Data fusion method for active suspension actuator control amount of emergency rescue vehicle

Abstract

The invention discloses a data fusion method for controlling the amount of active suspension actuators of an emergency rescue vehicle. A laser radar collects topographic point cloud data of front of avehicle, absolute coordinates of the topographic point cloud data are obtained through coordinate transformation and a value of a speed sensor, a cubic sample strip interpolation function is adoptedto conduct serialization on discrete point cloud data to form continuous elevation information of the terrain of the front of the vehicle, and elongation controlled quantity of the actuator is obtained; attitude measurement unit collects vehicle attitude angle information in real time, and calculating as elongation of the actuator for controlling vehicle body attitude level; data fusion of the discrete vehicle attitude controlled quantity and continuous road elevation information is conducted to form the final controlled quantity of the active suspension actuator. The method ensures the time consistency of the elevation information of the terrain elevation information of the front of the vehicle and the attitude adjustment quantity of the vehicle body, and solves the problem that the accuracy of addition of the discrete quantity-discrete quantity of different time series in existing data fusion methods is poor and the algorithm is complicated, and the ride comfort of the handling stability of the emergency rescue vehicle on complex road surfaces are improved.

Description

technical field [0001] The invention relates to the technical field of suspension of emergency rescue vehicles, in particular to a data fusion method of control quantities of active suspension actuators of emergency rescue vehicles. Background technique [0002] The performance of the vehicle suspension system directly affects the ride comfort and handling stability of the vehicle. Emergency rescue vehicles have higher performance requirements for the suspension system. Applying active suspension to emergency rescue vehicles can solve the problems of low speed, poor ride comfort and poor handling stability of existing emergency rescue vehicles on complex roads, and improve the mobility of emergency rescue vehicles. . The active suspension technology replaces the springs and dampers of the traditional suspension system with controllable actuators, and the elongation of the actuators is used to compensate the impact of road surface roughness on the body posture. Therefore, t...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a data fusion method for the formation of control quantities of active suspension actuators of emer...

Images