Vehicle camber angle and toe angle cooperative control system and method combined with unmanned driving

Abstract

The invention discloses a vehicle camber angle and toe angle cooperative control system and method combined with unmanned driving in the field of vehicle suspension control, including a non-current vehicle road condition identification and acquisition module, an unmanned driving module of the current vehicle, and a cloud Database, information processing module, camber angle sensor, toe angle sensor, steering wheel angle sensor, throttle opening sensor, target toe-in judging module and target camber judging module. Pre-judgment: During the driving process of the vehicle, through the non-current vehicle speed and the prediction of the throttle opening and the steering wheel angle at the next moment, the front wheel camber and toe angle of the vehicle are adjusted in advance to overcome the time lag and comprehensively Considering the influence of vehicle front wheel camber and toe angle on vehicle operation stability, the toe angle and camber angle of vehicle front wheel are controlled synergistically through the design matching rules of the two to improve the comfort of the vehicle.

Description

technical field [0001] The invention relates to the field of vehicle suspension control, in particular to a system and method for a coordinated control of the front wheel camber angle and toe angle of a suspension combined with an unmanned module. Background technique [0002] Driverless technology is developing rapidly, and the functions of driverless cars include behavioral decision-making, environmental perception and path planning. Behavioral decision-making is that the action control system independently conducts a comprehensive data analysis of the driving position, state, speed, etc. of the driverless car, and then starts to intelligently control the accelerator, braking and direction of the vehicle; the environmental perception module includes lidar and millimeter Wave radar, etc., are used to perceive the information of the surrounding environment of the vehicle; path planning is to use GPS and Beidou navigation system combined with high-precision maps to find a saf...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the pre-coordinated control of the front wheel camber and the toe angle of the automobile cannot be realized in the prior art, and a method of combining the suspension front wheel camber and the toe angle of the unmanned driving module is proposed. The collaborative control system and collaborative control method can combine the unmanned driving module and the non-current vehicle speed information feedback during the driving process to realize the prediction of the road surface conditions, and finally adjust the front wheel camber and toe-in of the vehicle in real time horn

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