CN114619823B - Vehicle body posture adjusting method, device, medium and electronic equipment - Google Patents
Vehicle body posture adjusting method, device, medium and electronic equipment Download PDFInfo
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- CN114619823B CN114619823B CN202210276016.XA CN202210276016A CN114619823B CN 114619823 B CN114619823 B CN 114619823B CN 202210276016 A CN202210276016 A CN 202210276016A CN 114619823 B CN114619823 B CN 114619823B
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 239000000725 suspension Substances 0.000 claims abstract description 173
- 239000003381 stabilizer Substances 0.000 claims description 30
- 238000004590 computer program Methods 0.000 claims description 7
- 239000002609 medium Substances 0.000 description 13
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
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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
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/90—Other conditions or factors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/90—Other conditions or factors
- B60G2400/95—Position of vehicle body elements
-
- 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
- B60G2800/01—Attitude or posture control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/912—Attitude Control; levelling control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The embodiment of the application discloses a vehicle body posture adjusting method, a vehicle body posture adjusting device, a vehicle body posture adjusting medium and electronic equipment. The method comprises the following steps: determining a target vehicle body posture according to the user shape data and the road gradient data; determining the relative position relationship among a vehicle object placing plane, a road plane and a horizontal plane; and calculating a vehicle body posture parameter according to the relative position relation and the target vehicle body posture, adjusting the vehicle suspension height based on the vehicle body posture parameter, and adjusting the vehicle body posture to be the target vehicle body posture. According to the embodiment of the application, the vehicle body posture is automatically adjusted, so that the vehicle use convenience is improved, and the user experience is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of vehicle control, in particular to a vehicle body posture adjusting method, a vehicle body posture adjusting device, a vehicle body posture adjusting medium and electronic equipment.
Background
In recent years, with the rapid development of the automobile industry and the improvement of the level of the civil economy, there are increasing numbers of vehicles equipped with controllable suspensions such as active suspensions and air suspensions.
The suspension height of the controllable suspension has adjustability, and the comfort and the control stability of the whole vehicle can be effectively improved. When loading and unloading articles into and from a vehicle equipped with a controllable suspension, there is a case where the loading and unloading of articles is difficult due to an improper posture of the vehicle body. At present, when a vehicle is in a stationary state, the attitude of the vehicle body can only be adjusted by manually adjusting the height of a suspension when loading and unloading articles to and from the vehicle.
Disclosure of Invention
The embodiment of the application provides a vehicle body posture adjusting method, a device, a medium and electronic equipment, which can improve the convenience of vehicle use and improve the user experience by automatically adjusting the vehicle body posture.
In a first aspect, an embodiment of the present application provides a method for adjusting a vehicle body posture, the method including:
determining a target vehicle body posture according to the user shape data and the road gradient data;
determining the relative position relationship among a vehicle object placing plane, a road plane and a horizontal plane;
and calculating a vehicle body posture parameter according to the relative position relation and the target vehicle body posture, adjusting the vehicle suspension height based on the vehicle body posture parameter, and adjusting the vehicle body posture to be the target vehicle body posture.
In a second aspect, an embodiment of the present application provides a vehicle body posture adjustment apparatus, including:
the target body posture determining module is used for determining the target body posture according to the user shape data and the road gradient data;
the plane position relation determining module is used for determining the relative position relation among the object placing plane, the road plane and the horizontal plane of the vehicle;
and the vehicle body posture adjusting module is used for calculating vehicle body posture parameters according to the relative position relation and the target vehicle body posture, adjusting the vehicle suspension height based on the vehicle body posture parameters and adjusting the vehicle body posture to the target vehicle body posture.
In a third aspect, an embodiment of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a vehicle body posture adjustment method according to an embodiment of the present application.
In a fourth aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and capable of being executed by the processor, where the processor executes the computer program to implement a vehicle body posture adjustment method according to the embodiment of the present application.
According to the technical scheme provided by the embodiment of the application, the target vehicle body posture is determined according to the user shape data and the road gradient data; determining the relative position relationship among a vehicle object placing plane, a road plane and a horizontal plane; according to the relative position relation and the target vehicle body posture, vehicle body posture parameters are calculated, the vehicle suspension height is adjusted based on the vehicle body posture parameters, and the vehicle body posture is adjusted to be the target vehicle body posture. According to the embodiment of the application, the influence of the actual shape of the user and the road condition of the vehicle on the body posture is considered, the body posture is automatically adjusted to the posture required by the user according to the shape data of the user and the road gradient data, the use convenience of the vehicle is improved, and the user experience is improved.
Drawings
Fig. 1 is a flowchart of a method for adjusting a vehicle body posture according to a first embodiment of the present application;
fig. 2A is a flowchart of another method for adjusting the posture of a vehicle body according to the second embodiment of the present application;
FIG. 2B is a schematic diagram of determining a relative positional relationship among a vehicle object placement plane, a road plane, and a horizontal plane according to an embodiment of the present application;
FIG. 2C is a top view of a stabilizer bar configuration provided by an embodiment of the present application;
fig. 3 is a schematic structural view of a vehicle body posture adjustment device according to a third embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present application.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings.
Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts steps as a sequential process, many of the steps may be implemented in parallel, concurrently, or with other steps. Furthermore, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example 1
Fig. 1 is a flowchart of a vehicle body posture adjustment method according to a first embodiment of the present application, which is applicable to a case where an article is loaded and unloaded into and from a vehicle equipped with an active suspension, and the vehicle posture is controlled in order to improve the convenience of loading and unloading the article. The method can be executed by the vehicle body posture adjusting device provided by the embodiment of the application, and the device can be realized by software and/or hardware and can be integrated in electronic equipment running the system.
As shown in fig. 1, the vehicle body posture adjustment method includes:
s110, determining the target body posture according to the user shape data and the road gradient data.
Wherein the user profile data is used to describe the profile of the user. The user shape data may be, for example, a user height, a user weight, or a hand height, wherein the hand height refers to a height of a fingertip from the ground in a state where the hand naturally sags. Road grade data is used to describe the degree of inclination of the road on which the vehicle is located, and can be collected by an angle sensor disposed on the vehicle, the degree of inclination of the road affecting the body angle. Wherein the body angle is used to describe the degree of body lean.
In the use process of the vehicle, for example, in loading and unloading articles to or from the vehicle, the relative relationship between the vehicle body posture, particularly the vehicle body height and the hand height, can influence the user experience, and the difference between the vehicle body height and the hand height exceeds a certain value, so that the loading and unloading of articles or the loading and unloading of the vehicle can be difficult. The angle of the car body can also influence the user experience, and when the angle of the car body exceeds a certain value, the loading and unloading of articles or the loading and unloading of vehicles can be difficult.
The target vehicle body posture refers to a vehicle body posture adapted to the shape of the user and the road gradient. The body posture may include: body height and body angle. And determining the target body posture according to the user shape data and the road gradient data, and specifically, determining the target body height and the target body angle according to the user shape data and the road gradient data respectively.
In an alternative embodiment, determining the target body pose from the user profile data and the road grade data comprises: determining the vertical distance between the vehicle object placing plane and the road plane according to the user shape data, and taking the vertical distance as a target vehicle body height; determining an alternative included angle between the vehicle object placing plane and the horizontal plane based on the road gradient data and the vehicle suspension progress, and determining a target vehicle body angle from the alternative included angle; and determining the target body posture according to the target body height and the target body angle.
The object placing plane of the vehicle is a plane where the object placing device is arranged in the vehicle, and the object placing device can be used for placing objects. For example, the vehicle object placing plane may be a plane where the trunk floor is located, and the vertical distance between the vehicle object placing plane and the road plane corresponds to the trunk floor height. Under the condition of loading and unloading articles to and from a vehicle, the difficulty in fixing the articles is increased due to the improper height of the trunk platform, so that a user often needs to spend more effort and time to complete loading and unloading of the articles.
The height of the vehicle is the vertical distance between the object placing plane of the vehicle and the road plane. Specifically, a midpoint of a rear axle of the vehicle is taken as a reference line perpendicular to a horizontal plane, an intersection point of the reference line and a vehicle object placing plane is a first intersection point, an intersection point of the reference line and a road plane is a second intersection point, and the height of the vehicle body is the distance between the first intersection point and the second intersection point.
The target vehicle height is related to the user shape data. And determining the vertical distance between the object placing plane and the road plane of the vehicle according to the user shape data, and determining the vertical distance matched with the user shape as the target vehicle body height. Optionally, the hand height is determined according to the user shape data, and the hand height is used as the target vehicle height. The set value can be determined according to the user shape data in combination with the actual service requirement, and the set value is taken as the target vehicle body height, and the user leg length is determined according to the user height, so that the user can get on or off the vehicle conveniently. The convenience of loading articles and getting on and off the vehicle by the user can be improved, and the user experience is improved.
The vehicle body angle refers to an included angle between a vehicle object placing plane and a horizontal plane, the target vehicle body angle is generated in an alternative included angle, the alternative included angle refers to an adjusting range corresponding to the vehicle body angle, the alternative included angle is related to road gradient data and a vehicle suspension process, and the vehicle suspension process refers to a sliding distance from a lowest point to a highest point of a vehicle suspension. The road gradient data can influence the degree of inclination of the vehicle body, and in the case of the road gradient data determination, the vehicle body angle can be adjusted by adjusting the vehicle suspension height, so that the condition of the vehicle body inclination is improved to a certain extent.
The target body angle may be determined based on actual user demand and is not limited herein. Optionally, taking the object fixing difficulty reduction and the object loading convenience improvement as starting points, the minimum included angle in the alternative included angles can be used as a target vehicle body angle, so that the object placing plane of the vehicle is kept parallel to the horizontal plane as much as possible.
The body height and the body angle are two important aspects affecting the user experience, and the target body posture is determined according to the target body height and the target body angle.
S120, determining the relative position relationship among the vehicle object placing plane, the road plane and the horizontal plane.
Wherein, the vehicle object placing plane refers to a plane where a device for placing objects or carrying passengers is arranged in a vehicle; the road plane refers to a plane corresponding to a road on which the vehicle is located, and specifically, the road plane may be a plane determined by contact points of each wheel and the road.
And determining the relative position relationship among the vehicle object placing plane, the road plane and the horizontal plane, and specifically determining the angle relationship among the vehicle object placing plane, the road plane and the horizontal plane.
S130, calculating a vehicle body posture parameter according to the relative position relation and the target vehicle body posture, adjusting the vehicle suspension height based on the vehicle body posture parameter, and adjusting the vehicle body posture to be the target vehicle body posture.
Wherein the body posture parameter is related to the body posture. The relative positional relationship among the vehicle object placing plane, the road plane and the horizontal plane can be represented by vehicle body posture parameters. Optionally, the vehicle body posture parameters include: wheel radius, front axle suspension height, rear axle suspension height, and distance of the vehicle object placement plane from the lower edge of the vehicle body.
And taking the target body posture as a constraint condition, and calculating a body posture parameter by utilizing the relative position relation between the object placing plane of the target body posture constraint vehicle and the road plane and the horizontal plane respectively.
And adjusting the vehicle suspension height based on the vehicle body posture parameters, and adjusting the vehicle body posture to be the target vehicle body posture.
According to the technical scheme provided by the embodiment of the application, the target vehicle body posture is determined according to the user shape data and the road gradient data; determining the relative position relationship among a vehicle object placing plane, a road plane and a horizontal plane; according to the relative position relation and the target vehicle body posture, vehicle body posture parameters are calculated, the vehicle suspension height is adjusted based on the vehicle body posture parameters, and the vehicle body posture is adjusted to be the target vehicle body posture. According to the embodiment of the application, the influence of the actual shape of the user and the road condition of the vehicle on the body posture is considered, the body posture is automatically adjusted to the posture required by the user according to the shape data of the user and the road gradient data, the use convenience of the vehicle is improved, and the user experience is improved.
In an alternative embodiment, prior to determining the target body pose from the user profile data and the road grade data, the method further comprises: determining a data acquisition channel of the user shape data as a candidate data channel; allocating a use priority for the candidate data channel based on the data accuracy of the data acquisition channel; and selecting a target data channel from at least two candidate data channels according to the use priority, and acquiring the user shape data by utilizing the target data channel.
The candidate data channel is for acquiring user profile data, and may include, for example: the first obtaining channel obtains user shape data preset by a user through a user terminal, and the user terminal can be a user mobile phone. The user can set user shape data through mobile phone software, the user shape data is sent to the vehicle-mounted T-Box, and the vehicle-mounted T-Box receives and stores the user shape data; a second acquisition channel for acquiring a face image by using an image acquisition device, and inquiring user shape data from a user database based on the face image, wherein the user database is used for storing the user shape data; and a third acquisition channel for determining user shape data according to the identity information of the user and the sensor data. For example, the user identity may be a driver, a loading/unloading person, or a passenger, and if the user identity is a driver, the user shape data is determined according to the seat data such as the seat height, the seat position, or the like; if the user identity is not the driver, acquiring a body type image through the image acquisition equipment, taking the body type image as a standard human body model, and determining user shape data through the standard human body model.
The number of candidate data channels is at least two. It is noted that the candidate data channels include, but are not limited to, a first acquisition channel, a second acquisition channel, and a third acquisition channel, and the candidate data channels may be any manner that may be used to acquire the user profile data, and are specifically determined according to actual business requirements, and are not limited herein.
The accuracy of the user shape data acquired through different data acquisition channels is different, and in order to ensure the accuracy of the user shape data, the candidate data channels are allocated with use priorities according to the data accuracy of the data acquisition channels.
Continuing the above description, the first obtaining channel directly obtains the preset user shape data; a second acquisition channel, based on the face image, inquiring the user shape data from the user database, wherein the accuracy of the face image can influence the accuracy of the user shape data; and a third acquisition channel for determining user shape data according to the identity information of the user and the sensor data. The accuracy of the user profile data is affected by the user's identity information and the accuracy of the sensor data. The first usage priority is assigned to the first acquisition channel, the second usage priority is assigned to the second acquisition channel, and the third usage priority is assigned to the third acquisition channel. Wherein the first usage priority is highest, the second usage priority is higher than the third usage priority.
The use priority determines the use sequence of the data acquisition channels, and under the same condition, the user shape data is acquired by preferentially adopting the data acquisition channels with high use priority. Optionally, the usage priority of the candidate data channel may be further determined in combination with other factors such as data acquisition efficiency.
And selecting a target data channel from at least two candidate data channels according to the use priority, and acquiring user shape data by utilizing the target data channel. Specifically, the candidate data channels are ordered according to the order of the use priorities from high to low, the candidate data channel with the high use priority is selected as a target data channel, and the user shape data is acquired by using the target data channel. Continuing with the above example, the user-profile data may be preferentially acquired by using the first acquisition channel having the first usage priority, and if the user-profile data cannot be acquired through the first acquisition channel, the user-profile data may be acquired sequentially by using the second acquisition channel and the third acquisition channel until the user-profile data is successfully acquired. The technical scheme provides the data acquisition channels for acquiring the user shape data, the use priorities are distributed to the data acquisition channels, the target data channels are determined according to the use priorities, and the accuracy and the acquisition efficiency of the user shape data are ensured.
Example two
Fig. 2A is a flowchart of another vehicle body posture adjustment method according to the second embodiment of the present application. The present embodiment is further optimized on the basis of the above embodiment. Specifically, the operation of "determining the relative positional relationship of the vehicle placement plane, the road plane, and the horizontal plane" is refined.
As shown in fig. 2A, the vehicle body posture adjustment method includes:
s210, determining the target body posture according to the user shape data and the road gradient data.
S220, determining an included angle between the object placing plane of the vehicle and the road plane as a first plane included angle according to a suspension height difference between the front axle suspension height and the rear axle suspension height and the vehicle wheelbase.
S230, taking the vertical distance between the vehicle object placing plane and the road plane as a second plane distance.
S240, based on the plane geometric relationship, determining an included angle between the road plane and the horizontal plane as a second plane included angle according to the second plane distance and the actual vehicle height.
Fig. 2B is a schematic diagram of determining a relative positional relationship among a vehicle object placement plane, a road plane, and a horizontal plane according to an embodiment of the present application. In fig. 2B, a is a vehicle placement plane, B is a road plane, and C is a horizontal plane.
As shown in fig. 2B, from P 1 The points are respectively perpendicular to the horizontal plane and the plane of the vehicle body to obtain two intersection points P with the horizontal plane 2 And P 3 ，P 1 、P 2 And P 3 Form triangle P 1 P 2 P 3 Wherein P is 1 The point is the intersection point of the reference line which passes through the midpoint of the rear axle of the vehicle and is perpendicular to the horizontal plane and the object placing plane of the vehicle. Due to P 1 P 2 And P 1 P 3 The included angle between the plane of the vehicle body and the plane of the vehicle object can be known to be equal to a third plane included angle beta formed by the plane of the vehicle object and the plane, namely the third plane included angle beta and P 1 P 2 And P 1 P 3 Formed +.P 2 P 1 P 3 Equal.
From P 1 Point-to-pointPerpendicular to the road plane and the horizontal plane, two points of intersection P with the horizontal plane are obtained 5 And P 4 . Due to P 1 P 5 And P 1 P 4 Respectively perpendicular to the road plane and the horizontal plane, and based on the geometrical relationship of the planes, the included angle alpha of the second plane formed by the road plane and the horizontal plane and P can be obtained 1 P 4 And P 1 P 5 Triangle formed in the angle P 4 P 1 P 5 Equal.
As shown in FIG. 2B, h r For rear axle suspension height, h f For front axle suspension height, h f -h r Is the suspension height difference between the front axle suspension height and the rear axle suspension height, L a Is the wheelbase of the vehicle.The first plane angle γ may be represented. First plane included angles gamma and P 1 P 3 And P 1 P 5 Formed +.P 3 P 1 P 5 Equal.
Line segment P 1 P 3 And line segment P 1 P 2 Respectively compared with the road plane 6 Point and P 7 And (5) a dot. P (P) 1 、P 6 And P 7 Form triangle P 1 P 6 P 7 Two sides P of triangle 1 P 6 And P 1 P 7 Corresponding to the second plane distance and the actual vehicle height, respectively. Wherein, the actual height of the vehicle body is h h And (3) representing. The vertical distance between the object placing plane A of the vehicle and the road plane B is a second plane distance, r can be used w +h r +h o A representation, wherein r w For the radius of the wheel, h r For rear axle suspension height, h o Is the vertical distance between the object placing plane of the vehicle and the edge of the bottom of the vehicle body. Based on cosine theorem, the second plane angle α can be expressed as
S250, determining an included angle between the object placing plane of the vehicle and the horizontal plane according to the first plane included angle and the second plane included angle, and taking the included angle as a third plane included angle.
The vehicle is illustrated in a state of being parked on a road in an uphill state, and the vehicle body is slightly leaned back under the influence of the gravity of the vehicle body, so that a third plane included angle beta formed between the object placing plane of the vehicle and the horizontal plane is slightly larger than a second plane included angle alpha formed between the road plane and the horizontal plane.
And according to the first plane included angle gamma and the second plane included angle alpha, a third plane included angle beta formed between the object placing plane of the vehicle and the horizontal plane can be determined. Specifically, under the condition that a first plane included angle gamma formed by the object placing plane of the vehicle and the road surface and a second plane included angle alpha formed by the road plane and the horizontal plane are determined, taking the sum of the first plane included angle gamma and the second plane included angle alpha as a third plane included angle beta. The third plane included angle beta is formed by the vehicle object placing platform and the horizontal plane.
And S260, determining the relative position relationship among the object placing plane, the road plane and the horizontal plane of the vehicle according to the first plane included angle, the second plane included angle and the third plane included angle.
The first plane included angle, the second plane included angle and the third plane included angle clearly reflect the relative position relation among the vehicle object placing plane, the road plane and the horizontal plane.
S270, calculating a vehicle body posture parameter according to the relative position relation and the target vehicle body posture, adjusting the vehicle suspension height based on the vehicle body posture parameter, and adjusting the vehicle body posture to be the target vehicle body posture.
The relative position relation is quantitatively expressed by utilizing the vehicle body posture parameters, the quantitative expression of the relative position is constrained by taking the target vehicle body posture as a constraint condition, so that posture parameter values corresponding to the vehicle body posture parameters are determined, the posture parameter values corresponding to the vehicle body posture parameters are adjusted to the target vehicle body posture based on the posture parameter values.
According to the technical scheme provided by the embodiment of the application, the target body posture is determined according to the user shape data and the road gradient data, and the relative position relationship among the vehicle object placing plane, the road plane and the horizontal plane is quantified by utilizing the first plane included angle, the second plane included angle and the third plane included angle. And calculating a vehicle body parameter based on the relative position relation and the target vehicle body posture, and adjusting the vehicle body posture based on the vehicle body posture parameter. The embodiment of the application provides a specific vehicle body posture adjusting method, which realizes automatic adjustment of the vehicle body posture, improves the convenience of vehicle use and improves the user experience.
In an alternative embodiment, calculating a vehicle body posture parameter according to the relative positional relationship and the target vehicle body posture, and adjusting the vehicle suspension height based on the vehicle body posture parameter, the adjusting the vehicle body posture to the target vehicle body posture includes: based on a first preset relation, respectively determining the first plane included angle, the second plane included angle and the third plane-associated vehicle body attitude parameter; and calculating a vehicle body posture value corresponding to the vehicle body posture parameter according to the target vehicle body posture, adjusting the vehicle suspension height based on the vehicle body posture value, and adjusting the vehicle body posture to be the target vehicle body posture.
In an alternative embodiment, based on a first preset relationship, determining the body posture parameters associated with the first plane angle, the second plane angle and the third plane respectively includes:
based on the following formula, respectively determining the body attitude parameters related to the first plane included angle, the second plane included angle and the third plane;
wherein gamma is a first plane angle, alpha is a second plane angle, and beta is a third plane angle, wherein,represents a first plane included angle gamma, h r For rear axle suspension height, h f For front axle suspension height, h o R is the vertical distance between the object placing plane and the edge of the bottom of the vehicle body w For the radius of the wheel, h h Is practically theThe height of the vehicle body; h is a r ＝(h rl +h rr )/2，h rl Indicating the left rear suspension height, h rr Representing the right rear suspension height; h is a f ＝(h fl +h fr )/2，h fl Represents the left front suspension height, h fr Representing left rear suspension height; i.e x I is road longitudinal gradient data y Is road lateral gradient data; l (L) a For the wheelbase of the vehicle, L w Is the wheel track of the vehicle;
it can be appreciated that i x And i y All can be obtained through a bus, h o And r w All are of known quantity, h can be obtained h And h r The association relation of h r ＝h h ×cosα-h o -r w Assigning the target vehicle body height to the actual vehicle body height h h Then h can be obtained r Specific values of (2); will h r Substitution intoAt h r In certain cases, β and h can be obtained f Is a relationship of association of the above. Substituting the target angle of the vehicle body as the third plane angle into +.>Obtaining h f Specific values of (2).
At h f And h r In the case of both determinations, the respective vehicle suspension heights are further determined, specifically, the left front suspension height h fl Left rear suspension height h rl Height h of right front suspension fr And right rear suspension height h rr . Wherein h is r ＝(h rl +h rr )/2，h f ＝(h fl +h fr )/2，L w Is the track of the vehicle. Will h r ＝(h rl +h rr )/2，h f ＝(h fl +h fr ) Substitution/2Combination->The left front suspension height h can be obtained respectively fl Left rear suspension height h rl Height h of right front suspension fr And right rear suspension height h rr Specific values of (2).
Defining a longitudinal angle of the vehicle body,/->Defining a body lateral angle. Wherein, beta=alpha+gamma, which represents the association relation of the first plane included angle, the second plane included angle and the third plane included angle;
in the embodiment of the application, the longitudinal direction refers to the advancing direction of the vehicle and is denoted by a subscript x; the lateral direction is perpendicular to the vehicle advancing direction, indicated by the subscript y. The road gradient includes a road lateral gradient i y And road longitudinal gradient i x Wherein the road longitudinal gradient value i x Refers to a gradient value parallel to the vehicle advancing direction; road lateral gradient i y Refers to a gradient value perpendicular to the forward direction of the vehicle.
The second plane included angle alpha and the road longitudinal gradient value i x In relation, the longitudinal body angle is affected. The second plane angle alpha may utilize the road longitudinal gradient value i x Expressed as α=tan -1 (i x /100)。
Road lateral gradient value i y Influence the lateral body angle, the lateral body angle and the road lateral gradient value i y The association relationship of (2) can be expressed as:wherein h is rr Indicating the height of the right rear suspension, h fr Indicating the height of the front right suspension, h fl Represents the left front suspension height, h rl Indicating the left rear suspension height.
The second plane angle alpha can be utilized with h r 、h o 、r w And h h Quantization is expressed asWherein h is r For rear axle suspension height, h o For the vertical distance r between the object placing plane and the edge of the bottom of the vehicle body w For the radius of the wheel, i x Is a road longitudinal gradient value.
The first plane angle gamma may utilize h r 、h f And L a Quantization is expressed asWherein h is f For front axle suspension height, h r For rear axle suspension height, l a Is the wheelbase of the vehicle.
h f Is the average value of the height of the left front suspension and the height of the right front suspension, and can be specifically expressed as h f ＝(h fl +h fr ) 2; correspondingly, h r Is the average value of the height of the left rear suspension and the height of the right rear suspension, and can be specifically expressed as h r ＝(h rl +h rr )/2。
Correspondingly, according to the target vehicle body posture, calculating a vehicle body posture value corresponding to the vehicle body posture parameter, adjusting the vehicle suspension height based on the vehicle body posture parameter, and adjusting the vehicle body posture to the target vehicle body posture, including:
substituting the target vehicle body height and the target vehicle body angle into the formula as the third plane included angle and the actual vehicle body height respectively, and calculating a left front suspension height, a left rear suspension height, a right front suspension height and a right rear suspension height;
the target body angle may be determined based on actual user demand and is not limited herein. Optionally, taking the object fixing difficulty reduction and the object loading convenience improvement as starting points, the minimum included angle in the alternative included angles can be used as a target vehicle body angle, so that the object placing plane of the vehicle is kept parallel to the horizontal plane as much as possible. Accordingly, the target vehicle height may be determined according to the actual user requirement, which is not limited herein. Optionally, taking saving user's physical power, improving article loading convenience as the starting point, can regard user's hand height as target automobile body angle for the user need not to raise the article, can place the article to the vehicle and put the thing plane.
Substituting the target vehicle body height and the target vehicle body angle into the formulas as a third plane included angle and an actual vehicle body height respectively to obtain a front axle suspension height and a rear axle suspension height respectively, and further obtaining a left front suspension height, a left rear suspension height, a right front suspension height and a right rear suspension height.
And adjusting the height of the vehicle body to the target vehicle body height and the angle of the vehicle body to the target vehicle body angle based on the height of the left front suspension, the height of the left rear suspension, the height of the right front suspension and the height of the right rear suspension to the left front suspension, the left rear suspension, the right front suspension and the right rear suspension of the vehicle respectively.
According to the technical scheme, the relative position relation among the object placing plane, the road plane and the horizontal plane of the vehicle is quantitatively represented by utilizing the vehicle body posture parameters, posture parameter values corresponding to the vehicle body posture parameters are reversely deduced on the basis of the relative position relation among the object placing plane, the road plane and the horizontal plane of the vehicle, accurate data support is provided for adjusting the vehicle body posture, a vehicle body posture adjusting method is simplified, and vehicle body posture adjusting efficiency and accuracy are improved. Through adjusting the body posture to the target body posture, the convenience of use of the vehicle is improved, and the user experience is improved.
In an alternative embodiment, after adjusting the vehicle suspension height based on the vehicle body attitude parameter, the method further includes, after adjusting the vehicle body attitude to the target vehicle body attitude: determining a suspension lateral height difference between the vehicle left side suspension and the vehicle right side suspension; determining a torsion angle of the stabilizer bar according to the lateral height difference value of the suspension frame based on a second preset relation; and controlling the stabilizer bar based on the torsion angle of the stabilizer bar, and maintaining the body posture to maintain the target body posture.
It is known that for a vehicle with an active stabilizer bar, when the vehicle's left and right suspensions are subject to a difference in height, the stabilizer bar of the vehicle will eliminate the suspension lateral height difference by elastic torsion itself, i.e. when the vehicle is passing a changeWhen the suspension heights at two sides of the vehicle are changed and the lateral attitude control of the vehicle body is realized, the lateral stabilizer bar of the vehicle can provide obstruction for the active rolling of the vehicle. Therefore, it is also necessary for a vehicle equipped with an active stabilizer bar to further control the stabilizer bar torsion angle to maintain the vehicle posture at the target vehicle body posture. Fig. 2C is a top view of a stabilizer bar structure according to an embodiment of the present application. As shown in FIG. 2C, wherein L s For the longitudinal length of the trailing arm of the transverse stabilizer, L b For the total lateral length of the stabilizer bar, R represents the wheel, and θ represents the stabilizer bar torsion angle.
The suspension lateral height difference between the vehicle left side suspension and the vehicle right side suspension may be determined according to (h fr +h rr -h fl -h rl ) And (5) calculating to obtain the product. The second preset relationship is used for quantifying the association relationship between the torsion angle of the stabilizer bar and the lateral height difference of the suspension. The second preset relationship is as follows:
wherein L is s The longitudinal length of the trailing arm is the transverse stabilizer bar; l (L) b Is the lateral total length of the transverse stabilizer bar; θ is the stabilizer bar twist angle.
Accordingly, the stabilizer bar torsion angle θ can be expressed as:
according to the technical scheme, the transverse stabilizer bar is controlled, so that the transverse stabilizer bar is free from torsional stress, the vehicle rolling posture control is free from the obstruction of the transverse stabilizer bar, and the interference of the transverse stabilizer bar on the adjustment of the vehicle rolling posture can be weakened or eliminated.
Example III
Fig. 3 shows a vehicle body posture adjustment device according to a third embodiment of the present application, which is applicable to a case where an article is loaded and unloaded into and from a vehicle equipped with an active suspension, and the vehicle posture is controlled in order to improve the convenience of loading and unloading the article. The apparatus may be implemented in software and/or hardware and may be integrated in an electronic device such as a smart terminal.
As shown in fig. 3, the apparatus may include: a target body posture determination module 310, a planar positional relationship determination module 320, and a body posture adjustment module 330.
Wherein, the target body posture determining module 310 is configured to determine a target body posture according to the user shape data and the road gradient data;
a plane position relationship determining module 320, configured to determine a relative position relationship among a vehicle object placing plane, a road plane and a horizontal plane;
the vehicle body posture adjustment module 330 is configured to calculate a vehicle body posture parameter according to the relative positional relationship and the target vehicle body posture, and adjust a vehicle suspension height based on the vehicle body posture parameter, so as to adjust the vehicle body posture to the target vehicle body posture.
According to the technical scheme provided by the embodiment of the application, the target vehicle body posture is determined according to the user shape data and the road gradient data; determining the relative position relationship among a vehicle object placing plane, a road plane and a horizontal plane; according to the relative position relation and the target vehicle body posture, vehicle body posture parameters are calculated, the vehicle suspension height is adjusted based on the vehicle body posture parameters, and the vehicle body posture is adjusted to be the target vehicle body posture. According to the embodiment of the application, the influence of the actual shape of the user and the road condition of the vehicle on the body posture is considered, the body posture is automatically adjusted to the posture required by the user according to the shape data of the user and the road gradient data, the use convenience of the vehicle is improved, and the user experience is improved.
Optionally, the target body posture determination module 310 includes: the target vehicle body height determining submodule is used for determining the vertical distance between the vehicle object placing plane and the road plane according to the user body data and taking the vertical distance as the target vehicle body height; the target vehicle body angle determining submodule is used for determining an alternative included angle between the object placing plane of the vehicle and the horizontal plane based on the road gradient data and the vehicle suspension progress, and determining a target vehicle body angle from the alternative included angle; and the target body posture determining sub-module is used for determining the target body posture according to the target body height and the target body angle.
Optionally, the plane position relationship determining module 320 includes: the first plane included angle determining sub-module is used for determining an included angle between the object placing plane of the vehicle and the road plane as a first plane included angle according to a suspension height difference between the front axle suspension height and the rear axle suspension height and the vehicle wheelbase; the second plane distance determining submodule is used for taking the vertical distance between the vehicle object placing plane and the road plane as a second plane distance; the second plane included angle determining sub-module is used for determining an included angle between the road plane and the horizontal plane as a second plane included angle according to the second plane distance and the actual vehicle height based on the plane geometric relationship; the third plane included angle determining sub-module is used for determining an included angle between the object placing plane of the vehicle and the horizontal plane according to the first plane included angle and the second plane included angle, and the included angle is used as a third plane included angle; and the relative position relation determining sub-module is used for determining the relative position relation among the object placing plane, the road plane and the horizontal plane of the vehicle according to the first plane included angle, the second plane included angle and the third plane included angle.
Optionally, the body posture adjustment module 330 includes: the vehicle body attitude parameter determining submodule is used for respectively determining vehicle body attitude parameters related to the first plane included angle, the second plane included angle and the third plane based on a first preset relation; and the vehicle body posture adjustment sub-module is used for calculating a vehicle body posture value corresponding to the vehicle body posture parameter according to the target vehicle body posture, adjusting the vehicle suspension height based on the vehicle body posture value and adjusting the vehicle body posture to be the target vehicle body posture.
Optionally, the vehicle body posture parameter determining sub-module includes: vehicle body posture parameter determination unit for
Based on the following formula, respectively determining the body attitude parameters related to the first plane included angle, the second plane included angle and the third plane;
wherein gamma is a first plane angle, alpha is a second plane angle, and beta is a third plane angle, wherein,represents a first plane included angle gamma, h r For rear axle suspension height, h f For front axle suspension height, h o R is the vertical distance between the object placing plane and the edge of the bottom of the vehicle body w For the radius of the wheel, h h Is the actual vehicle height; h is a r ＝(h rl +h rr )/2，h rl Indicating the left rear suspension height, h rr Representing the right rear suspension height; h is a f ＝(h fl +h fr )/2，h fl Represents the left front suspension height, h fr Representing left rear suspension height; i.e x I is road longitudinal gradient data y Is road lateral gradient data; l (L) a For the wheelbase of the vehicle, L w Is the wheel track of the vehicle;
correspondingly, the vehicle body posture adjustment sub-module includes: the vehicle suspension height determining unit is used for substituting the target vehicle body height and the target vehicle body angle into the formula as the third plane included angle and the actual vehicle body height respectively to calculate a left front suspension height, a left rear suspension height, a right front suspension height and a right rear suspension height; and the vehicle body posture adjusting unit is used for adjusting the vehicle body height to the target vehicle body height and adjusting the vehicle body angle to the target vehicle body angle based on the left front suspension height, the left rear suspension height, the right front suspension height and the right rear suspension height respectively.
Optionally, the apparatus further includes: the suspension lateral height difference determining module is used for determining a suspension lateral height difference between a left suspension of the vehicle and a right suspension of the vehicle after adjusting the vehicle suspension height based on the vehicle body posture parameter and adjusting the vehicle body posture to the target vehicle body posture; the transverse stabilizer bar torsion angle determining module is used for determining the torsion angle of the transverse stabilizer bar according to the lateral height difference value of the suspension based on a second preset relation; and the stabilizer bar control module is used for controlling the stabilizer bar based on the torsion angle of the stabilizer bar, and keeping the vehicle body posture to maintain the target vehicle body posture.
Optionally, the device further comprises a candidate data channel determining module, configured to determine, as a candidate data channel, a data acquisition channel of the user profile data before determining the target vehicle body posture according to the user profile data and the road gradient data; the channel use priority allocation module is used for allocating use priorities to the candidate data channels based on the data accuracy of the data acquisition channels; and the user shape data acquisition module is used for selecting a target data channel from at least two candidate data channels according to the use priority and acquiring the user shape data by utilizing the target data channel.
The vehicle body posture adjusting device provided by the embodiment of the application can execute the vehicle body posture adjusting method provided by any embodiment of the application, and has the corresponding performance module and beneficial effects of executing the vehicle body posture adjusting method.
Example IV
A fourth embodiment of the present application also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are for performing a vehicle body posture adjustment method, the method comprising:
determining a target vehicle body posture according to the user shape data and the road gradient data;
Determining the relative position relationship among a vehicle object placing plane, a road plane and a horizontal plane;
and calculating a vehicle body posture parameter according to the relative position relation and the target vehicle body posture, adjusting the vehicle suspension height based on the vehicle body posture parameter, and adjusting the vehicle body posture to be the target vehicle body posture.
Storage media refers to any of various types of memory electronic devices or storage electronic devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, lanbas (Rambus) RAM, etc.; nonvolatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network (such as the internet). The second computer system may provide program instructions to the computer for execution. The term "storage medium" may include two or more storage media that may reside in different unknowns (e.g., in different computer systems connected by a network). The storage medium may store program instructions (e.g., embodied as a computer program) executable by one or more processors.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present application is not limited to the above-described vehicle body posture adjustment operation, and the related operations in the vehicle body posture adjustment method provided by any embodiment of the present application may also be performed.
Example five
The fifth embodiment of the present application provides an electronic device, in which the vehicle body posture adjustment device provided in the embodiment of the present application may be integrated, where the electronic device may be configured in a system, or may be a device that performs part or all of the performance in the system. Fig. 4 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present application. As shown in fig. 4, the present embodiment provides an electronic device 400, which includes: one or more processors 420; a storage device 410, configured to store one or more programs, where the one or more programs are executed by the one or more processors 420, so that the one or more processors 420 implement the method for adjusting a vehicle body posture according to the embodiment of the present application, the method includes:
determining a target vehicle body posture according to the user shape data and the road gradient data;
Determining the relative position relationship among a vehicle object placing plane, a road plane and a horizontal plane;
and calculating a vehicle body posture parameter according to the relative position relation and the target vehicle body posture, adjusting the vehicle suspension height based on the vehicle body posture parameter, and adjusting the vehicle body posture to be the target vehicle body posture.
Of course, those skilled in the art will appreciate that the processor 420 also implements the technical solution of the method for adjusting the posture of the vehicle body according to any embodiment of the present application.
The electronic device 400 shown in fig. 4 is merely an example and should not be construed as limiting the capabilities and scope of use of embodiments of the present application.
As shown in fig. 4, the electronic device 400 includes a processor 420, a storage device 410, an input device 430, and an output device 440; the number of processors 420 in the electronic device may be one or more, one processor 420 being taken as an example in fig. 4; the processor 420, the storage device 410, the input device 430, and the output device 440 in the electronic device may be connected by a bus or other means, as exemplified by connection via a bus 450 in fig. 4.
The storage device 410 is a computer readable storage medium, and can be used to store a software program, a computer executable program, and a module unit, such as program instructions corresponding to the vehicle body posture adjustment method in the embodiment of the present application.
The storage device 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for performance; the storage data area may store data created according to the use of the terminal, etc. In addition, the storage 410 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, storage device 410 may further include memory located remotely from processor 420, which may be connected via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 430 may be used to receive input numeric, character information, or voice information, and to generate key signal inputs related to user settings and performance control of the electronic device. The output device 440 may include an electronic device such as a display screen, a speaker, etc.
The vehicle body posture adjusting device, the medium and the electronic equipment provided in the embodiment can execute the vehicle body posture adjusting method provided by any embodiment of the application, and have the corresponding performance module and beneficial effects of executing the method. Technical details not described in detail in the above embodiments may be referred to the vehicle body posture adjustment method provided in any of the embodiments of the present application.
Note that the above is only a preferred embodiment of the present application and the technical principle applied. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, while the application has been described in connection with the above embodiments, the application is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the application, which is set forth in the following claims.
Claims (7)
1. A vehicle body posture adjustment method, characterized by comprising:
determining a target vehicle body posture according to the user shape data and the road gradient data;
determining the relative position relationship among a vehicle object placing plane, a road plane and a horizontal plane;
according to the relative position relation and the target vehicle body posture, calculating a vehicle body posture parameter, adjusting the vehicle suspension height based on the vehicle body posture parameter, and adjusting the vehicle body posture to be the target vehicle body posture;
the determining the target body posture according to the user shape data and the road gradient data comprises the following steps:
Determining the vertical distance between the vehicle object placing plane and the road plane according to the user shape data, and taking the vertical distance as a target vehicle body height;
determining an alternative included angle between the vehicle object placing plane and the horizontal plane based on the road gradient data and the vehicle suspension progress, and determining a target vehicle body angle from the alternative included angle;
determining the target body posture according to the target body height and the target body angle;
the determining the relative positional relationship among the vehicle object placing plane, the road plane and the horizontal plane comprises the following steps:
determining an included angle between the object placing plane of the vehicle and the road plane as a first plane included angle according to a suspension height difference between the front axle suspension height and the rear axle suspension height and the vehicle wheelbase;
taking the vertical distance between the vehicle object placing plane and the road plane as a second plane distance;
based on a plane geometrical relationship, determining an included angle between the road plane and the horizontal plane as a second plane included angle according to the second plane distance and the actual vehicle height;
determining an included angle between the object placing plane of the vehicle and the horizontal plane as a third plane included angle according to the first plane included angle and the second plane included angle;
Determining the relative position relationship among a vehicle object placing plane, a road plane and a horizontal plane according to the first plane included angle, the second plane included angle and the third plane included angle;
based on the following formula, respectively determining the body attitude parameters related to the first plane included angle, the second plane included angle and the third plane included angle;
wherein gamma is a first plane included angle, alpha is a second plane included angle, and beta is a third planeIncluded angle, where α=tan -1 (i y /100)，Represents a first plane included angle gamma, h r For rear axle suspension height, h f For front axle suspension height, h o R is the vertical distance between the object placing plane and the edge of the bottom of the vehicle body w For the radius of the wheel, h h Is the actual vehicle height; h is a r ＝(h rl +h rr )/2，h rl Indicating the left rear suspension height, h rr Representing the right rear suspension height; h is a f ＝(h fl +h fr )/2，h fl Represents the left front suspension height, h fr Representing left rear suspension height; i.e x I is road longitudinal gradient data y Is road lateral gradient data; l (L) a For the wheelbase of the vehicle, L w Is the wheel track of the vehicle;
correspondingly, according to the target vehicle body posture, calculating a vehicle body posture value corresponding to the vehicle body posture parameter, adjusting the vehicle suspension height based on the vehicle body posture value, and adjusting the vehicle body posture to the target vehicle body posture, including:
Substituting the target vehicle body height and the target vehicle body angle into the formula as the third plane included angle and the actual vehicle body height respectively, and calculating a left front suspension height, a left rear suspension height, a right front suspension height and a right rear suspension height;
and adjusting the height of the vehicle body to the target vehicle body height and the angle of the vehicle body to the target vehicle body angle based on the height of the left front suspension, the height of the left rear suspension, the height of the right front suspension and the height of the right rear suspension to the left front suspension, the left rear suspension, the right front suspension and the right rear suspension of the vehicle respectively.
2. The method of claim 1, wherein calculating a vehicle body attitude parameter from the relative positional relationship and the target vehicle body attitude, and adjusting a vehicle suspension height based on the vehicle body attitude parameter, the vehicle body attitude being adjusted to the target vehicle body attitude, comprises:
based on a first preset relation, respectively determining body attitude parameters related to the first plane included angle, the second plane included angle and the third plane included angle;
and calculating a vehicle body posture value corresponding to the vehicle body posture parameter according to the target vehicle body posture, adjusting the vehicle suspension height based on the vehicle body posture value, and adjusting the vehicle body posture to be the target vehicle body posture.
3. The method of claim 1, wherein after adjusting the vehicle suspension height based on the vehicle body attitude parameter, the method further comprises:
determining a suspension lateral height difference between the vehicle left side suspension and the vehicle right side suspension;
determining a torsion angle of the stabilizer bar according to the lateral height difference value of the suspension frame based on a second preset relation;
and controlling the stabilizer bar based on the torsion angle of the stabilizer bar, and maintaining the body posture to maintain the target body posture.
4. The method of claim 1, wherein prior to determining the target body pose from the user profile data and the road grade data, the method further comprises:
determining a data acquisition channel of the user shape data as a candidate data channel;
allocating a use priority for the candidate data channel based on the data accuracy of the data acquisition channel;
and selecting a target data channel from at least two candidate data channels according to the use priority, and acquiring the user shape data by utilizing the target data channel.
5. A vehicle body posture adjustment device, characterized by comprising:
The target body posture determining module is used for determining the target body posture according to the user shape data and the road gradient data;
the plane position relation determining module is used for determining the relative position relation among the object placing plane, the road plane and the horizontal plane of the vehicle;
the vehicle body posture adjusting module is used for calculating vehicle body posture parameters according to the relative position relation and the target vehicle body posture, adjusting the vehicle suspension height based on the vehicle body posture parameters and adjusting the vehicle body posture to be the target vehicle body posture;
the target body posture determination module includes: the target vehicle body height determining submodule is used for determining the vertical distance between the vehicle object placing plane and the road plane according to the user body data and taking the vertical distance as the target vehicle body height; the target vehicle body angle determining submodule is used for determining an alternative included angle between the object placing plane of the vehicle and the horizontal plane based on the road gradient data and the vehicle suspension progress, and determining a target vehicle body angle from the alternative included angle; a target body posture determination sub-module for determining the target body posture according to the target body height and the target body angle;
The plane position relation determining module comprises: the first plane included angle determining sub-module is used for determining an included angle between the object placing plane of the vehicle and the road plane as a first plane included angle according to a suspension height difference between the front axle suspension height and the rear axle suspension height and the vehicle wheelbase; the second plane distance determining submodule is used for taking the vertical distance between the vehicle object placing plane and the road plane as a second plane distance; the second plane included angle determining sub-module is used for determining an included angle between the road plane and the horizontal plane as a second plane included angle according to the second plane distance and the actual vehicle height based on the plane geometric relationship; the third plane included angle determining sub-module is used for determining an included angle between the object placing plane of the vehicle and the horizontal plane according to the first plane included angle and the second plane included angle, and the included angle is used as a third plane included angle; the relative position relation determining submodule is used for determining the relative position relation among a vehicle object placing plane, a road plane and a horizontal plane according to the first plane included angle, the second plane included angle and the third plane included angle;
the vehicle body posture adjustment module includes: vehicle body attitude parameter determination sub-module
The body attitude parameter determination submodule includes: vehicle body posture parameter determination unit for
Based on the following formula, respectively determining the body attitude parameters related to the first plane included angle, the second plane included angle and the third plane included angle;
wherein γ is a first plane angle, α is a second plane angle, and β is a third plane angle, wherein α=tan -1 (i y /100)，Represents a first plane included angle gamma, h r For rear axle suspension height, h f For front axle suspension height, h o R is the vertical distance between the object placing plane and the edge of the bottom of the vehicle body w For the radius of the wheel, h h Is the actual vehicle height; h is a r ＝(h rl +h rr )/2，h rl Indicating the left rear suspension height, h rr Representing the right rear suspension height; h is a f ＝(h fl +h fr )/2，h fl Represents the left front suspension height, h fr Representing left rear suspension height; i.e x I is road longitudinal gradient data y Is road lateral gradient data; l (L) a For the wheelbase of the vehicle, L w Is the wheel track of the vehicle;
correspondingly, the vehicle body posture adjustment sub-module includes: the vehicle suspension height determining unit is used for substituting the target vehicle body height and the target vehicle body angle into the formula as the third plane included angle and the actual vehicle body height respectively to calculate a left front suspension height, a left rear suspension height, a right front suspension height and a right rear suspension height; and the vehicle body posture adjusting unit is used for adjusting the vehicle body height to the target vehicle body height and adjusting the vehicle body angle to the target vehicle body angle based on the left front suspension height, the left rear suspension height, the right front suspension height and the right rear suspension height respectively.
6. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the vehicle body posture adjustment method according to any one of claims 1 to 4.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of body position adjustment of any one of claims 1-4 when executing the computer program.
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