CN114043836B - Automobile threshold control method, device, equipment and readable storage medium - Google Patents

Automobile threshold control method, device, equipment and readable storage medium Download PDF

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CN114043836B
CN114043836B CN202111540018.7A CN202111540018A CN114043836B CN 114043836 B CN114043836 B CN 114043836B CN 202111540018 A CN202111540018 A CN 202111540018A CN 114043836 B CN114043836 B CN 114043836B
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vehicle
height
threshold
relative distance
air
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CN114043836A (en
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杨光
吴方武
占玉霞
何娅平
刘强
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
    • B60G17/0155—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit pneumatic unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/017—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their use when the vehicle is stationary, e.g. during loading, engine start-up or switch-off
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
    • 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
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B60G17/052—Pneumatic spring characteristics
    • B60G17/0523—Regulating distributors or valves for pneumatic springs
    • B60G17/0526—Distributor units, e.g. for retractable wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R3/00—Arrangements of steps or ladders facilitating access to or on the vehicle, e.g. running-boards
    • B60R3/02—Retractable steps or ladders, e.g. movable under shock
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/10—Type of spring
    • B60G2202/15—Fluid spring
    • B60G2202/152—Pneumatic spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/14—Buses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/14—Photo or light sensitive means, e.g. Infrared
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/30—Height or ground clearance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/20—Stationary vehicle
    • B60G2800/202—Stationary vehicle kneeling, e.g. for letting passengers on/off

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention provides a method, a device, equipment and a readable storage medium for controlling automobile threshold. The method comprises the following steps: acquiring a first relative distance between a vehicle threshold and a corresponding platform in the horizontal direction and a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction; calculating to obtain the air quantity adjustment values of the air suspensions at the left side and the right side of the vehicle according to the second relative distance; adjusting the air suspensions at the left side and the right side of the vehicle according to the air quantity adjusting values of the air suspensions at the left side and the right side of the vehicle; and after the air suspensions at the left side and the right side of the vehicle are adjusted, controlling the vehicle threshold to transversely stretch the first relative distance. According to the invention, the air suspension of the vehicle is adjusted according to the height difference between the vehicle threshold and the platform, and the vehicle threshold is controlled to transversely extend for a first relative distance, so that the vehicle threshold pedal is connected with the corresponding platform in a flush manner, the convenience of getting on and off the vehicle is improved, the time of getting on and off the vehicle is shortened, and the probability of blocking the vehicle is reduced.

Description

Automobile threshold control method, device, equipment and readable storage medium
Technical Field
The present invention relates to the field of air suspension control of vehicles, and in particular, to a method, an apparatus, a device, and a readable storage medium for controlling a threshold of an automobile.
Background
At present, there are various road types in China, and different platform heights on each road are different. Some stations are higher and some stations are lower relative to the car threshold. When the platform is higher, the passengers need to bend down to get on or off the vehicle, and when the platform is lower, the passengers need to step on the vehicle. For partial old people, children and passengers with inconvenient bodies and need to sit on a wheelchair, the passengers are difficult to get on or off and take long time, and the passengers are easy to cause vehicle blockage and influence normal traffic.
In the prior art, through setting up the lift footboard in the door bottom, adopt motor drive to adjust the height of car threshold and platform to the passenger gets on and off the bus. This solution has the following drawbacks:
1. the motor is adopted for control, a driver is required to start and adjust the height of the lifting pedal by means of the height difference between the car threshold and the platform, the adjustment quantity cannot be controlled, and the butt joint of the car threshold and the platform is difficult to realize;
2. the problem of getting on or off the vehicle by special people taking wheelchairs is not considered;
3. the Y-direction distance between the vehicle body and the platform is not considered after the driver parks;
4. the problem that the threshold pedal is not aligned with the platform due to the height difference between the front and the rear of the platform is not considered.
Disclosure of Invention
The invention mainly aims to provide a method, a device and equipment for controlling automobile threshold and a readable storage medium, which aim to improve the convenience of passengers in getting on and off, shorten the time for passengers to get on and off and reduce the probability of vehicle blockage.
In a first aspect, the present invention provides a method for controlling a car door sill, the method comprising:
acquiring a first relative distance between a vehicle threshold and a corresponding platform in the horizontal direction and a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction;
calculating to obtain the air quantity adjustment values of the air suspensions at the left side and the right side of the vehicle according to the second relative distance;
adjusting the air suspensions at the left side and the right side of the vehicle according to the air quantity adjusting values of the air suspensions at the left side and the right side of the vehicle;
and after the air suspensions at the left side and the right side of the vehicle are adjusted, controlling the vehicle threshold to transversely stretch the first relative distance.
Optionally, the step of calculating the air volume adjustment values of the air suspensions at the left and right sides of the vehicle according to the second relative distance includes:
obtaining a vehicle inclination angle according to the vehicle width and the second relative distance;
obtaining a first height to be adjusted of the left air suspension of the vehicle according to the relative distance between the left air suspension of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
calculating to obtain an air quantity adjustment value of the air suspension on the left side of the vehicle according to the functional relation between the air quantity and the height of the air suspension of the vehicle and the first height;
obtaining a second height to be adjusted of the right air suspension of the vehicle according to the relative distance between the right air suspension of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
and calculating the air quantity adjustment value of the air suspension on the right side of the vehicle according to the functional relation between the air quantity and the height of the air suspension of the vehicle and the second height.
Optionally, the step of obtaining the first height to be adjusted of the left air suspension according to the relative distance between the left air suspension and the vehicle and the inclination angle of the vehicle includes:
and calculating the first height to be adjusted of the left air suspension according to the relative distance between the left air suspension and the opposite side of the threshold side of the vehicle and the inclination angle of the vehicle.
Optionally, the step of obtaining the first height to be adjusted of the left air suspension according to the relative distance between the left air suspension and the vehicle and the inclination angle of the vehicle includes:
and calculating the third height of the left air suspension according to the relative distance between the left air suspension and the threshold side of the vehicle and the inclination angle of the vehicle.
And calculating the difference value between the height of the left air suspension and the third height when the vehicle runs to obtain the first height which needs to be adjusted for the left air suspension of the vehicle.
Optionally, the step of calculating the air volume adjustment values of the air suspensions at the left and right sides of the vehicle according to the second relative distance includes:
and calculating the air quantity adjustment values of the air suspensions at the left side and the right side of the vehicle according to the functional relation between the air quantity and the height of the air suspension of the vehicle and the second relative distance.
Optionally, the step of obtaining the second relative distance between the vehicle threshold and the corresponding platform in the vertical direction includes:
obtaining a fourth height of the platform relative to the road surface and a fifth height of the vehicle threshold relative to the road surface based on image information acquired by the camera;
and calculating the difference between the fourth height and the fifth height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
Optionally, the step of obtaining the second relative distance between the vehicle threshold and the corresponding platform in the vertical direction includes:
receiving a sixth height of a station relative to a road surface, the sixth height being transmitted by a station-side terminal;
obtaining a seventh height of the vehicle threshold relative to the road surface based on the image information acquired by the camera;
and calculating the difference between the sixth height and the seventh height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
In a second aspect, the present invention also provides a door sill control apparatus for a vehicle, the door sill control apparatus comprising:
the acquisition module is used for acquiring a first relative distance between a vehicle threshold and a corresponding platform in the horizontal direction and a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction;
the calculation module is used for calculating and obtaining the air quantity adjustment values of the air suspensions at the left side and the right side of the vehicle according to the second relative distance;
the adjusting module is used for adjusting the air suspensions at the left side and the right side of the vehicle according to the air quantity adjusting value of the air suspensions at the left side and the right side of the vehicle;
and the control module is used for controlling the vehicle threshold to transversely stretch the first relative distance after adjusting the air suspensions at the left side and the right side of the vehicle.
In a third aspect, the present invention also provides a car threshold control device, the car threshold control device comprising a processor, a memory, and a car threshold control program stored on the memory and executable by the processor, wherein the car threshold control program, when executed by the processor, implements the steps of the car threshold control method as described above.
In a fourth aspect, the present invention further provides a readable storage medium, where a car threshold control program is stored, where the car threshold control program, when executed by a processor, implements the steps of the car threshold control method as described above.
In the invention, a first relative distance between a vehicle threshold and a corresponding platform in a horizontal direction and a second relative distance between the vehicle threshold and the corresponding platform in a vertical direction are obtained; calculating to obtain the air quantity adjustment values of the air suspensions at the left side and the right side of the vehicle according to the second relative distance; adjusting the air suspensions at the left side and the right side of the vehicle according to the air quantity adjusting values of the air suspensions at the left side and the right side of the vehicle; and after the air suspensions at the left side and the right side of the vehicle are adjusted, controlling the vehicle threshold to transversely stretch the first relative distance. According to the invention, the first relative distance between the vehicle threshold and the corresponding platform in the horizontal direction and the second relative distance between the vehicle threshold and the corresponding platform in the vertical direction are obtained, the air quantity adjustment values of the air suspensions at the left and right sides of the vehicle are obtained according to the second relative distances, and the air suspensions at the left and right sides of the vehicle are adjusted according to the air quantity adjustment values of the air suspensions at the left and right sides of the vehicle, so that the vehicle threshold and the corresponding platform are on the same horizontal plane, the vehicle threshold is controlled to transversely extend by the first relative distance, the vehicle threshold pedal is connected with the corresponding platform in a flush manner, the convenience of getting on and off passengers is improved, the time for getting on and off the passengers is shortened, and the probability of blocking the vehicle is reduced.
Drawings
Fig. 1 is a schematic hardware structure of a car threshold control device according to an embodiment of the present invention;
FIG. 2 is a flow chart of an embodiment of a method for controlling a rocker of a vehicle according to the present invention;
FIG. 3 is a schematic diagram of a vehicle and a platform according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a vehicle running according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a threshold control method according to a first embodiment of the present invention;
FIG. 6 is a schematic diagram of a second embodiment of a threshold control method according to the present invention;
fig. 7 is a functional block diagram of an embodiment of a rocker control device for a vehicle according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In a first aspect, an embodiment of the present invention provides a car threshold control device, which may be a device having a data processing function, such as a personal computer (personal computer, PC), a notebook computer, a server, or the like.
Referring to fig. 1, fig. 1 is a schematic hardware structure of a car threshold control device according to an embodiment of the present invention. In an embodiment of the present invention, the automobile threshold control device may include a processor 1001 (e.g., a Central processor ProcessingUnit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein the communication bus 1002 is used to enable connected communications between these components; the user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM) or a stable memory (non-volatile memory), such as a disk memory, and the memory 1005 may alternatively be a storage device independent of the processor 1001. Those skilled in the art will appreciate that the hardware configuration shown in fig. 1 is not limiting of the invention and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
With continued reference to fig. 1, an operating system, a network communication module, a user interface module, and a car threshold control program may be included in the memory 1005 of fig. 1, which is a type of computer storage medium. The processor 1001 may call a car threshold control program stored in the memory 1005, and execute the car threshold control method provided in the embodiment of the present invention.
In a second aspect, an embodiment of the present invention provides a method for controlling a door sill of an automobile.
In an embodiment, referring to fig. 2, fig. 2 is a flowchart illustrating an embodiment of a method for controlling a door sill of an automobile according to the present invention. As shown in fig. 2, the automobile threshold control method includes:
step S10, a first relative distance between a vehicle threshold and a corresponding platform in the horizontal direction and a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction are obtained;
in this embodiment, referring to fig. 3, fig. 3 is a schematic diagram of an automobile and a platform according to an embodiment of the automobile threshold control method of the present invention. As shown in fig. 3, a first relative distance between a vehicle threshold and a corresponding platform in a horizontal direction is obtained based on image information acquired by a camera, wherein the camera comprises a front camera and a side vehicle-mounted camera. When the vehicle threshold is a front threshold, the corresponding platform is the platform corresponding to the front threshold of the vehicle, and when the vehicle threshold is a rear threshold, the corresponding platform is the platform corresponding to the rear door of the vehicle. Specifically, the right side of the platform is the platform corresponding to the front threshold of the vehicle, and the left side of the platform is the platform corresponding to the rear threshold of the vehicle.
Further, referring to fig. 4, fig. 4 is a schematic diagram illustrating an automobile running according to an embodiment of the present invention. As shown in fig. 3 and 4, the relative height between the vehicle threshold and the road surface and the relative height between the platform and the road surface are obtained based on the image information acquired by the camera, and the difference between the relative height between the vehicle threshold and the road surface and the relative height between the platform and the road surface is calculated to obtain the second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
Further, a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction is obtained based on the image information acquired by the camera.
Further, the relative height between the platform and the road surface, which is sent by the platform side terminal, is received through the vehicle-mounted signal receiver, and the relative height between the vehicle threshold and the road surface is obtained based on the image information acquired by the camera.
And calculating the difference between the relative height of the platform and the road surface and the relative height of the vehicle threshold and the road surface to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
Further, the first relative distance between the vehicle threshold and the corresponding station in the horizontal direction and the second relative distance between the vehicle threshold and the corresponding station in the vertical direction may be obtained when the distance between the vehicle and the station is smaller than the threshold, or the first relative distance between the vehicle threshold and the corresponding station in the horizontal direction and the second relative distance between the vehicle threshold and the corresponding station in the vertical direction may be obtained when the vehicle reaches the stop of the station.
Further, in an embodiment, the step of obtaining the second relative distance between the vehicle threshold and the corresponding station in the vertical direction includes:
obtaining a fourth height of the platform relative to the road surface and a fifth height of the vehicle threshold relative to the road surface based on image information acquired by the camera;
and calculating the difference between the fourth height and the fifth height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
In this embodiment, if the platform is not the intelligent platform, the fourth height of the platform relative to the road surface and the fifth height of the vehicle threshold relative to the road surface are obtained based on the image information obtained by the camera when the distance between the vehicle and the platform is smaller than the threshold or the vehicle reaches the stop of the platform. And calculating the difference between the fourth height and the fifth height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction. When the vehicle threshold is the front threshold, the fourth height is the height of the vehicle front threshold corresponding to the platform relative to the road surface, and the second relative distance is the relative distance between the vehicle front threshold and the corresponding platform in the vertical direction. When the vehicle threshold is a rear threshold, the fourth height is the height of the vehicle rear threshold relative to the road surface at the corresponding station, and the second relative distance is the relative distance between the vehicle rear threshold and the corresponding station in the vertical direction.
Further, in an embodiment, the step of obtaining the second relative distance between the vehicle threshold and the corresponding station in the vertical direction includes:
receiving a sixth height of a station relative to a road surface, the sixth height being transmitted by a station-side terminal;
obtaining a seventh height of the vehicle threshold relative to the road surface based on the image information acquired by the camera;
and calculating the difference between the sixth height and the seventh height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
In this embodiment, if the platform is an intelligent platform, when the distance between the vehicle and the platform is smaller than a threshold value or the vehicle reaches the stop of the platform, the sixth height of the platform relative to the road surface sent by the platform side terminal is received, and the seventh height of the vehicle threshold relative to the road surface is obtained based on the image information collected by the camera. And calculating the difference between the sixth height and the seventh height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction. When the vehicle threshold is a front door threshold, the sixth height is a height of the front door threshold of the vehicle relative to the platform and the road surface, and the second relative distance is a relative distance between the front door threshold of the vehicle and the corresponding platform in a vertical direction. When the vehicle door sill is a vehicle rear door sill, the sixth height is the height of the vehicle rear door sill corresponding to the platform relative to the road surface, and the second relative distance is the relative distance between the vehicle rear door sill and the corresponding platform in the vertical direction.
Step S20, calculating to obtain the air quantity adjustment values of the air suspensions at the left side and the right side of the vehicle according to the second relative distance;
in this embodiment, if the height to be adjusted of the air suspensions on the left and right sides of the vehicle is the same as the height to be adjusted of the vehicle threshold, the air volume adjustment values of the air suspensions on the left and right sides of the vehicle are calculated according to the second relative distance and the functional relationship between the air volume and the height of the air suspensions.
If the required height of the air suspensions at the left side and the right side of the vehicle is different from the required height of the vehicle threshold, and the vehicle threshold is the front threshold, the vehicle inclination angle is obtained according to the width of the vehicle body and the second relative distance, the first height of the air suspension at the left front side of the vehicle is obtained according to the relative distance between the air suspension at the left front side of the vehicle and any side of the vehicle and the vehicle inclination angle, and then the air quantity adjustment value of the air suspension at the left front side of the vehicle is obtained according to the functional relation between the air charge quantity of the air suspension and the height of the vehicle and the first height of the air suspension at the left front side of the vehicle. Similarly, the air volume adjustment values of the air suspensions on the front left side, the rear left side, the front right side and the rear right side of the vehicle are obtained.
Further, in an embodiment, step S20 includes:
and calculating the air quantity adjustment values of the air suspensions at the left side and the right side of the vehicle according to the functional relation between the air quantity and the height of the air suspension of the vehicle and the second relative distance.
In this embodiment, referring to fig. 5, fig. 5 is a schematic diagram of a car threshold control according to a first embodiment of the car threshold control method of the present invention. As shown in FIG. 5, the height of the air suspension on the left and right sides of the vehicle is the same as the required height of the vehicle threshold, and the air suspension is inflated according to the function relation of the air suspension and the height
Figure BDA0003413725510000071
Second relative distance H 1 The air quantity adjustment values of the air suspensions at the left side and the right side of the vehicle are calculated to be Q 1 ＝f*H 1 . As shown in fig. 5, the left air suspension in the left air release state is the height of the left air suspension of the vehicle after the left air suspension of the vehicle is adjusted according to the air quantity adjustment value of the left air suspension of the vehicle. The right side air release state air suspension is that the height of the right side air suspension of the vehicle is adjusted according to the air quantity adjusting value of the right side air suspension of the vehicle.
Further, in an embodiment, step S20 includes:
step S201, obtaining a vehicle inclination angle according to the vehicle body width and the second relative distance;
step S202, obtaining a first height to be adjusted of the left air suspension of the vehicle according to the relative distance between the left air suspension of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
step S203, calculating to obtain an air quantity adjustment value of the air suspension on the left side of the vehicle according to the functional relation between the air quantity and the height of the air suspension of the vehicle and the first height;
step S204, obtaining a second height to be adjusted of the right air suspension of the vehicle according to the relative distance between the right air suspension of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
and step S205, calculating to obtain the air quantity adjustment value of the air suspension on the right side of the vehicle according to the functional relation between the air quantity and the height of the air suspension of the vehicle and the second height.
In this embodiment, referring to fig. 6, fig. 6 is a schematic diagram of a car threshold control according to a second embodiment of the car threshold control method of the present invention. As shown in fig. 6, the height of the air suspension on the left and right sides of the vehicle is different from the required height of the vehicle threshold, and is based on the vehicle width L 1 Second relative distance H 1 The inclination angle of the vehicle is obtained firstly through trigonometric function
Figure BDA0003413725510000081
Wherein when the second relative distance is the relative distance between the front threshold of the vehicle and the corresponding platform in the vertical direction, alpha 1 For the front side inclination angle of the vehicle, when the second relative distance is the relative distance between the rear threshold of the vehicle and the corresponding platform in the vertical direction, alpha 1 Is the vehicle rear side inclination angle.
According to the relative distance L between the left air suspension and either side of the vehicle 20 Angle of inclination alpha of vehicle 1 Calculating a first height H of the left air suspension of the vehicle to be adjusted 20 ＝L 20 *tanα 1 . The left air suspension in the deflation state is the height of the left air suspension of the vehicle after the left air suspension of the vehicle is adjusted according to the air quantity adjusting value of the left air suspension of the vehicle. Wherein when the second relative distance is the relative distance between the front threshold of the vehicle and the corresponding platform in the vertical direction, the first height H 20 Left for vehicleThe front side is required to be adjusted, and when the second relative distance is the relative distance between the vehicle rear threshold and the corresponding platform in the vertical direction, the first height H 20 The height to be adjusted is required for the rear left side of the vehicle.
According to the functional relation between the air charge quantity and the height of the air suspension of the vehicle
Figure BDA0003413725510000091
First height H 20 Calculating to obtain the air quantity adjusting value Q of the left air suspension of the vehicle 2 ＝f*H 20 . Wherein when the second relative distance is the relative distance between the front threshold of the vehicle and the corresponding platform in the vertical direction, Q 2 For the air quantity adjustment value of the left front air suspension of the vehicle, when the second relative distance is the relative distance between the rear threshold of the vehicle and the corresponding platform in the vertical direction, Q 2 The air quantity adjustment value of the air suspension at the left rear side of the vehicle.
According to the relative distance L between the right air suspension and either side of the vehicle 30 Angle of inclination alpha of vehicle 1 Calculating a second height H of the right air suspension of the vehicle to be adjusted 30 ＝L 30 *tanα 1 . The right side air suspension in the deflation state is the height of the right side air suspension of the vehicle after the right side air suspension of the vehicle is adjusted according to the air quantity adjusting value of the right side air suspension of the vehicle. Wherein when the second relative distance is the relative distance between the front threshold of the vehicle and the corresponding platform in the vertical direction, the second height H 30 For the height to be adjusted on the front right side of the vehicle, when the second relative distance is the relative distance between the rear threshold of the vehicle and the corresponding platform in the vertical direction, the second height H 30 The height to be adjusted is required for the right rear side of the vehicle.
According to the functional relation between the air charge quantity and the height of the air suspension of the vehicle
Figure BDA0003413725510000092
Second height H 30 Calculating to obtain the air quantity adjusting value Q of the air suspension on the right side of the vehicle 3 ＝f*H 30 . Wherein when the second relative distance is the relative distance between the front threshold of the vehicle and the corresponding platform in the vertical directionAt a distance of Q 3 For the air quantity adjustment value of the air suspension at the right front side of the vehicle, when the second relative distance is the relative distance between the rear threshold of the vehicle and the corresponding platform in the vertical direction, Q 3 The air quantity adjusting value of the air suspension at the right rear side of the vehicle.
Further, in an embodiment, step S202 includes:
and calculating the first height to be adjusted of the left air suspension according to the relative distance between the left air suspension and the opposite side of the threshold side of the vehicle and the inclination angle of the vehicle.
In the present embodiment, if the relative distance between the left air suspension and the opposite side of the rocker side of the vehicle is L 201 According to the relative distance L between the left air suspension and the opposite side of the threshold side of the vehicle 201 Angle of inclination alpha of vehicle 1 Calculating a first height H of the left air suspension of the vehicle to be adjusted 20 ＝L 201 *tanα 1 When the second relative distance is the relative distance between the front threshold of the vehicle and the corresponding platform in the vertical direction, the first height is the height of the front left air suspension of the vehicle to be adjusted. When the second relative distance is the relative distance between the vehicle rear threshold and the corresponding platform in the vertical direction, the first height is the height of the vehicle left rear side air suspension to be adjusted.
Further, if the relative distance between the right air suspension of the vehicle and the opposite side of the vehicle threshold side is L 301 According to the relative distance L between the left air suspension and the opposite side of the threshold side of the vehicle 301 Angle of inclination alpha of vehicle 1 Calculating a second height H of the air suspension on the right front side of the vehicle to be adjusted 30 ＝L 301 *tanα 1 When the second relative distance is the relative distance between the front threshold of the vehicle and the corresponding platform in the vertical direction, the second height is the height of the front right air suspension of the vehicle to be adjusted. When the second relative distance is the relative distance between the vehicle rear threshold and the corresponding platform in the vertical direction, the second height is the height of the vehicle right rear side air suspension to be adjusted.
Further, in an embodiment, step S202 includes:
and calculating the third height of the left air suspension according to the relative distance between the left air suspension and the threshold side of the vehicle and the inclination angle of the vehicle.
And calculating the difference value between the height of the left air suspension and the third height when the vehicle runs to obtain the first height which needs to be adjusted for the left air suspension of the vehicle.
In the present embodiment, if the relative distance between the left air suspension and the rocker side of the vehicle is L 202 According to the relative distance L between the left air suspension and the threshold side of the vehicle 202 And an angle alpha of an internal error angle of the vehicle inclination angle 2 Calculating a third height H of the left air suspension of the vehicle 40 ＝L 202 *tanα 2 I.e. the height of the left deflated air suspension of the vehicle. When the second relative distance is the relative distance between the front threshold of the vehicle and the corresponding platform in the vertical direction, the third height is the height of the front left air suspension of the vehicle. When the second relative distance is the relative distance between the vehicle rear threshold and the corresponding platform in the vertical direction, the third height is the height of the vehicle left rear side air suspension.
As shown in fig. 4 and 6, the difference between the height of the left air suspension and the third height is calculated when the vehicle is running to obtain the first height H to be adjusted of the left air suspension of the vehicle 20 When the third height is the height of the front left air suspension of the vehicle, the first height is the height of the front left air suspension of the vehicle, which needs to be adjusted. When the third height is the height of the vehicle left rear side air suspension, the first height is the height of the vehicle left rear side air suspension which needs to be adjusted.
Further, if the relative distance between the right air suspension and the threshold side of the vehicle is L 302 According to the relative distance L between the right air suspension and the threshold side of the vehicle 302 And an angle alpha of an internal error angle of the vehicle inclination angle 2 Calculating a fourth height H of the right air suspension of the vehicle 50 ＝L 302 *tanα 2 I.e. the height of the right side deflated air suspension of the vehicle. Wherein when the second relative distance is the relative distance between the front threshold of the vehicle and the corresponding platform in the vertical directionAnd when the vehicle is separated from the front right air suspension, the fourth height is the height of the front right air suspension of the vehicle. When the second relative distance is the relative distance between the vehicle rear threshold and the corresponding platform in the vertical direction, the fourth height is the height of the vehicle right rear air suspension.
Calculating the difference between the height of the right air suspension and the fourth height when the vehicle runs to obtain a second height H which needs to be adjusted for the right air suspension of the vehicle 30 When the fourth height is the height of the front right air suspension of the vehicle, the second height is the height of the front right air suspension of the vehicle, which needs to be adjusted. When the fourth height is the height of the vehicle right rear side air suspension, the second height is the height of the vehicle right rear side air suspension to be adjusted.
Step S30, adjusting the air suspensions at the left side and the right side of the vehicle according to the air quantity adjustment values of the air suspensions at the left side and the right side of the vehicle;
in this embodiment, if the second distance between the vehicle threshold and the corresponding platform in the vertical direction is greater than zero, the air suspension on the left and right sides of the vehicle is controlled to be deflated according to the air volume adjustment values of the air suspension on the left and right sides of the vehicle, so that the vehicle threshold and the corresponding platform are on the same horizontal plane.
And if the second distance between the vehicle threshold and the corresponding platform in the vertical direction is smaller than zero, controlling the air suspensions at the left and right sides of the vehicle to be inflated according to the air quantity adjusting values of the air suspensions at the left and right sides of the vehicle, so that the vehicle threshold and the corresponding platform are on the same horizontal plane.
If the second distance between the vehicle threshold and the corresponding platform in the vertical direction is zero, the air quantity adjustment value of the air suspensions at the left side and the right side of the vehicle is zero, and the heights of the air suspensions at the left side and the right side of the vehicle are kept unchanged.
And S40, after the air suspensions at the left side and the right side of the vehicle are adjusted, controlling the vehicle threshold to transversely stretch by the first relative distance.
In this embodiment, with continued reference to fig. 5 and 6, after the air suspensions on the left and right sides of the vehicle are adjusted, the first relative distance obtained in the step S10 of extending the transverse telescopic pedal of the vehicle threshold is controlled, so that the vehicle threshold pedal is connected with the corresponding platform in a flush manner, which is convenient for the old, the children and the passengers taking the wheelchair to get on or off the vehicle, thereby shortening the time for the passengers to get on or off the vehicle and reducing the probability of vehicle blockage.
In this embodiment, a first relative distance between a vehicle threshold and a corresponding platform in a horizontal direction and a second relative distance between the vehicle threshold and the corresponding platform in a vertical direction are obtained; calculating to obtain the air quantity adjustment values of the air suspensions at the left side and the right side of the vehicle according to the second relative distance; adjusting the air suspensions at the left side and the right side of the vehicle according to the air quantity adjusting values of the air suspensions at the left side and the right side of the vehicle; and after the air suspensions at the left side and the right side of the vehicle are adjusted, controlling the vehicle threshold to transversely stretch the first relative distance. According to the embodiment, the first relative distance between the vehicle threshold and the corresponding platform in the horizontal direction and the second relative distance between the vehicle threshold and the corresponding platform in the vertical direction are obtained, the air quantity adjustment values of the air suspensions at the left side and the right side of the vehicle are obtained according to the second relative distance, and the air suspensions at the left side and the right side of the vehicle are adjusted according to the air quantity adjustment values of the air suspensions at the left side and the right side of the vehicle, so that the vehicle threshold and the corresponding platform are on the same horizontal plane, the first relative distance is controlled to be transversely elongated, the vehicle threshold pedal is in flush connection with the corresponding platform, the convenience of getting on and off passengers is improved, the time for getting on and off the passengers is shortened, and the probability of vehicle blockage is reduced.
In a third aspect, an embodiment of the present invention further provides an automobile threshold control device.
In an embodiment, referring to fig. 7, fig. 7 is a schematic functional block diagram of a first embodiment of a threshold control device for a vehicle according to the present invention. As shown in fig. 7, the automobile door sill control apparatus includes:
an acquisition module 10 for acquiring a first relative distance between a vehicle threshold and a corresponding platform in a horizontal direction and a second relative distance in a vertical direction;
the calculation module 20 is configured to calculate an air volume adjustment value of the air suspensions at the left and right sides of the vehicle according to the second relative distance;
the adjusting module 30 is used for adjusting the air suspensions at the left side and the right side of the vehicle according to the air quantity adjusting value of the air suspensions at the left side and the right side of the vehicle;
and the control module 40 is used for controlling the vehicle threshold to transversely stretch the first relative distance after the air suspensions at the left side and the right side of the vehicle are adjusted.
Further, in an embodiment, the computing module 20 is configured to:
obtaining a vehicle inclination angle according to the vehicle width and the second relative distance;
obtaining a first height to be adjusted of the left air suspension of the vehicle according to the relative distance between the left air suspension of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
calculating to obtain an air quantity adjustment value of the air suspension on the left side of the vehicle according to the functional relation between the air quantity and the height of the air suspension of the vehicle and the first height;
obtaining a second height to be adjusted of the right air suspension of the vehicle according to the relative distance between the right air suspension of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
and calculating the air quantity adjustment value of the air suspension on the right side of the vehicle according to the functional relation between the air quantity and the height of the air suspension of the vehicle and the second height.
Further, in an embodiment, the computing module 20 is further configured to:
and calculating the first height to be adjusted of the left air suspension according to the relative distance between the left air suspension and the opposite side of the threshold side of the vehicle and the inclination angle of the vehicle.
Further, in an embodiment, the computing module 20 is further configured to:
and calculating the third height of the left air suspension according to the relative distance between the left air suspension and the threshold side of the vehicle and the inclination angle of the vehicle.
And calculating the difference value between the height of the left air suspension and the third height when the vehicle runs to obtain the first height which needs to be adjusted for the left air suspension of the vehicle.
Further, in an embodiment, the computing module 20 is further configured to:
and calculating the air quantity adjustment values of the air suspensions at the left side and the right side of the vehicle according to the functional relation between the air quantity and the height of the air suspension of the vehicle and the second relative distance.
Further, in an embodiment, the obtaining module 10 is configured to:
obtaining a fourth height of the platform relative to the road surface and a fifth height of the vehicle threshold relative to the road surface based on image information acquired by the camera;
and calculating the difference between the fourth height and the fifth height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
Further, in an embodiment, the obtaining module 10 is further configured to:
receiving a sixth height of a station relative to a road surface, the sixth height being transmitted by a station-side terminal;
obtaining a seventh height of the vehicle threshold relative to the road surface based on the image information acquired by the camera;
and calculating the difference between the sixth height and the seventh height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
The function implementation of each module in the automobile threshold control device corresponds to each step in the automobile threshold control method embodiment, and the function and implementation process of each module are not described here in detail.
In a fourth aspect, embodiments of the present invention also provide a readable storage medium.
The readable storage medium of the present invention stores a car threshold control program, wherein the car threshold control program, when executed by a processor, implements the steps of the car threshold control method as described above.
The method implemented when the car threshold control program is executed may refer to various embodiments of the car threshold control method of the present invention, which are not described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising several instructions for causing a terminal device to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims (9)

1. The automobile threshold control method is characterized by comprising the following steps of:
acquiring a first relative distance between a vehicle threshold and a corresponding platform in the horizontal direction and a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction;
calculating to obtain the air quantity adjustment values of the air suspensions at the left side and the right side of the vehicle according to the second relative distance;
adjusting the air suspensions at the left side and the right side of the vehicle according to the air quantity adjusting values of the air suspensions at the left side and the right side of the vehicle;
after adjusting the air suspensions at the left side and the right side of the vehicle, controlling a vehicle threshold to transversely extend the first relative distance;
the step of calculating the air quantity adjustment value of the air suspensions at the left side and the right side of the vehicle according to the second relative distance comprises the following steps:
obtaining a vehicle inclination angle according to the vehicle width and the second relative distance;
obtaining a first height to be adjusted of the left air suspension of the vehicle according to the relative distance between the left air suspension of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
calculating to obtain an air quantity adjustment value of the air suspension on the left side of the vehicle according to the functional relation between the air quantity and the height of the air suspension of the vehicle and the first height;
obtaining a second height to be adjusted of the right air suspension of the vehicle according to the relative distance between the right air suspension of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
and calculating the air quantity adjustment value of the air suspension on the right side of the vehicle according to the functional relation between the air quantity and the height of the air suspension of the vehicle and the second height, wherein any one side is any one of a vehicle threshold side and the opposite side of the vehicle threshold side.
2. The automobile threshold control method as claimed in claim 1, wherein the step of obtaining the first height to be adjusted of the left air suspension of the vehicle according to the relative distance between the left air suspension of the vehicle and either side of the vehicle and the vehicle inclination angle comprises:
and calculating the first height to be adjusted of the left air suspension according to the relative distance between the left air suspension and the opposite side of the threshold side of the vehicle and the inclination angle of the vehicle.
3. The automobile threshold control method as claimed in claim 1, wherein the step of obtaining the first height to be adjusted of the left air suspension of the vehicle according to the relative distance between the left air suspension of the vehicle and either side of the vehicle and the vehicle inclination angle comprises:
calculating a third height of the left air suspension of the vehicle according to the relative distance between the left air suspension of the vehicle and the threshold side of the vehicle and the inclination angle of the vehicle;
and calculating the difference value between the height of the left air suspension and the third height when the vehicle runs to obtain the first height which needs to be adjusted for the left air suspension of the vehicle.
4. The automobile threshold control method according to claim 1, wherein the step of calculating the air quantity adjustment values of the air suspensions on the left and right sides of the vehicle based on the second relative distance comprises:
and calculating the air quantity adjustment values of the air suspensions at the left side and the right side of the vehicle according to the functional relation between the air quantity and the height of the air suspension of the vehicle and the second relative distance.
5. The automobile threshold control method according to claim 1, wherein the step of obtaining the second relative distance of the automobile threshold from the corresponding station in the vertical direction comprises:
obtaining a fourth height of the platform relative to the road surface and a fifth height of the vehicle threshold relative to the road surface based on image information acquired by the camera;
and calculating the difference between the fourth height and the fifth height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
6. The automobile threshold control method according to claim 1, wherein the step of obtaining the second relative distance of the automobile threshold from the corresponding station in the vertical direction comprises:
receiving a sixth height of a station relative to a road surface, the sixth height being transmitted by a station-side terminal;
obtaining a seventh height of the vehicle threshold relative to the road surface based on the image information acquired by the camera;
and calculating the difference between the sixth height and the seventh height to obtain a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction.
7. A car threshold control device, characterized in that the car threshold control device comprises:
the acquisition module is used for acquiring a first relative distance between a vehicle threshold and a corresponding platform in the horizontal direction and a second relative distance between the vehicle threshold and the corresponding platform in the vertical direction;
the calculation module is used for calculating and obtaining the air quantity adjustment values of the air suspensions at the left side and the right side of the vehicle according to the second relative distance;
the adjusting module is used for adjusting the air suspensions at the left side and the right side of the vehicle according to the air quantity adjusting value of the air suspensions at the left side and the right side of the vehicle;
the control module is used for controlling the vehicle threshold to transversely stretch the first relative distance after adjusting the air suspensions at the left side and the right side of the vehicle;
the computing module is used for:
obtaining a vehicle inclination angle according to the vehicle width and the second relative distance;
obtaining a first height to be adjusted of the left air suspension of the vehicle according to the relative distance between the left air suspension of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
calculating to obtain an air quantity adjustment value of the air suspension on the left side of the vehicle according to the functional relation between the air quantity and the height of the air suspension of the vehicle and the first height;
obtaining a second height to be adjusted of the right air suspension of the vehicle according to the relative distance between the right air suspension of the vehicle and any side of the vehicle and the inclination angle of the vehicle;
and calculating the air quantity adjustment value of the air suspension on the right side of the vehicle according to the functional relation between the air quantity and the height of the air suspension of the vehicle and the second height, wherein any one side is any one of a vehicle threshold side and the opposite side of the vehicle threshold side.
8. A car threshold control device, characterized in that it comprises a processor, a memory, and a car threshold control program stored on the memory and executable by the processor, wherein the car threshold control program, when executed by the processor, implements the steps of the car threshold control method according to any one of claims 1 to 6.
9. A readable storage medium, wherein a car threshold control program is stored on the readable storage medium, wherein the car threshold control program, when executed by a processor, implements the steps of the car threshold control method according to any one of claims 1 to 6.
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