CN114734769A - Suspension control parameter adjusting method and device, electronic equipment and storage medium - Google Patents

Suspension control parameter adjusting method and device, electronic equipment and storage medium Download PDF

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Publication number
CN114734769A
CN114734769A CN202210385876.7A CN202210385876A CN114734769A CN 114734769 A CN114734769 A CN 114734769A CN 202210385876 A CN202210385876 A CN 202210385876A CN 114734769 A CN114734769 A CN 114734769A
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China
Prior art keywords
recorded
information
data
suspension control
road
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Pending
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CN202210385876.7A
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Chinese (zh)
Inventor
刘秋铮
王超
王相玲
谢飞
刘金波
王彦维
张建
任明星
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FAW Group Corp
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FAW Group Corp
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Priority to CN202210385876.7A priority Critical patent/CN114734769A/en
Publication of CN114734769A publication Critical patent/CN114734769A/en
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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
    • 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
    • B60G17/0165—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 to an external condition, e.g. rough road surface, side wind
    • 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
    • B60G17/0182—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 involving parameter estimation, e.g. observer, Kalman filter
    • 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
    • B60G2400/25—Stroke; Height; Displacement
    • B60G2400/256—Stroke; Height; Displacement horizontal
    • 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
    • B60G2400/25—Stroke; Height; Displacement
    • B60G2400/256—Stroke; Height; Displacement horizontal
    • B60G2400/258—Stroke; Height; Displacement horizontal longitudinal with regard to vehicle
    • 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
    • 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
    • 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
    • B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/10—Damping action or damper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/18—Automatic control means
    • 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
    • B60G2800/16—Running
    • B60G2800/162—Reducing road induced vibrations
    • 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
    • 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
    • B60G2800/70—Estimating or calculating vehicle parameters or state variables
    • 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
    • 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
    • B60G2800/916—Body Vibration Control

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

Abstract

The embodiment of the invention discloses a method and a device for adjusting suspension control parameters, electronic equipment and a storage medium. The method comprises the following steps: acquiring a current wheel position of a target wheel of a target vehicle and a pre-stored historical driving record; wherein the historical driving record comprises recorded relief information of a recorded relief road which is passed by the target vehicle in the historical driving; determining whether the current wheel position is within a documented rough road or within a vicinity of a documented rough road; if so, the next driving position of the target wheel is predicted, next position heave data for the next driving position is determined based on the recorded heave information, and suspension control parameters are adjusted based on the next position heave data. According to the technical scheme of the embodiment of the invention, the accuracy of the acquired suspension control data can be improved, the suspension can be effectively controlled, and the vehicle can run more stably.

Description

Suspension control parameter adjusting method and device, electronic equipment and storage medium
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a method and a device for adjusting suspension control parameters, electronic equipment and a storage medium.
Background
One of the objectives of suspension control is to reduce the effect of road undulations on vehicle body vibrations, and in particular for semi-active or active suspensions, the characteristics of the road undulations determine the choice of control parameters.
In the prior art, a high-precision map is generally adopted, the road condition is simply known through the high-precision map, and a control reference is determined according to the road condition. However, the high-precision map can only reflect the conditions of the direction, the road width, the road type and the like of the road, but cannot reflect the fluctuation condition of the road, so that the control parameters cannot be accurately determined according to the high-precision map; moreover, the coverage of the road and the updating frequency of the current high-precision map cannot meet the availability and accuracy of the information required by the suspension control.
Disclosure of Invention
The embodiment of the invention provides a method and a device for adjusting suspension control parameters, electronic equipment and a storage medium, which are used for improving the accuracy of acquired suspension control data, effectively controlling a suspension and facilitating the smooth running of a vehicle.
In a first aspect, an embodiment of the present invention provides a method for adjusting a suspension control parameter, including:
acquiring a current wheel position of a target wheel of a target vehicle and a pre-stored historical driving record; wherein the historical travel record includes recorded undulation information of recorded undulation roads that the target vehicle passes through in historical travel;
determining whether the current wheel position is within the documented rough road or within a vicinity of the documented rough road;
if so, predicting a next driving position of the target wheel, determining next position heave data of the next driving position based on the recorded heave information, and adjusting suspension control parameters based on the next position heave data.
In a second aspect, an embodiment of the present invention further provides an apparatus for adjusting a suspension control parameter, where the apparatus includes:
a historical travel record acquisition module for acquiring a current wheel position of a target wheel of a target vehicle and a pre-stored historical travel record; wherein the history travel record includes recorded undulation information of recorded undulation roads that the target vehicle passes through in history travel;
a position determination module to determine whether the current wheel position is within the documented rough road or a region in proximity to the documented rough road; if yes, entering a suspension control parameter adjusting module;
and the suspension control parameter adjusting module is used for predicting the next driving position of the target wheel, determining next position fluctuation data of the next driving position based on the recorded fluctuation information, and adjusting suspension control parameters based on the next position fluctuation data.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a method of adjusting a suspension control parameter as provided by any of the embodiments of the invention.
In a fourth aspect, the embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for adjusting a suspension control parameter provided in any embodiment of the present invention.
According to the method for adjusting the suspension control parameters, provided by the embodiment of the invention, whether the current wheel position is in a recorded undulating road or in an adjacent area of the recorded undulating road is determined according to the current wheel position of a target wheel and pre-stored recorded undulating information; when the vehicle is in the recorded undulating road or the adjacent area, the situation that the target wheel is about to run on the undulating road is described, and the road is recorded, the next position undulating data of the next running position can be determined through the recorded undulating information, so that the suspension control parameters are adjusted according to the next position undulating data, the problem that the suspension control parameters cannot be determined according to the undulating data in advance is solved, the accuracy of the acquired suspension control data is improved, the suspension is effectively controlled, and the vehicle can run more smoothly.
In addition, the adjusting device, the electronic equipment and the storage medium of the suspension control parameters provided by the invention correspond to the method, and have the same beneficial effects.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a flowchart of a method for adjusting a suspension control parameter according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a wheel position calculation according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method for adjusting suspension control parameters according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a suspension structure according to an embodiment of the present invention;
fig. 5 is a structural diagram of an adjusting device for suspension control parameters according to an embodiment of the present invention;
fig. 6 is a structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
In order that those skilled in the art will better understand the disclosure, reference will now be made in detail to the embodiments of the disclosure as illustrated in the accompanying drawings.
Example one
Fig. 1 is a flowchart of a method for adjusting a suspension control parameter according to an embodiment of the present invention. The method can be executed by a suspension control parameter adjusting device, which can be implemented by software and/or hardware, and can be configured in a terminal and/or a server to implement the suspension control parameter adjusting method in the embodiment of the present invention.
As shown in fig. 1, the method of the embodiment may specifically include:
s101, obtaining the current wheel position of the target wheel of the target vehicle and a pre-stored historical driving record.
The history travel record includes recorded undulation information of an already-recorded undulation road through which the target vehicle passes during the history travel. The number of target wheels may be one or more. For example, the target wheel may be determined as two rear wheels of the target vehicle, and the current wheel positions of the two rear wheels may be determined separately.
In a specific implementation, the current wheel position of the target wheel may be determined by a target vehicle-mounted positioning device, which may be a satellite positioning system. For example, the positioning device may be mounted on the target wheel, so as to directly determine the current wheel position of the target wheel during driving; the positioning equipment can also be arranged on the body of the target vehicle, and the current wheel position of the target wheel in the running process can be determined according to the position relation between the installation position and the target wheel.
In this embodiment, the manner of obtaining the current wheel position of the target wheel of the target vehicle specifically includes: acquiring vehicle position information acquired by positioning equipment installed on a target vehicle, and determining the distance between the positioning equipment and a target wheel; determining an included angle between a connecting line of the positioning equipment and the target wheel and the direction of the vehicle body of the target vehicle; based on the distance, included angle, and vehicle position information, a current wheel position is determined. The vehicle position information comprises a longitude value, a latitude value and a course angle of the target vehicle.
In a specific implementation, the positioning apparatus may be mounted at a body position of the target vehicle, the mounting position being set to (x0, y 0). FIG. 2 is a schematic diagram of a wheel position calculation according to an embodiment of the present invention; as shown in fig. 2, two rear wheels of the target vehicle may be determined as target wheels, and the wheel coordinate positions are set to (x1, y1) and (x2, y2), respectively.
Specifically, the positioning device comprises a positioning antenna, and the distances between the positioning antenna and the two rear wheels are set to l1 and l2 respectively; the included angles between the connecting line of the antenna and the two rear wheels and the right front of the vehicle body are respectively alpha 1 and alpha 2. The positioning device can provide the current position information of the vehicle in real time, and comprises: longitude, latitude, heading angle.
Note that the longitude specified by the positioning device is the same as the mounting position coordinate x0 of the positioning device, the latitude specified by the positioning device is the same as the mounting position coordinate y0 of the positioning device, the heading angle can be set to β, and the deviation between the vehicle body slip angle and the heading angle can be ignored. Thus, the specific positions (x1, y1) and (x2, y2) of the left and right rear wheels can be determined by the positional relationship between the mounting position coordinates and the left and right rear wheel coordinates, x1 can be obtained based on x0, l1, β, and α 1, y1 can be obtained based on y0, l1, β, and α 1, x2 can be obtained based on x0, l2, β, and α 2, and y2 can be obtained based on y0, l2, β, and α 2.
S102, determining whether the current wheel position is in a recorded undulating road or in the adjacent area of the recorded undulating road; if so, the process proceeds to S103.
Specifically, the recorded undulation information stored in advance includes a longitude value, a latitude value, a heading angle, and a road surface height of each position of the undulated road. Whether the current wheel position is within the documented rough road or within a vicinity of the documented rough road may be determined from the longitude and latitude values for each position of the documented rough road and the longitude and latitude values for the current wheel position.
In a specific implementation, an area within a preset distance adjacent to the recorded undulating road may be determined as a neighboring area of the recorded undulating road, and the preset distance may be set to 50 meters. For example, the vehicle may calculate the nearest distance between the current wheel position of the target wheel and the recorded undulating road stored in the controller in real time during each driving, and when the distance is less than a certain threshold (for example, 50 meters) and the absolute value of the deviation from the recorded heading angle is less than a preset angle value, it may be determined that the current wheel position is in the vicinity of the recorded undulating road.
S103, predicting the next driving position of the target wheel, determining next position heave data of the next driving position based on the recorded heave information, and adjusting suspension control parameters based on the next position heave data.
In the present embodiment, when the current wheel position has entered the already-described rough road or the vicinity of the already-described rough road, in order to improve the smoothness and comfort of the vehicle running, the next running position of the target vehicle may be predicted based on the current running direction, speed, and current wheel position of the target wheel of the target vehicle, so that the next position rough data of the next running position is determined based on the already-described rough information of the already-described rough road, and the suspension control parameters are adjusted based on the next position rough data.
Specifically, the next driving position may be a driving position of the target wheel at the predicted time; if the predicted time may be the next second, the next driving position may be the driving position of the target wheel for the next second, or may be the driving position of the target wheel for the next microsecond. The predicted time may be determined based on the current travel speed of the target vehicle. When the running speed is high, the running position of the next microsecond target wheel can be predicted to serve as the next running position; when the running speed is slow, the running position of the target wheel for the next second can be predicted as the next running position.
Optionally, the suspension control parameters include compression damping parameters and extension damping parameters; wherein adjusting suspension control parameters based on the next position undulation data comprises: when the next position fluctuation data is data reflecting the convex terrain, reducing the numerical value of the compression damping parameter; when the next position fluctuation data is data reflecting the pit topography, the value of the elongation damping parameter is decreased.
In a specific implementation, the suspension control parameters may be adjusted based on the next position heave data by pre-control logic of the suspension system. The pre-control logic is to calculate the time of arrival of the vehicle based on the current vehicle speed and the exact distance of the wheels from the location of the terrain relief, and to initiate adjustment of the control parameters of the active suspension when the time enters a pre-control period (e.g., 50 milliseconds).
When the next position fluctuation data reflects the road surface protrusion, the value of the reduced compression damping parameter can be determined according to the specific value of the next position fluctuation data reflecting the protruding terrain; when the next position relief data reflects a road surface depression, the value of the reduced elongation damping parameter is determined based on the specific value of the next position relief data reflecting the depression topography. By adjusting the compression damping parameter or the extension damping parameter, the vibration condition of the vehicle body when the vehicle runs to the rough road is reduced.
In this embodiment, after adjusting the suspension control parameter based on the next position fluctuation data, the method further includes: when the target wheel reaches the next driving position, determining actual position fluctuation data corresponding to the next driving position; when the difference between the actual position relief data and the next position relief data is larger than a preset difference, the recorded relief information is updated based on the actual position relief data.
In a specific implementation, the actual position relief data may be determined for each driving position when the target wheel is driving on a rough road. For example, the actual position relief data for each driving position can be determined by height sensors mounted between the wheels and the vehicle body. The actual position fluctuation data of the next travel position can be compared with the recorded next position fluctuation data of the next travel position, when the difference between the actual position fluctuation data and the recorded next position fluctuation data is large, the recorded data is changed and inaccurate, and in order to ensure that the suspension control parameters can be accurately determined based on the recorded fluctuation information in the next travel process, the position fluctuation data of the position can be updated based on the actual position fluctuation data, so that the recorded fluctuation information is updated.
According to the method for adjusting the suspension control parameters, provided by the embodiment of the invention, whether the current wheel position is in a recorded undulation road or in the adjacent area of the recorded undulation road is determined through the current wheel position of a target wheel and pre-stored recorded undulation information; when the vehicle is in the recorded undulating road or the adjacent area, the situation that the target wheel is about to run on the undulating road is described, and the road is recorded, the next position undulating data of the next running position can be determined through the recorded undulating information, so that the suspension control parameters are adjusted according to the next position undulating data, the problem that the suspension control parameters cannot be determined according to the undulating data in advance is solved, the accuracy of the acquired suspension control data is improved, the suspension is effectively controlled, and the vehicle can run more smoothly.
Example two
Fig. 3 is a flow chart of another method for adjusting suspension control parameters according to an embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. Optionally, the method further includes: if not, acquiring height information acquired by a height sensor arranged on the target wheel, and determining whether the current running road of the target vehicle is a rough road to be recorded or not based on the height information; and if the road is a to-be-recorded undulating road, acquiring vehicle position information acquired by positioning equipment installed on the target vehicle, generating to-be-recorded undulating information corresponding to the to-be-recorded undulating road based on the vehicle position information and the height information, and recording the to-be-recorded undulating information into a historical driving record. The same or corresponding terms as those in the above embodiments are not explained in detail herein.
As shown in fig. 3, the method of the embodiment may specifically include:
s201, acquiring a current wheel position of a target wheel of the target vehicle and a pre-stored historical driving record.
S202, determining whether the current wheel position is in the recorded undulating road or the adjacent area of the recorded undulating road; if yes, go to S203; if not, the process proceeds to S204.
S203, predicting the next driving position of the target wheel, determining next position heave data of the next driving position based on the recorded heave information, and adjusting suspension control parameters based on the next position heave data.
When the wheels contact the next driving position of the undulating road, the recorded undulation information of the undulating road can be recalibrated according to the actual position undulation data, and the suspension control parameters corresponding to the calibrated undulation data are correspondingly determined.
The recording format of the fluctuation information can be [ longitude, latitude, course angle and road height ], each fluctuation can be decomposed into a sequence combination of a bump for compressing the suspension and a pit for extending the suspension according to the recording format, and the suspension height data collected in real time is used as a basis for further enhancing, maintaining or finishing the control data.
S204, acquiring height information acquired by a height sensor installed between a target wheel and a vehicle body, and determining whether the current running road of the target vehicle is a rough road to be recorded or not based on the height information; if the rough road is to be described, the process proceeds to step S205.
In particular implementations, the suspension control parameters may be adjusted in a default adjustment when the current wheel position is not within or in the vicinity of the documented rough road. For when the current wheel position is not within the documented rough road or within the vicinity of the documented rough road, there may be two cases: 1. if the current area is not the historical driving area that the target vehicle has driven, first recording is needed; 2. the current area is a historical driving area, but the historical driving process is not a rough road, such as a flat expressway. For the above two cases, it is necessary to first determine the height information of the target wheel to determine whether the current running road is a rough road, so as to provide a basis for determining the suspension control parameters for the following running.
In this embodiment, the height information may be determined by a suspension system mounted on the subject vehicle. Fig. 4 is a schematic view of a suspension structure according to an embodiment of the present invention, and as shown in fig. 4, the suspension system further includes a suspension height sensor, a shock absorber, a damping and height active adjustment actuator, and a spring. The suspension height sensors are installed between the vehicle body and the wheels, and the suspension height sensors can be installed between the four wheels of the target vehicle and the vehicle body and used for detecting the up-down jumping amount of the wheels, namely height information. For example, if the two rear wheels of the target vehicle are determined as the target wheels, the measured height information is H1 and H2, respectively, and the height value of the vehicle at a standstill state is set to 0, positive upward, and negative downward.
In a particular implementation, the height information includes a height value and direction information; wherein determining whether the road on which the target vehicle is currently running is a rough road to be recorded based on the height information includes: determining whether the height value is greater than a preset height threshold value; and if so, determining that the road on which the target vehicle runs is the undulated road to be recorded.
For example, the preset height threshold may be set to 1 cm, and when the height value of the vertical runout of the target wheel is greater than 1 cm, the currently running road is determined to be the undulated road to be recorded. If the height value of the up-and-down jumping of the target wheel is less than or equal to 1 cm, the current running road can be determined as a flat road without recording height information.
Optionally, obtaining height information collected by a height sensor mounted on the target wheel includes: determining the current speed and the expected data acquisition precision of the target vehicle, and determining the time interval for acquiring the height information based on the current speed and the expected data acquisition precision; and acquiring the height information acquired by the height sensor arranged on the target wheel according to the time interval.
In specific implementation, since the target vehicle is in a driving state, the height information can be acquired for multiple times, so that the height conditions of different positions of the driving route can be obtained. The frequency of collecting the height information of the roads with the same distance can be determined by setting the time interval and/or the distance interval for obtaining the height information, and the accuracy of the collected data can also be understood. Thus, when the time interval and/or the distance interval are set, the determination can be made according to the required accuracy of the acquired data.
For example, when it is expected that the topographic information with the accuracy e can still be acquired when the vehicle speed is V, the value range of the time interval T may be set as follows:
T<＝(3.6×e)/V
for example, if it is desired that the topographic information with an accuracy of 0.01m can be acquired at a vehicle speed of 72km/h, the sampling time interval T needs to be less than (3.6 × 0.01)/72 ═ 0.0005 seconds.
S205, vehicle position information collected by a positioning device installed on the target vehicle is obtained, the to-be-recorded undulation information corresponding to the to-be-recorded undulation road is generated based on the vehicle position information and the height information, and the to-be-recorded undulation information is recorded in the historical driving record.
In a specific implementation, the to-be-recorded undulating information corresponding to the to-be-recorded undulating road may be generated based on the vehicle position information and the altitude information, and the recording format of the to-be-recorded undulating information may be [ longitude, latitude, heading angle, road surface altitude ]. The undulation information to be recorded at each position of the road can be recorded in the historical driving record in an array sequence mode, and the historical driving record is stored in the vehicle-mounted controller.
In the embodiment of the invention, when the current wheel position is not in the recorded undulating road or the adjacent area of the recorded undulating road, the height information can be acquired based on the height sensor, so that the undulating information to be recorded is generated, the historical driving records are enriched by recording the undulating information to be recorded, the undulating condition of the road can be determined in advance in the following driving process, and the suspension control parameter adjustment can be more accurately and effectively carried out based on the recorded undulating condition.
EXAMPLE III
Fig. 5 is a structural diagram of an apparatus for adjusting suspension control parameters according to an embodiment of the present invention, which is used to execute a method for adjusting suspension control parameters according to any of the embodiments described above. The device and the method for adjusting suspension control parameters of the embodiments belong to the same inventive concept, and details which are not described in detail in the embodiment of the device for adjusting suspension control parameters can refer to the embodiment of the method for adjusting suspension control parameters. The device may specifically comprise:
a history traveling record acquisition module 10 for acquiring a current wheel position of a target wheel of a target vehicle and a history traveling record stored in advance; wherein the history travel record includes recorded undulation information of recorded undulation roads that the target vehicle passes through in history travel;
a position determination module 11 for determining whether the current wheel position is within the documented rough road or within a vicinity of the documented rough road; if yes, entering a suspension control parameter adjusting module;
and a suspension control parameter adjusting module 12 for predicting a next driving position of the target wheel, determining next position heave data of the next driving position based on the recorded heave information, and adjusting suspension control parameters based on the next position heave data.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the apparatus further includes:
the height information acquisition module is used for acquiring height information acquired by a height sensor installed between the target wheel and a vehicle body if the current wheel position is not in the recorded undulating road and is not in the adjacent area of the recorded undulating road, and determining whether the road on which the target vehicle runs is the undulating road to be recorded or not based on the height information; and if the vehicle is the undulating road to be recorded, acquiring vehicle position information acquired by positioning equipment installed on the target vehicle, generating undulation information to be recorded corresponding to the undulating road to be recorded based on the vehicle position information and the height information, and recording the undulation information to be recorded in the historical driving record.
On the basis of any optional technical scheme in the embodiment of the present invention, optionally, the height information includes a height value and direction information; wherein, the height information acquisition module includes:
the rough road to be recorded determining unit is used for determining whether the height value is greater than a preset height threshold value; and if so, determining that the road on which the target vehicle runs is the undulated road to be recorded.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the height information acquiring module includes:
the current speed determining unit is used for determining the current speed and the expected data acquisition precision of the target vehicle and determining the time interval for acquiring the height information based on the current speed and the expected data acquisition precision; and acquiring the height information acquired by the height sensor arranged on the target wheel according to the time interval.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the historical driving record obtaining module 10 includes:
the vehicle position information acquisition unit is used for acquiring vehicle position information acquired by positioning equipment installed on the target vehicle and determining the distance between the positioning equipment and the target wheel; determining an included angle between a connecting line of the positioning equipment and the target wheel and the body direction of the target vehicle; determining the current wheel position based on the distance, the included angle and the vehicle position information; the vehicle position information comprises a longitude value, a latitude value and a heading angle of the target vehicle.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the apparatus further includes:
an actual position fluctuation data determination unit configured to determine actual position fluctuation data corresponding to the next travel position when the target wheel reaches the next travel position after the suspension control parameter is adjusted based on the next position fluctuation data; when a difference between the actual position undulation data and the next position undulation data is larger than a preset difference, the recorded undulation information is updated based on the actual position undulation data.
On the basis of any optional technical scheme in the embodiment of the invention, optionally, the suspension control parameters comprise a compression damping parameter and an extension damping parameter; wherein the suspension control parameter adjusting module 12 comprises:
a suspension control parameter adjusting unit for reducing the value of the compression damping parameter when the next position fluctuation data is data reflecting a convex topography; decreasing the value of the elongation damping parameter when the next position undulation data is data reflecting a pit topography.
The suspension control parameter adjusting device provided by the embodiment of the invention can execute the suspension control parameter adjusting method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the executing method.
It should be noted that, in the embodiment of the suspension control parameter adjusting device, the included units and modules are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
Example four
Fig. 6 is a structural diagram of an electronic device according to an embodiment of the present invention. FIG. 6 illustrates a block diagram of an exemplary electronic device 20 suitable for use in implementing embodiments of the present invention. The illustrated electronic device 20 is merely an example and should not be used to limit the functionality or scope of embodiments of the present invention.
As shown in fig. 6, the electronic device 20 is embodied in the form of a general purpose computing device. The components of the electronic device 20 may include, but are not limited to: one or more processors or processing units 201, a system memory 202, and a bus 203 that couples the various system components (including the system memory 202 and the processing unit 201).
Bus 203 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Electronic device 20 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by electronic device 20 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 202 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)204 and/or cache memory 205. The electronic device 20 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, the storage system 206 may be used to read from and write to non-removable, nonvolatile magnetic media. A magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 203 by one or more data media interfaces. Memory 202 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 208 having a set (at least one) of program modules 207 may be stored, for example, in memory 202, such program modules 207 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 207 generally perform the functions and/or methodologies of embodiments of the present invention as described herein.
The electronic device 20 may also communicate with one or more external devices 209 (e.g., keyboard, pointing device, display 210, etc.), with one or more devices that enable a user to interact with the electronic device 20, and/or with any devices (e.g., network card, modem, etc.) that enable the electronic device 20 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 211. Also, the electronic device 20 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 212. As shown, the network adapter 212 communicates with other modules of the electronic device 20 over the bus 203. It should be understood that other hardware and/or software modules may be used in conjunction with electronic device 20, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 201 executes various functional applications and data processing by running a program stored in the system memory 202.
The electronic equipment provided by the invention can realize the following method: acquiring a current wheel position of a target wheel of a target vehicle and a pre-stored historical driving record; wherein the historical driving record comprises recorded relief information of a recorded relief road which is passed by the target vehicle in the historical driving; determining whether the current wheel position is within a documented rough road or within a vicinity of a documented rough road; if so, the next driving position of the target wheel is predicted, next position heave data for the next driving position is determined based on the recorded heave information, and suspension control parameters are adjusted based on the next position heave data. The embodiment of the invention realizes the functions of improving the accuracy of the acquired suspension control data and effectively controlling the suspension, and is beneficial to more stable running of the vehicle.
EXAMPLE five
Embodiments of the present invention provide a storage medium containing computer-executable instructions which, when executed by a computer processor, perform a method of adjusting a suspension control parameter, the method comprising:
acquiring a current wheel position of a target wheel of a target vehicle and a pre-stored historical driving record; wherein the historical driving record comprises recorded undulation information of recorded undulation roads passed by the target vehicle in the historical driving; determining whether the current wheel position is within a documented rough road or a vicinity of the documented rough road; if so, the next driving position of the target wheel is predicted, next position heave data for the next driving position is determined based on the recorded heave information, and suspension control parameters are adjusted based on the next position heave data. The embodiment of the invention realizes the functions of improving the accuracy of the acquired suspension control data and effectively controlling the suspension, and is beneficial to more stable running of the vehicle.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the above method operations, and may also perform related operations in the suspension control parameter adjustment method provided by any embodiment of the present invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated 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 invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A method for adjusting suspension control parameters is characterized by comprising the following steps:
acquiring a current wheel position of a target wheel of a target vehicle and a pre-stored historical driving record; wherein the history travel record includes recorded undulation information of recorded undulation roads that the target vehicle passes through in history travel;
determining whether the current wheel position is within the documented rough road or within a vicinity of the documented rough road;
if so, predicting a next driving position of the target wheel, determining next position heave data of the next driving position based on the recorded heave information, and adjusting suspension control parameters based on the next position heave data.
2. The method of claim 1, further comprising:
if not, acquiring height information acquired by a height sensor installed between the target wheel and the vehicle body, and determining whether the road on which the target vehicle runs currently is a rough road to be recorded or not based on the height information;
and if the vehicle is the undulating road to be recorded, acquiring vehicle position information acquired by positioning equipment installed on the target vehicle, generating undulation information to be recorded corresponding to the undulating road to be recorded based on the vehicle position information and the height information, and recording the undulation information to be recorded in the historical driving record.
3. The method of claim 2, wherein the altitude information comprises an altitude value and direction information; wherein,
the determining whether the road on which the target vehicle currently runs is a rough road to be recorded based on the height information comprises the following steps:
determining whether the height value is greater than a preset height threshold value;
and if so, determining that the road on which the target vehicle runs is the undulated road to be recorded.
4. The method of claim 2, wherein said obtaining height information collected by a height sensor mounted on said target wheel comprises:
determining the current speed and the expected data acquisition precision of the target vehicle, and determining the time interval for acquiring the height information based on the current speed and the expected data acquisition precision;
and acquiring the height information acquired by the height sensor arranged on the target wheel according to the time interval.
5. The method of claim 1, wherein the obtaining a current wheel position of a target wheel of a target vehicle comprises:
acquiring vehicle position information acquired by positioning equipment installed on the target vehicle, and determining the distance between the positioning equipment and the target wheel;
determining an included angle between a connecting line of the positioning equipment and the target wheel and the body direction of the target vehicle;
determining the current wheel position based on the distance, the included angle and the vehicle position information; the vehicle position information comprises a longitude value, a latitude value and a heading angle of the target vehicle.
6. The method of claim 1, further comprising, after said adjusting suspension control parameters based on said next position heave data:
when the target wheel reaches the next driving position, determining actual position fluctuation data corresponding to the next driving position;
when a difference between the actual position undulation data and the next position undulation data is larger than a preset difference, the recorded undulation information is updated based on the actual position undulation data.
7. The method of claim 1, wherein the suspension control parameters include a compression damping parameter and an extension damping parameter; wherein,
said adjusting suspension control parameters based on said next position heave data comprises:
when the next position undulation data is data reflecting a convex topography, reducing the value of the compression damping parameter;
decreasing the value of the elongation damping parameter when the next position undulation data is data reflecting a pit topography.
8. An apparatus for adjusting suspension control parameters, comprising:
a historical travel record acquisition module for acquiring a current wheel position of a target wheel of a target vehicle and a pre-stored historical travel record; wherein the history travel record includes recorded undulation information of recorded undulation roads that the target vehicle passes through in history travel;
a position determination module to determine whether the current wheel position is within the documented rough road or a region in proximity to the documented rough road; if yes, entering a suspension control parameter adjusting module;
and the suspension control parameter adjusting module is used for predicting the next driving position of the target wheel, determining next position fluctuation data of the next driving position based on the recorded fluctuation information, and adjusting suspension control parameters based on the next position fluctuation data.
9. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a method of adjusting a suspension control parameter as recited in any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of adjusting a suspension control parameter according to any one of claims 1 to 7.
CN202210385876.7A 2022-04-13 2022-04-13 Suspension control parameter adjusting method and device, electronic equipment and storage medium Pending CN114734769A (en)

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