Active suspension preview control method based on camera sensor pavement information identification

Abstract

The invention discloses an active suspension preview control method based on camera sensor pavement recognition. The method comprises the following steps: acquiring front pavement preview informationthrough a camera sensor; performing data processing on the front road surface preview information to obtain a front road surface unevenness value, and determining a road surface unevenness grade according to an unevenness division criterion; receiving a front road surface unevenness grade instruction, and establishing an active suspension model based on front road surface preview information; designing a multi-performance index constrained active suspension H-infinity optimal controller; and obtaining a weight value in the H-infinity optimal controller by using a multi-objective constraint optimization algorithm so as to realize performance balance of various performance indexes of the suspension. According to the method, the camera sensor is used for obtaining the road surface preview information, the H-infinity optimal control is combined, the time lag phenomenon in the active suspension damping parameter adjusting process is improved, and multi-performance index balance control overthe active suspension is achieved.

Description

technical field [0001] The invention relates to parameter control of an active suspension, in particular to an active suspension preview control method based on camera sensor road surface recognition. Background technique [0002] During the driving process of the vehicle, the excitation provided by the uneven road may cause the vehicle to vibrate, cause the vehicle to produce vertical vibration, and affect the ride comfort and comfort of the vehicle. In order to improve the ride comfort of the vehicle, it is necessary to propose a new method for improving the suspension performance. With the continuous development of machine vision, traditional 2D camera sensors have been gradually transformed into 3D camera sensors, which can not only display two-dimensional plane information, but also three-dimensional coordinate information in the captured images, such as: Kinect, ZED 2KStereo Camera and Bumble Bee et al. If the stereo vision sensor can be applied to the detection of r...

AI Technical Summary

Problems solved by technology

In the literature [Research on Road Surface Roughness Reconstruction Method Based on Lidar], the road height information in front of the vehicle is obtained by Lidar, but due to the cost and computational complexity of Lidar, this method has not been widely implemented.

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