Suspension preview control method and suspension control device based on binocular vision technology

Abstract

The invention discloses a suspension preview control method based on a binocular vision technology. The suspension preview control method comprises the following steps: S1, acquiring a pavement image in a driving direction in front of a vehicle in real time; S2, identifying the road surface image by using a target detection algorithm, and judging whether a deceleration strip or pit instantaneous road surface excitation exists or not; S3, obtaining a parallax error by combining a stereo matching algorithm with the position information of the deceleration strip or the pit; S4, estimating the distance of the deceleration strip or the pit according to a binocular distance measurement algorithm in combination with the internal and external parameters of the binocular camera and the parallax value, and calculating the time when the vehicle arrives at the deceleration strip or the pit by the vehicle ECU according to the vehicle speed information; S5, designing a suspension preview controller according to a model predictive control principle, and switching to the suspension preview controller in advance before the estimated time when the vehicle arrives at the deceleration strip or the pit. The invention further provides a suspension control device. According to the invention, the arrangement condition of the suspension of the vehicle is matched with the driving condition of the vehicle, and the driving comfort and safety of the vehicle are improved.

Description

technical field [0001] The invention relates to the technical field of vehicle suspension system design, in particular to a suspension preview control method and a suspension control device based on binocular vision technology. Background technique [0002] In vehicle research and application, comfort and safety are important indicators for evaluating vehicle performance. As one of the six major systems of a car, the suspension system has an important influence on these two performances. Suspension system is the general term for all force transmission connection devices between the vehicle's wheels and the frame (body), and is mainly composed of elastic elements, damping elements, and guiding mechanisms. Its function is to transmit the force and torque acting between the wheel and the frame, and to buffer and absorb the vibration of the frame or body caused by the road as much as possible to ensure the ride comfort of the vehicle. [0003] Suspensions in the prior art are ...

AI Technical Summary

Problems solved by technology

When the vehicle is excited by the instantaneous road surface such as the speed bump, there is a time lag in the actuator, which will cause the real-time performance of the control to deteriorate and deteriorate the control effect

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