CN113126533A - Vehicle control method, vehicle control device and vehicle - Google Patents
Vehicle control method, vehicle control device and vehicle Download PDFInfo
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- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The application provides a vehicle control method, which comprises the steps of obtaining a platform height H0; and adjusting the vehicle suspension height H1 according to the platform height H0 and the corresponding relation between the platform height and the vehicle suspension height. The application provides a vehicle control method, a vehicle control device and a vehicle, wherein the height of a platform is obtained, and the height of a vehicle suspension is adjusted according to the obtained height of the platform, so that the height of a vehicle floor is adjusted, and the vehicle body check of passengers is improved to a certain extent.
Description
Technical Field
The present disclosure relates to the field of vehicle control technologies, and in particular, to a vehicle control method, a vehicle control device, and a vehicle.
Background
When a bus stops by a stop, the situation that the floor of the bus is too high and passengers get on or off the bus inconveniently can occur.
Content of application
The application aims to provide a vehicle control method, a vehicle control device and a vehicle, and aims to solve the defects in the prior art to a certain extent.
A first aspect of the present application provides a vehicle control method, the method comprising, obtaining a platform height;
and adjusting the height of the vehicle suspension according to the platform height and the corresponding relation between the platform height and the height of the vehicle suspension.
A second aspect of the present application provides a vehicle control apparatus comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the computer program to implement the vehicle control method according to the above.
A third aspect of the present application provides a vehicle comprising: the vehicle control device described above.
A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions for, when executed by a processor, enabling the processor to execute a vehicle control method according to the above.
The application provides a vehicle control method, a vehicle control device and a vehicle, wherein the height of a platform is obtained, and the height of a vehicle suspension is adjusted according to the obtained height of the platform, so that the height of a vehicle floor is adjusted, and the vehicle body check of passengers is improved to a certain extent.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flow chart of a vehicle control method provided by an embodiment of the present application;
FIG. 2 is a schematic view of a vehicle camera and a radar installation position provided in an embodiment of the present application;
FIG. 3 is a schematic view of a vehicle docking station provided in an embodiment of the present application;
figure 4 is a schematic view of a vehicle provided by an embodiment of the present application,
fig. 5 is a schematic view illustrating an air inflation and deflation process of the air suspension according to the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In order to explain the technical means of the present application, the following description will be given by way of specific examples.
Passenger cars are important vehicles serving the public, and the comfort and convenience of the passenger cars are more and more emphasized. However, in the prior art, the floor of the passenger car is usually too high, and passengers get on or off the car extremely inconveniently.
In view of this, the present application provides a vehicle control method, as shown in fig. 1, including: acquiring the height of the platform; and adjusting the height of the vehicle suspension according to the platform height and the corresponding relation between the platform height and the height of the vehicle suspension.
The platform can be a conventional bus platform, a temporary platform for getting on and off when the bus stops, and a common road surface.
Specifically, the vehicle of this application is provided with information acquisition device, and information acquisition device can be the camera, also can be the radar. As shown in fig. 2, according to the vehicle provided by an embodiment of the present application, the vehicle is a bus, and a camera is disposed on a vehicle body of the bus on a side close to a platform. The camera is arranged on the side of the vehicle close to the vehicle head and has a certain height, so that the platform height can be acquired more quickly in the process of vehicle entering, and enough time is reserved for adjusting the height of the vehicle suspension. Avoiding unnecessary waiting time of passengers caused by adjusting the suspension.
As shown in fig. 3, the vehicle according to an embodiment of the present application calculates the height of the platform as follows. The transverse distance y between the vehicle and the edge of the platform and the included angle alpha between the camera and the edge of the platform are obtained through the camera, the height of the platform is calculated through the following formula,
H0＝H5-y/tanα，
wherein, H0 is platform height, H5 is ground clearance of the information acquisition device.
The height of the vehicle suspension is adjusted according to the calculated platform height, so that the height of the vehicle floor is matched with the height of the platform, and passengers can get on or off conveniently.
As shown in fig. 2, a radar module may be further installed on the side of the vehicle near the platform, and the radar module may be an ultrasonic radar. According to one embodiment of the invention, a plurality of radars are linearly arranged on the side face of the vehicle body, one of the radars is arranged right below the camera, and the camera can be a monocular camera. In the process of parking and parking vehicles, the camera collects image information of the platform, an included angle alpha between a vehicle body of the vehicle at the camera and the upper edge of the platform is obtained according to the collected image information, the radar module obtains the transverse distance y between the vehicle and the edge of the platform, and then the height of the platform is calculated according to the formula. Because the distance precision that the vehicle that the radar directly obtained and the platform border transverse distance y pass through the image acquisition than the camera is higher, consequently, can promote the high accuracy of the platform of acquireing to adjustment vehicle suspension height that can be more accurate further promotes the experience that the passenger got on or off the bus.
And after the platform height is obtained, the height of the vehicle suspension is adjusted according to the corresponding relation between the platform height and the height of the vehicle suspension. The correspondence between the platform height and the vehicle suspension height may be preset.
Further, in the vehicle control method provided by the embodiment of the present application, the vehicle suspension is a vehicle air suspension, the adjustment range of the vehicle suspension height is (Hmin, Hmax), and the platform height corresponds to the vehicle suspension height in such a way that, if the platform height H0 is a, the vehicle suspension height H1 is b;
the adjusting the height of the vehicle suspension according to the platform height and the corresponding relationship between the platform height and the height of the vehicle suspension comprises,
adjusting the vehicle suspension height H1 ═ b + min (H0-a, Hmax) if the platform height H0> a; adjusting the vehicle suspension height H1-b-max (H0-a, Hmax) if the platform height H0< a; if the platform height H0 is a, the vehicle suspension height H1 is b.
In particular, in one embodiment of the present application, the vehicle suspension is an air suspension, whereby an adjustment of the height of the vehicle suspension is achieved. There is a range of adjustment of the suspension height, i.e., the adjustment range of the vehicle suspension height is (Hmin, Hmax). In the present application, a correspondence relationship between the vehicle suspension height H1 and b when the platform height H0 is "a" is given. Therefore, the vehicle suspension height at different platform heights can be adjusted based on the corresponding relation. Typically, the height of the platform of the urban vehicle is fixed. Therefore, the vehicle of the application can be preset with the vehicle suspension height corresponding to the platform height of the urban vehicle. In this way, multiple adjustment heights of the vehicle suspension height are avoided, and the requirements on the suspension are reduced. Meanwhile, the use of information acquisition devices such as a camera and a radar can be omitted, and the cost is reduced.
Further, in the embodiment of the present application, the vehicle suspension heights at different platform heights are calculated according to the preset correspondence relationship between the platform height H0 ═ a and the vehicle suspension height H1 ═ b.
I.e. if the platform height H0> a, adjust the vehicle suspension height H1 ═ b + min (H0-a, Hmax);
adjusting the vehicle suspension height H1-b-max (H0-a, Hmax) if the platform height H0< a;
if the platform height H0 is a, the vehicle suspension height H1 is b.
The method for adjusting the height of the vehicle suspension during side kneeling is further provided for meeting the side kneeling requirement of the vehicle.
Specifically, the kneeling height of the side of the vehicle suspension is adjusted according to the platform height and the corresponding relation between the platform height and the kneeling height adjustment amount of the side of the vehicle suspension.
The application also provides a calculation method for adjusting the kneeling height of the side of the vehicle suspension according to the platform height and the corresponding relation between the platform height and the kneeling height adjustment amount of the side of the vehicle suspension.
Specifically, the corresponding relation between the platform height and the kneeling height adjustment amount of the vehicle suspension side is,
if the platform height H0 is a and the vehicle suspension height H1 is b, then the platform side suspension approach height H2 is c and the platform side suspension lift height H3 is d;
the adjusting the kneeling height of the side of the vehicle suspension according to the corresponding relation between the platform height and the kneeling height adjusting amount of the side of the vehicle suspension comprises,
if the platform height H0> a, the approach-station-side suspension height K1 is adjusted to b + min (H0-a, Hmax) -c, and the departure-station-side suspension height K2 is adjusted to b + min (H0-a, Hmax) + d;
if the platform height H0< a, the approach-station-side suspension height K1 is adjusted to b-max (a-H0, Hmin) -c, and the departure-station-side suspension height K2 is adjusted to b-max (a-H0, Hmin) + d.
In this application, the vehicle stops the platform, and the passenger gets on or off the bus, will be according to the high automatic adjustment vehicle suspension height of platform to make vehicle floor height and the high phase-match of platform, make things convenient for the passenger to get on or off the bus. If a person who is inconvenient to move gets on or off the vehicle, the suspension of the vehicle is controlled to kneel on the side in order to facilitate the movement of the person. Specifically, the vehicle may be controlled to kneel on its side by one button, or the vehicle may be automatically controlled to kneel on its side when the passenger recognizes that the passenger has a need to kneel on its side by a camera or the like.
In the present application, the requirements for the vehicle suspension may be reduced by performing only the side kneeling adjustment, without performing the height adjustment.
And when the vehicle is controlled to kneel on the side, controlling the vehicle to kneel on the side according to the preset corresponding relation between the platform height and the kneeling height adjustment amount of the vehicle suspension.
The preset corresponding relationship between the platform height and the kneeling height adjustment amount on the vehicle suspension side is that if the platform height H0 is a and the vehicle suspension height H1 is b, the height H2 is lowered close to the platform side suspension c and the height H3 is raised away from the platform side suspension d.
When only controlling the vehicle to kneel on the side, controlling the vehicle to kneel on the side according to the preset corresponding relation between the platform height and the kneeling height adjustment amount of the vehicle suspension side, specifically,
and controlling the vehicle suspension to approach the platform side suspension to reduce the height H2 (c) and to be away from the platform side suspension to raise the height H3 (d).
Thus, three different adjustment modes of only adjusting the height of the vehicle suspension, only controlling the kneeling of the vehicle side and simultaneously controlling the kneeling of the vehicle side when adjusting the height of the vehicle suspension are realized. The use experience of the user is improved.
In an embodiment of the present application, before the obtaining the platform height, the method further includes controlling the vehicle to stop at the platform;
after the adjusting the height of the vehicle suspension, the method further comprises the steps of obtaining a vehicle starting command and controlling the height of the vehicle suspension to a default value according to the vehicle starting command.
Specifically, in the embodiment of the present application, before obtaining the platform height and adjusting the vehicle suspension height, the method further includes controlling the vehicle to stop at the platform. And after the vehicle platform is stably stopped, the height of the vehicle suspension is adjusted according to the height of the platform. When the vehicle is ready to start, the height of the vehicle suspension is controlled to recover according to the acquired vehicle starting command, namely the height of the vehicle suspension is controlled to recover to a default value. The default value of the vehicle suspension height can be the optimal suspension height under the current road running condition, and can also be the vehicle suspension height before the vehicle stops at a stand.
The method for controlling the vehicle to stop at the platform comprises the steps of obtaining a front wheel steering angle delta (t) and vehicle acceleration a (t) according to the following formulas, controlling the vehicle to stop at the platform according to the front wheel steering angle delta (t) and the vehicle acceleration a (t),
wherein x (t) is a state quantity of the vehicle at time t, u (t) is a control quantity at time t, u (t) is [ δ (t), a (t) ], δ (t) is a front wheel steering angle at time t, a (t) is an acceleration at time t, and a, B and C are parameter matrixes of the vehicle.
Specifically, in one embodiment of the present application, the vehicle is an autonomous vehicle. The embodiment of the application also provides a control method for controlling the vehicle to stop at the platform. Controlling the vehicle mainly includes controlling the steering wheel angle and controlling the driving or braking torque of the vehicle. Wherein the ratio of the steering wheel angle to the front wheel angle is the transmission ratio of the steering system. Drive or braking torque T of a vehicleorCan be obtained according to the following formula;
wherein r is the effective radius of the vehicle tire, FfThe running resistance of the vehicle comprises rolling resistance, air resistance and climbing resistance.
When the vehicle is stopped, the braking torque is far greater than the rolling resistance, air resistance and climbing resistance of the vehicle, so that the braking torque is approximately TorTherefore, by obtaining the front wheel steering angle δ (t) and the vehicle acceleration a (t), the vehicle can be controlled to enter the station and stop.
The vehicle front wheel steering angle δ (t) and the vehicle acceleration a (t) are obtained as follows.
Wherein, x (t) is the state quantity of the vehicle at the time t, namely the state space expression of the vehicle at the time t, and is jointly determined by the vehicle transverse displacement, the vehicle transverse speed, the vehicle longitudinal displacement, the vehicle longitudinal speed, the vehicle yaw angle, the vehicle yaw rate and the vehicle mass center slip angle.
u (t) is a control amount at time t, u (t) ([ δ (t), a (t)) ], δ (t) is a front wheel steering angle at time t, a (t) is an acceleration at time t, and a, B, and C are parameter matrices of the vehicle. Therefore, the front wheel steering angle delta (t) and the vehicle acceleration a (t) can be obtained, and the purpose of controlling the automatic driving vehicle to stop at the station according to the embodiment of the application is further achieved.
According to the automatic driving vehicle provided by the embodiment of the application, the platform of the automatic driving vehicle is controlled to stop according to the parking requirement of the decision-making layer, the acceleration and deceleration of the control layer and the steering wheel turning angle; a camera and an ultrasonic radar are laterally installed on the automatic driving vehicle and used for detecting the height of the platform; the disabled person getting on and off the vehicle button is arranged in the vehicle, and when the old, the weak, the disabled and the pregnant need getting on or off the vehicle, the side kneeling of the vehicle can be controlled through the button; selecting a proper air suspension height by utilizing the adjustable height stroke of the air suspension and the detected platform height; when the lateral kneeling of the vehicle and the height adjustment of the air suspension are required to be carried out simultaneously, selecting a certain height for lateral kneeling, selecting PID control for the air charging and discharging of the air suspension, and controlling the air charging and discharging amount through PWM modulation to prevent the over charging and over discharging of the air suspension; when the autonomous vehicle is started again, the air suspension is restored to the original height.
The process of inflating and deflating the air suspension is shown in fig. 5. The air suspension system comprises an air spring, an electromagnetic valve, an air storage tank, an air pump and an air filter, and is provided with a height sensor and a pressure sensor. The electromagnetic valve is used for controlling the connection and disconnection of the air suspension and the atmosphere or the air storage tank; the high-pressure gas is filled in the gas storage tank, and the height of the air spring can be controlled to rise when the gas storage tank is communicated with the air spring; the air pump sucks air when the air storage tank is inflated, and the air filter is used for filtering the air, dehumidifying and dedusting. When the adjusted height of the target suspension is determined, an Electronic Control Unit (ECU) of the air suspension performs air inflation and deflation of the air spring according to the ascending height or the descending height. When the air suspension rises, the ECU adjusts and outputs a PWM (pulse width modulation) control signal through a PID (proportional-integral-derivative controller), a control electromagnetic valve is controlled to enable an air passage between the air storage tank and the air spring to be communicated, air in the air storage tank flows into the air spring through the electromagnetic valve under the condition that the air storage tank and the air spring see a pressure difference, so that the height of the air spring rises, when the target height is reached, the electromagnetic valve outputs the PWM signal due to PID modulation, the phenomenon of over-charging of the air suspension is avoided, when the target height is reached, the electromagnetic valve is closed, the air passage is disconnected, and the charging. When the height of the air suspension is reduced, the ECU outputs a PWM control signal through PID regulation, the electromagnetic valve is controlled to enable an air passage between the air spring and the silencer to be communicated, compressed air in the air spring is discharged into the atmosphere under the action of the spring load mass, the compressed height is reduced along with the air spring, PWM modulation used in the period is carried out, other over-discharge in the air suspension is avoided, the electromagnetic valve is closed when the target height is reached, the air passage is disconnected, and air discharge is finished. In the height adjustment process of the air suspension, the height sensor is used for measuring the real-time height of the air suspension, and the pressure sensor is used for measuring the pressure of the air suspension to form a negative feedback effect, so that PID control is facilitated, and a proper PWM control signal is output. The electromagnetic valve outputs PWM control signals in the patent, and the average value in the air charging and discharging process can be adjusted due to the characteristic of the PWM duty ratio, so that the over charging and over discharging of the air suspension are avoided.
When the unmanned decision-making layer plans that the vehicle stops and restarts, the target adjustment height of the vehicle air suspension is the height under the normal running speed, in order to avoid the influence on the arrangement height and angle of the sensor on the unmanned vehicle when the height of the air suspension is adjusted, the vehicle firstly performs the height adjustment of the air suspension and then performs the control signal of the unmanned control layer, and the operation of the unmanned vehicle is realized.
Wherein, in the embodiment of the application, the vehicle platform side is provided with an information acquisition device, the platform height is calculated according to the following formula,
H0＝H5-y/tanα，
wherein, H0 is the platform height, H5 is the ground clearance of the information acquisition device, y is the transverse distance between the information acquisition device and the upper edge of the platform, and alpha is the included angle between the information acquisition device and the upper edge of the platform.
In the embodiment of the application, the vehicle platform side is provided with the camera and the radar, the platform height is calculated according to the following formula,
H0＝H5-y/tanα，
h0 is the platform height, H5 is the terrain clearance of camera, y is the lateral distance of radar and the border on the platform, alpha is the contained angle of camera and the border on the platform.
Specifically, the vehicle of this application is provided with information acquisition device, and information acquisition device can be the camera, also can be the radar. As shown in fig. 2, according to the vehicle provided by an embodiment of the present application, the vehicle is a bus, and a camera is disposed on a vehicle body of the bus on a side close to a platform. The camera is arranged on the side of the vehicle close to the vehicle head and has a certain height, so that the platform height can be acquired more quickly in the process of vehicle entering, and enough time is reserved for adjusting the height of the vehicle suspension. Avoiding unnecessary waiting time of passengers caused by adjusting the suspension.
As shown in fig. 3, the vehicle according to an embodiment of the present application calculates the height of the platform as follows. The transverse distance y between the vehicle and the edge of the platform and the included angle alpha between the camera and the edge of the platform are obtained through the camera, the height of the platform is calculated through the following formula,
H0＝H5-y/tanα，
wherein, H0 is platform height, H5 is ground clearance of the information acquisition device.
The height of the vehicle suspension is adjusted according to the calculated platform height, so that the height of the vehicle floor is matched with the height of the platform, and passengers can get on or off conveniently.
As shown in fig. 2, a radar module may be further installed on the side of the vehicle near the platform, and the radar module may be an ultrasonic radar. According to one embodiment of the invention, a plurality of radars are linearly arranged on the side face of the vehicle body, one of the radars is arranged right below the camera, and the camera can be a monocular camera. In the process of parking and parking vehicles, the camera collects image information of the platform, an included angle alpha between a vehicle body of the vehicle at the camera and the upper edge of the platform is obtained according to the collected image information, the radar module obtains the transverse distance y between the vehicle and the edge of the platform, and then the height of the platform is calculated according to the formula. Because the distance precision that the vehicle that the radar directly obtained and the platform border transverse distance y pass through the image acquisition than the camera is higher, consequently, can promote the high accuracy of the platform of acquireing to adjustment vehicle suspension height that can be more accurate further promotes the experience that the passenger got on or off the bus.
The present application also provides a vehicle control apparatus including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the computer program to implement the vehicle control method according to the above.
The application also provides a vehicle comprising a vehicle control device according to the above.
The vehicle provided by the application further comprises an information acquisition device arranged on the side surface of the vehicle and used for acquiring the height of the platform, as shown in fig. 4. The information acquisition device comprises a camera, a radar and the like.
The present application also provides a machine-readable storage medium having stored thereon instructions for, when executed by a processor, enabling the processor to execute a vehicle control method according to the above.
The foregoing is a more detailed description of the present application in connection with specific preferred embodiments and it is not intended that the present application be limited to these specific details. For a person skilled in the art to which the present application pertains, several equivalent alternatives or obvious modifications, all of which have the same properties or uses, without departing from the concept of the present application, shall be deemed to belong to the patent protection scope of the present application, as determined by the claims submitted.
Claims (10)
1. A vehicle control method characterized by comprising the steps of,
acquiring the height of the platform;
and adjusting the height of the vehicle suspension according to the platform height and the corresponding relation between the platform height and the height of the vehicle suspension.
2. The vehicle control method according to claim 1, wherein the vehicle suspension is a vehicle air suspension, the adjustment range of the vehicle suspension height is (Hmin, Hmax), and the platform height and the vehicle suspension height correspond to each other in a relationship,
if platform height H0 ═ a, vehicle suspension height H1 ═ b;
the adjusting the height of the vehicle suspension according to the platform height and the corresponding relationship between the platform height and the height of the vehicle suspension comprises,
adjusting the vehicle suspension height H1 ═ b + min ((H0-a), Hmax) if the platform height H0> a;
adjusting the vehicle suspension height H1-b-max ((H0-a), Hmax) if the platform height H0< a;
adjusting the vehicle suspension height H1 ═ b if the platform height H0 ═ a;
and/or the presence of a gas in the gas,
the method further comprises adjusting the vehicle suspension side kneeling height according to the platform height and the corresponding relationship between the platform height and the vehicle suspension side kneeling height adjustment amount;
the platform height and the kneeling height adjustment amount of the vehicle suspension side are correspondingly related,
if the platform height H0 is a and the vehicle suspension height H1 is b, then the platform side suspension approach height H2 is c and the platform side suspension lift height H3 is d;
the adjusting the kneeling height of the side of the vehicle suspension according to the corresponding relation between the platform height and the kneeling height adjusting amount of the side of the vehicle suspension comprises,
if the platform height H0> a, the approach-station-side suspension height K1 is adjusted to b + min ((H0-a), Hmax) -c, and the distance-station-side suspension height K2 is adjusted to b + min ((H0-a), Hmax) + d;
if the platform height H0< a, the approach-station-side suspension height K1 is adjusted to b-max ((a-H0), Hmin) -c, and the distance-station-side suspension height K2 is adjusted to b-max ((a-H0), Hmin) + d.
3. The vehicle control method of claim 1, wherein prior to said obtaining said platform height, said method further comprises controlling the vehicle to stop at the platform;
after the adjusting the height of the vehicle suspension, the method further comprises the steps of obtaining a vehicle starting command and controlling the height of the vehicle suspension to a default value according to the vehicle starting command.
4. The vehicle control method according to claim 3, wherein the controlling the vehicle to stop at the platform includes obtaining a vehicle front wheel steering angle δ (t) and a vehicle acceleration a (t) according to the following formulas, and controlling the vehicle to stop at the platform based on the vehicle front wheel steering angle δ (t) and the vehicle acceleration a (t),
wherein x (t) is a state quantity of the vehicle at time t, u (t) is a control quantity at time t, u (t) is [ δ (t), a (t) ], δ (t) is a front wheel steering angle at time t, a (t) is an acceleration at time t, and a, B and C are parameter matrixes of the vehicle.
5. The vehicle control method according to claim 1, wherein an information collecting device is installed at a vehicle platform side, the platform height is calculated according to the following formula,
H0＝H5-y/tanα，
wherein, H0 is the platform height, H5 is the ground clearance of the information acquisition device, y is the transverse distance between the information acquisition device and the upper edge of the platform, and α is the included angle between the information acquisition device and the upper edge of the platform.
6. The vehicle control method according to claim 1, wherein a camera and a radar are installed at a vehicle platform side, the platform height is calculated according to the following formula,
H0＝H5-y/tanα，
h0 is the platform height, H5 is the ground clearance of camera, y is the lateral distance of radar and the border on the platform, alpha is the contained angle of camera and the border on the platform.
7. A vehicle control apparatus characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the computer program to implement the vehicle control method according to any one of claims 1 to 6.
8. A vehicle characterized by comprising the vehicle control apparatus of claim 7.
9. The vehicle of claim 8, further comprising an information collection device mounted to a side of the vehicle.
10. A machine-readable storage medium having stored thereon instructions for enabling a processor to execute the vehicle control method according to any one of claims 1 to 6 when executed by the processor.
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| CN110315923A (en) * | 2019-08-06 | 2019-10-11 | 珠海格力电器股份有限公司 | A kind of gas path device, airsuspension system, automobile and its control method |
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| US20170174231A1 (en) * | 2015-12-17 | 2017-06-22 | Technologies Lanka Inc. | Method of adjusting a height of a car floor plane of a railroad car and height adjustment system |
| CN110315923A (en) * | 2019-08-06 | 2019-10-11 | 珠海格力电器股份有限公司 | A kind of gas path device, airsuspension system, automobile and its control method |
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