at other locations on the vehicle as desired.
  • the detecting device 101 may also include a plurality of detecting sensors, and is not limited to one detecting sensor shown in FIG.
  • the plurality of detecting sensors may be disposed at one side of the vehicle at the same time, or may be disposed at both sides of the vehicle at the same time to facilitate the use of the vehicle suspension adjusting system of the present invention by both passengers.
  • the plurality of detecting sensors are arranged symmetrically on both sides of the vehicle, the position calibration process when the vehicle is shipped from the factory can be reduced and the subsequent calculation process is facilitated.
  • FIG. 4 is a schematic diagram of another embodiment of a vehicle suspension adjustment system according to the present invention.
  • the vehicle suspension adjustment system 10 also includes a chassis detection device 105.
  • Chassis detection device 105 is coupled to central processor 102 for determining vehicle chassis height, and central processor 102 calculates an adapted vehicle chassis height based on passenger height and vehicle chassis height.
  • the vehicle chassis height may be a determined value measured at the factory, and when the load on the vehicle is less, and the impact on the suspension is small, the pre-determined vehicle is used. The height of the chassis can be calculated. However, in other cases, there are more loads on the vehicle and a greater impact on the suspension.
  • the calculated height of the calculated vehicle chassis will be greatly increased. It affects the comfort of passengers entering the vehicle. Therefore, for the case of more load on the vehicle, the real-time height of the vehicle chassis needs to be obtained.
  • the chassis detecting device 105 may be disposed on a vehicle chassis.
  • the chassis detection device 105 may also include a distance sensor that acquires the height of the vehicle chassis in real time by the distance sensor and transmits the real-time vehicle chassis height to the central processor 102 for subsequent calculations.
  • the number of vehicle chassis heights acquired in real time by the detection of the chassis detecting device 105 It is possible to eliminate the error caused by the calculation of the pre-measured chassis height data when the vehicle has a load or other conditions that cause a large change in the chassis height.
  • a corresponding control command is generated and sent to the executing device.
  • the control instructions may be automatically generated.
  • the detecting device 101 acquires the passenger's height
  • the central processing unit 102 calculates an adapted vehicle chassis height based on the passenger's height and the vehicle's chassis height, and immediately generates a control command and transmits it to the executing device.
  • passengers approaching the vehicle body do not need any operation, specifically reflected in the actual situation, that is, the passenger may be ready to enter the vehicle and pull the door open, while the vehicle suspension is automatically adjusted to raise the vehicle chassis or Reduced to fit the passenger's height, thereby improving the passenger's access to the vehicle.
  • control instruction may also be generated according to an external command.
  • the external command may be an instruction generated by a driver who has already operated in the vehicle to operate the corresponding device, or may be an instruction generated by an operation of a passenger entering the vehicle.
  • the button on the center console of the vehicle can be pressed to adjust the suspension, and the driver does not adjust even if the driver enters the vehicle when the driver is not operating;
  • Passengers preparing to enter the vehicle can also perform suspension adjustments by remote operation or gesture operation, and will not adjust if the passenger does not adjust accordingly.
  • the vehicle does not reach the most suitable chassis height when the calculated chassis height calculated by the central processor 102 exceeds the adjustable range of the suspension.
  • the control command issued by the central processing unit 102 is adjusted accordingly, and the suspension height closest to the adapted chassis height is selected within the vehicle suspension adjustable range and transmitted to the executing device 103 as the command content. Accordingly, the actuator 103 adjusts the suspension to the closest adapted chassis height.
  • the suspensions 104 are all adjustable suspensions.
  • the suspension 104 can be any of an adjustable air suspension, an adjustable hydraulic suspension, an adjustable electromagnetic suspension, and an electronic hydraulic adjustable suspension.
  • the invention also provides an adjustable suspension vehicle, comprising the vehicle suspension adjustment system provided by the invention, and can be a passenger car, a medium passenger car, a large Any of the types of passenger cars.

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Abstract

提供一种车辆悬挂调节方法，包括：检测接近车体的乘客身高(S101)；根据乘客身高和车辆底盘高度计算得到适配的车辆底盘高度(S102)；根据适配的车辆底盘高度对车辆悬挂进行调节(S103)。还提供一种车辆悬挂调节系统，以及应用该车辆悬挂调节系统的可调悬挂的车辆。这种车辆悬挂调节方法以及车辆悬挂调节系统能够在乘客进入车辆时自适应地调节车辆悬挂，提高乘客乘坐车辆的舒适性。

Description

车辆悬挂调节方法、系统及可调悬挂的车辆 技术领域
本发明涉及一种车辆悬挂调节方法、车辆悬挂调节系统及可调悬挂的车辆。
背景技术
在现代车辆中，车辆座椅最常见的是固定在汽车车厢承载面上，且仅能小范围调节。因此乘客在进入车辆时通常需要弯腰俯身以避免碰撞车顶，这样会导致乘客进入车辆的一定的不方便，并且仍然存在较大的碰撞头部的可能性。另外，这种传统的设计也让一些身体不便者进入车辆时比较困难。
发明内容
有鉴于此，有必要提供一种车辆悬挂调节方法及车辆悬挂调节系统，以在乘客进入车辆时可以自适应地调节车辆悬挂从而使得车辆底盘更适于乘客进入车辆，提高乘客在进入车辆时的舒适性，并且同时提供一种应用这种车辆悬挂调节系统的可调悬挂的车辆。
本发明提供一种车辆悬挂调节方法，包括以下步骤：检测接近车体的乘客的身高；根据乘客身高和车辆底盘高度进行计算，得到适配的车辆底盘高度；根据适配的车辆底盘高度对车辆悬挂进行调节。
在该技术方案中，车辆通过传感器获取对接近车体的乘客的检测数据，并且处理检测数据得到乘客的身高。同时，车辆还会获取乘客脚底的高度和车辆底盘高度，以计算得到适配的车辆底盘高度。
在一个可能的技术方案中，传感器可以包括：摄像头，更具体的，为广角摄像头；在另一个可能的技术方案中，传感器还可以包括：激光雷达。
在一个可能的技术方案中，调节车辆悬挂可以包括：车辆自动对悬挂进行调节；在另一个可能的技术方案中，调节车辆悬挂还可以包括：手动对车辆悬挂进行调节。
在一个可能的技术方案中，调节车辆悬挂可以包括：对单侧的悬挂进行调节；在另一个可能的技术方案中，调节车辆悬挂还可包括：对两侧的悬挂同时进行调节。
本发明还提供一种车辆悬挂调节系统，包括检测装置、中央处理器、执行装置以及悬挂，其中：
检测装置用于检测接近车体的乘客的身高；
中央处理器与所述检测装置连接，用于根据乘客身高和车辆底盘高度进行计算，得到适配的车辆底盘高度，并生成控制指令；
执行装置与所述中央处理器连接，用于接收所述中央处理器的控制指令并执行控制指令，以使车辆的底盘高度调节至所述适配的车辆底盘高度；
悬挂与所述执行装置连接并受所述执行装置控制以调节车辆的底盘高度。
本发明还提供一种可调悬挂的车辆，包括上述车辆悬挂调节系统，且包括乘用车、中型客车以及大型客车中的至少一种。
本发明提供一种车辆调节方法，能够通过检测接近乘客的身高，计算适配的车辆底盘高度，并对车辆悬挂进行相应的调节，从而在乘客进入车辆时实现车辆底盘高度的自适应调节，方便不同身高的乘客进入车辆，提高乘客进入车辆的舒适性。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明车辆悬挂调节方法一实施例的步骤示意图；
图2为本发明车辆悬挂调节系统一实施例的系统示意图；
图3为本发明车辆悬挂调节系统一实施例的结构示意图；
图4为本发明车辆悬挂调节系统另一实施例的系统示意图。
主要符号说明
检测装置           101
中央处理器         102
执行装置           103
悬挂               104
底盘检测装置       105
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，本发明实施例的所述的方法并不限于说明书所述及的或者图示所示的流程图中的步骤及顺序。根据不同的实施例，方法中的步骤可以增加、移除、或者改变顺序。另外，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。
本发明实施例提供了一种车辆悬挂调节方法、车辆悬挂调节系统及可调悬挂的车辆。为便于理解，下面对本发明实施例进行具体描述。
请参阅图1，图1为本发明实施例提供的一种车辆悬挂调节方法的流程示意图。本实施例中所描述的车辆悬挂调节方法，包括：
S101、检测接近车体的乘客的身高。
在乘客进入车辆时，乘客的身高会对乘坐舒适性产生很大的影响。身高较高的人如成年人等进入轿车等乘用车时需要俯身弯腰避开车顶才能进入，而身高较矮的乘客如小孩、宠物等进入SUV等乘用车时则需要跨上台阶一样才能进入。因此，检测接近车体的乘客的身高有助于车辆调节悬挂以获得适配的车辆高度。
传统车辆悬挂调节过程中，乘客身高的检测过程是由驾乘人员完成的，具体地，由驾乘人员目测乘客的身高后再选择如何调节车辆悬挂。在本实施例中，检测乘客身高的过程还包括通过传感器检测得到检测数据，处理检测数据得到接近车体的乘客的身高。
在一个实施例中，传感器可以为广角摄像头。广角摄像头可以布置在车门中间位置，也可以按需布置在其他位置，并且可以由车辆蓄电池进行供电，以保证在车辆未启动时也能够正常工作。广角摄像头用于对周围环境进行摄像或拍照，故所述检测数据为视觉图像数据。当乘客接近车体时，其身形整体图像将被广角摄像头所获取，对该图像进行处理后可以得到乘客的身高。更具体地，此处的处理可以为应用视觉识别算法对所述视觉图像数据进行分析。
在另一个实施例中，传感器可以为激光雷达。同样的，激光雷达也可以按需布置在车门侧或车顶处所需要的位置。本实施例中的激光雷达可以为全向的，也可以为定向的。激光雷达对周围环境进行扫描得到点阵云，故所述检测数据为激光点阵数据。当乘客接近车体时，其身形整体将在点阵云上呈现出来，对该点阵数据进行处理后可以得到乘客的身高。更具体地，此处的处理可以为应用点阵计算方法对所述激光点阵数据进行分析。
在另一个实施例中，传感器还可以为距离传感器和红外传感器的组合。此时的检测数据为乘客离车体的距离以及红外传感数据。在红外传感数据上可以获得乘客的轮廓，结合距离数据以及初始的传感器标定数据同样可以计算得到乘客的身高。
显然，本步骤中的检测接近车体的乘客的身高所使用的传感器以 及检测数据的处理方法并不限于上述的几种传感器，其他任何能够实现此目的的传感器及处理方法都属于本步骤的保护范围。
需要说明的是，在本步骤中，“乘客”并不限于乘坐车辆的人员，也包括驾驶人员。更具体地，“乘客”包括所有正在准备进入车辆并且将会坐在车内的人员。示例性地，当车辆的驾驶员准备进入车辆时，传感器同样会检测其身高。
S102、根据乘客身高和车辆底盘高度进行计算，得到适配的车辆底盘高度。
在检测得到乘客的身高后，根据乘客身高和车辆底盘高度进行计算，得到适配的车辆底盘高度。
在一种实施例中，具体地，由于车辆是固定的，并且在乘客进入车辆时可以认为车辆处于空载的状态，因此，针对未启动的一个固定的车辆而言，可以认为它的车辆底盘高度是确定的。这个车辆底盘高度可以在出厂时即进行测定，在本步骤的计算中可以认为是一个确定值。
当然，在其他的实施例中，乘客进入车辆时车辆并不一定处于空载状态，可能车上已经有乘客或货物并且可能车辆已经处于启动状态。具体地，一种情况下，车上负载较少，对车辆悬挂影响较小，此时使用预先测定的车辆底盘高度，可以认为最终计算得到的适配的车辆底盘高度并不实际影响乘客进入车辆的舒适性。而在另一种情况下，车辆负载较多，对车辆悬挂影响较大，使用预先测定的车辆底盘高度会导致最后得到适配的车辆底盘高度出现较大误差从而影响乘客进入车辆的舒适性，因此这种情况下不应当使用预先测定的车辆底盘高度。
在另一种实施例中，车辆底盘高度实时获取并使用其进行计算。在前一步骤中，通过传感器获得检测数据并处理得到乘客的身高；而在本步骤中，同样可以通过传感器获得乘客进入车辆时的车辆底盘高度。具体地，此处的传感器可以为距离传感器，或者是任何可以测量距离的传感器，如超声波传感器、红外传感器、视觉传感器等。在本实施例中，使用即时测得的车辆底盘高度数据进行计算，便可以消除 车辆存在负载或其他情况下导致底盘高度变动时，使用预先测定的数据进行计算带来的误差。
当乘客进入车辆时脚底所在的平面与车辆所处地面不在同一高度时，二者之间的相对高度也需要在本步骤的计算中考虑。否则，当二者之间的相对高度较大时，如果采用同平面的假设来进行计算则同样会导致适配的底盘高度出现较大误差。
在一个实施例中，传感器高度可以预先测定，结合前一步骤中所测得的乘客身高，可以得到乘客头顶和脚底的高度。并且，由于车辆在正常空载状态下的传感器和车辆底盘的位置是固定的，因此再结合所实时测得的车辆底盘高度，可以得到乘客头顶和脚底和车辆底盘之间的相对高度。在计算过程中使用相对高度进行计算，能够消除使用相同平面假设来进行计算的误差。在另一个实施例中，更一般的，由于乘客进入车辆时是脚踏入座舱，因此仅使用乘客脚底和车辆底盘之间的相对高度也是可行的。
S103、根据适配的车辆底盘高度对车辆悬挂进行调节。
在得到适配乘客进入车辆的底盘高度后，对车辆悬挂进行调节以达到乘客最舒适地进入车辆的效果。更具体地，车辆悬挂调节以使车辆底盘升高或降低，从而适配不同身高的乘客进入车辆。显然，这里的车辆悬挂调节以使车辆底盘升高或降低既可以是调节车辆单侧的悬挂，也可以是同时调节车辆两侧的悬挂。
在一个实施例中，对车辆悬挂进行调节可以为自动调节。更具体地，当乘客准备打开车门进入车辆时，传感器获取检测数据并得到乘客身高，结合车辆底盘高度计算得到适配的车辆底盘高度；在得到适配的车辆底盘高度后，车辆电子控制单元(Electronic Control Unit，ECU)自动控制执行装置调节车辆悬挂至符合适配的车辆底盘高度。在这里执行装置可以为设置在悬挂附近的控制悬挂调节的装置。由于悬挂调节范围是有限的，因此当计算得到的适配的车辆底盘高度超出了悬挂本身的调节范围时，车辆电子控制单元将控制执行装置调节车辆悬挂至最接近适配的车辆底盘高度。在自动调节悬挂的过程中，整 个调节过程是在乘客打开车门进入车辆这个时间阶段内完成的。这样可以避免接近车体但并不乘坐车辆的路人就触发车辆悬挂调节。
在另一个实施例中，对车辆悬挂进行调节可以为手动调节。更具体地，手动调节可以为车内驾驶人员在观察到有乘客准备进入车辆时，进行手动操作以调节车辆悬挂，该手动操作可以是按下车辆中控台上的按钮等；也可以为准备进入车辆的乘客在接近车辆后，自主选择是否调节车辆悬挂，如果选择调节则可以通过遥控操作或手势操作来调节，如果选择不调节则车辆悬挂不会改变。同样地，当适配的车辆底盘高度超出了悬挂调节范围时，车辆悬挂会调节至最接近适配的车辆底盘高度的位置。
本发明实施例还提供了一种车辆悬挂调节系统。请参阅图2和图3，图2是车辆悬挂调节系统的系统示意图，图3是车辆悬挂调节系统的结构示意图。
车辆悬挂调节系统10包括检测装置101、中央处理器102、执行装置103、悬挂104。检测装置101用于检测接近车体的乘客的身高。中央处理器102与检测装置101连接，用于根据乘客身高和车辆底盘高度进行计算，得到适配的车辆底盘高度，并生成控制指令。执行装置103与中央处理器102连接，用于接收所述中央处理器的控制指令并执行控制指令，以使车辆的底盘高度调节至所述适配的车辆底盘高度。悬挂104与执行装置103连接并受执行装置103控制以调节车辆的底盘高度。
具体地，检测装置101还包括检测传感器和检测处理器。检测传感器用于获取检测数据，检测处理器用于处理所述检测数据并得到所述乘客的身高。检测处理器既可以单独设置，例如在检测传感器处直接设置检测处理器，直接处理检测数据得到乘客身高，然后再将乘客身高发送给中央处理器；检测处理器也可以集成在中央处理器中，或者直接由中央处理器完成检测处理器的功能，也就是检测传感器所获取的检测数据不经过处理，传输给中央处理器后由中央处理器或者是其中集成的检测处理器完成数据处理。
在一个实施例中，检测传感器可以为广角摄像头。请参阅图3，包含广角摄像头的检测装置101布置在车门中间位置，当乘客接近车体时，广角摄像头的图像获取范围能够获取乘客整体的图像，从而生成检测数据以供后续检测处理器进行处理。在另一个实施例中，检测传感器还可以为激光雷达。相应地，激光雷达通过扫描获取接近车体的乘客的点阵图像数据，同样地生成检测数据后供后续检测处理器进行处理。
可以理解的是，检测传感器也可以按需布置在车辆上的其他位置。同时，检测装置101也可以包括多个检测传感器，并不限于图4中所示的一个检测传感器。所述多个检测传感器可以同时布置在车辆的一侧，也可以同时布置在车辆的两侧以方便两侧乘客都能够使用本发明的车辆悬挂调节系统。优选地，当多个检测传感器布置在车辆两侧时为对称布置，可以减少车辆出厂时的位置标定过程并且有利于后续的计算过程。
请参阅图4，图4为本发明车辆悬挂调节系统另一实施例的系统示意图。车辆悬挂调节系统10还包括底盘检测装置105。底盘检测装置105与中央处理器102相连接，用于测定车辆底盘高度，并且中央处理器102根据乘客身高和车辆底盘高度计算得到适配的车辆底盘高度。在一些情况下，针对一个具体的车辆，所述车辆底盘高度可以是出厂时即测得的一个确定值，并且在车上负载较少，对悬挂影响较小的时候，使用这个预先测定的车辆底盘高度进行计算即可。但在另一些情况下，车上负载较多，对悬挂影响较大，此时若仍使用预先测定的车辆底盘高度进行计算，会使得计算得到的适配的车辆底盘高度出现较大误差，从而影响乘客进入车辆的舒适性，故对于车上负载较多的情况，则需获取车辆底盘的实时高度。
具体地，底盘检测装置105可以设置在车辆底盘上。底盘检测装置105还可以包括距离传感器，通过距离传感器来实时地获取车辆底盘的高度，并且将实时车辆底盘高度发送的中央处理器102以进行后续计算。通过底盘检测装置105的检测，实时获取的车辆底盘高度数 据可以消除车辆存在负载或其他情况下导致底盘高度出现较大变动时使用预先测定的底盘高度数据计算所带来的误差。
中央处理器102在计算得到适配的底盘高度后，会生成相应的控制指令并发送至执行装置。在一个实施例中，所述控制指令可以是自动生成的。具体地，检测装置101获取乘客身高，中央处理器102根据乘客身高和车辆底盘高度计算得到适配的车辆底盘高度，并且即时地生成控制指令并发送至执行装置。在这个阶段中，接近车体的乘客并不需要任何操作，具体地反映在实际情况中，即可能是乘客准备进入车辆，拉开车门，与此同时车辆悬挂自动调节以使车辆底盘升高或降低来适配乘客的身高，从而提高乘客进入车辆的舒适性。
在另一个实施例中，所述控制指令还可以是根据外界指令生成的。所述外界指令，可以是已经在车内的驾驶人员操作相应装置所生成的指令，也可以是进入车辆的乘客操作所生成的指令。具体地，车内驾驶人员在观察到有乘客准备进入车辆时，可以按下车辆中控台上的按钮来调节悬挂，在驾驶人员没有操作时即使乘客进入车辆悬挂也不会调节；另外地，准备进入车辆的乘客也可以通过遥控操作或是手势操作来进行悬挂调节，如果乘客不进行相应的调节车辆悬挂同样也不会调节。
需要注意的是，由于车辆悬挂调节范围有限，在中央处理器102计算得到的适配的底盘高度超出了悬挂的可调节范围时，车辆并不能达到最适配的底盘高度。此时，中央处理器102所发出的控制指令会相应地进行调节，在车辆悬挂可调节范围内选择最接近适配的底盘高度的悬挂高度并将其作为指令内容发送至执行装置103。相应地，执行装置103则会调节悬挂至最接近适配的底盘高度。
在以上实施例中，所述悬挂104均为可调悬挂。具体地，悬挂104可以为可调空气悬挂、可调液压悬挂、可调电磁悬挂和电子液力式可调悬挂的任何一种。
本发明还提供了一种可调悬挂的车辆，所述可调悬挂的车辆包括本发明提供的车辆悬挂调节系统，并且可以为乘用车、中型客车、大 型客车中的任何一种。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型，本发明的范围由权利要求及其等同特征限定。

Claims (29)

  1. 一种车辆悬挂调节方法，其特征在于：
    检测接近车体的乘客的身高；
    根据乘客身高和车辆底盘高度进行计算，得到适配的车辆底盘高度；
    根据适配的车辆底盘高度对车辆悬挂进行调节。
  2. 根据权利要求1所述的车辆悬挂调节方法，其特征在于，所述检测接近车体的乘客的身高还包括：
    通过传感器检测得到检测数据；
    处理检测数据得到接近车体的乘客的身高。
  3. 根据权利要求2所述的车辆悬挂调节方法，其特征在于，所述传感器为广角摄像头，所述检测数据为视觉摄像数据，所述处理检测数据得到接近车体的乘客的身高包括视觉识别方法。
  4. 根据权利要求2所述的车辆悬挂调节方法，其特征在于，所述传感器为激光雷达，所述检测数据为激光点阵数据，所述处理检测数据得到接近车体的乘客的身高包括点阵计算方法。
  5. 根据权利要求1所述的车辆悬挂调节方法，其特征在于，所述根据适配的车辆底盘高度对车辆悬挂进行调节包括：
    对车辆单侧悬挂进行调节；或
    对车辆两侧悬挂同时进行调节。
  6. 根据权利要求1所述的车辆悬挂调节方法，其特征在于，根据乘客身高和车辆底盘高度进行计算，得到适配的车辆底盘高度包括：
    获取乘客头顶和脚底的高度以及车辆底盘高度；或
    获取乘客脚底的高度以及车辆底盘高度。
  7. 根据权利要求6所述的车辆悬挂调节方法，其特征在于，所述高度为相对高度，所述相对高度包括：
    乘客头顶相对车辆底盘的高度和乘客脚底相对车辆底盘的高度；或
    乘客脚底相对车辆底盘的高度。
  8. 根据权利要求1所述的车辆悬挂调节方法，其特征在于，所述根据适配的车辆底盘高度对车辆悬挂进行调节包括：
    自动对车辆悬挂进行调节；或
    手动对车辆悬挂进行调节。
  9. 根据权利要求8所述的车辆悬挂调节方法，其特征在于，所述自动对车辆悬挂进行调节包括：
    通过电子控制单元控制执行装置调节车辆悬挂至符合适配的车辆底盘高度。
  10. 根据权利要求9所述的车辆悬挂调节方法，其特征在于，所述自动对车辆悬挂进行调节还包括：
    在驾乘人员打开车门的同时完成所述自动对车辆悬挂进行调节的过程。
  11. 根据权利要求8所述的车辆悬挂调节方法，其特征在于，所述手动对车辆悬挂进行调节包括：
    通过手动操作控制执行装置调节车辆悬挂至符合适配的车辆底盘高度。
  12. 根据权利要求11所述的车辆悬挂调节方法，其特征在于，所述手动操作包括遥控操作、机械操作、手势操作中的至少一种。
  13. 根据权利要求9或11所述的车辆悬挂调节方法，其特征在于，
    当所述适配的车辆底盘高度超出车辆悬挂调节范围时，调节车辆悬挂至最接近适配的车辆底盘高度。
  14. 一种车辆悬挂调节系统，其特征在于，包括：
    检测装置，用于检测接近车体的乘客的身高；
    中央处理器，与所述检测装置连接，用于根据乘客身高和车辆底盘高度进行计算，得到适配的车辆底盘高度，并生成控制指令；
    执行装置，与所述中央处理器连接，用于接收所述中央处理器的控制指令并执行控制指令，以使车辆的底盘高度调节至所述适配的车 辆底盘高度；以及
    悬挂，与所述执行装置连接并受所述执行装置控制以调节车辆的底盘高度。
  15. 根据权利要求14所述的车辆悬挂调节系统，其特征在于，所述检测装置包括检测传感器和检测处理器，所述检测传感器用于获取检测数据，所述检测处理器用于处理所述检测数据并得到所述乘客的身高。
  16. 根据权利要求15所述的车辆悬挂调节系统，其特征在于，所述检测处理器与所述中央处理器连接或集成于所述中央处理器中。
  17. 根据权利要求15所述的车辆悬挂调节系统，其特征在于，所述检测传感器包括广角摄像头和激光雷达中的至少一种。
  18. 根据权利要求16所述的车辆悬挂调节系统，其特征在于，所述检测装置包括至少一个检测传感器，所述至少一个检测传感器布置于车身一侧或同时布置于车身两侧。
  19. 根据权利要求14所述的车辆悬挂调节系统，其特征在于，所述车辆悬挂调节系统还包括底盘检测装置，所述底盘检测装置用于测定车辆底盘高度。
  20. 根据权利要求19所述的车辆悬挂调节系统，其特征在于，所述检测装置检测接近车体的乘客的身高后生成检测数据，并将所述检测数据传输至中央处理器，所述中央处理器根据车辆底盘高度和所述检测数据计算得到适配的车辆底盘高度。
  21. 根据权利要求20所述的车辆悬挂调节系统，其特征在于，所述中央处理器根据计算得到的适配的车辆底盘高度，
    自动生成控制指令，并将其发送至执行装置；或
    根据外界指令生成控制指令，并将其发送至执行装置。
  22. 根据权利要求21所述的车辆悬挂调节系统，其特征在于，所述外界指令指驾乘人员的手动操作生成的指令，所述手动操作包括遥控操作、机械操作、手势操作中的至少一种。
  23. 根据权利要求14所述的车辆悬挂调节系统，其特征在于， 所述悬挂为可调悬挂。
  24. 根据权利要求23所述的车辆悬挂调节系统，其特征在于，所述可调悬挂包括可调空气悬挂、可调液压悬挂、可调电磁悬挂和电子液力式可调悬挂中的至少一种。
  25. 根据权利要求23所述的车辆悬挂调节系统，其特征在于，执行装置收到控制指令后，执行控制指令将所述可调悬挂调节至符合适配的底盘高度位置。
  26. 根据权利要求25所述的车辆悬挂调节系统，其特征在于，所述控制指令为所述中央处理器自动生成，且在驾乘人员打开车门的同时执行自动生成的所述控制指令将所述可调悬挂调节至符合适配的车辆底盘高度。
  27. 根据权利要求25所述的车辆悬挂调节系统，其特征在于，若所述适配的底盘高度位置超出了所述可调悬挂的可调节范围，则执行装置将所述可调悬挂调节至最接近所述适配的底盘高度。
  28. 一种可调悬挂的车辆，其特征在于，包括权利要求14-27任一项所述的车辆悬挂调节系统。
  29. 根据权利要求28所述的可调悬挂的车辆，其特征在于，所述可调悬挂的车辆包括乘用车、中型客车、大型客车中的至少一种。
PCT/CN2017/105041 2017-09-30 2017-09-30 车辆悬挂调节方法、系统及可调悬挂的车辆 WO2019061502A1 (zh)

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