Suspension adaptive adjustment method, system and vehicle based on road surface information

Abstract

The present invention relates to the technical field of automobile suspension, and discloses a suspension adaptive adjustment method, system and vehicle based on road surface information, wherein a road condition collection device is used to collect road surface information, and the estimated height information of the protrusion of the front axle wheel of the automobile on the estimated trajectory of the road surface is obtained; an active suspension system module is used to preset multiple reference height information with different value ranges and multiple different suspension adjustment instructions corresponding to the multiple reference height information; the estimated height information obtained by the road condition collection device is received, and it is compared with the reference height information to determine the suspension adjustment instruction matching the estimated height information, and the suspension adjustment instruction is issued to the suspension component, and the suspension component executes the suspension adjustment instruction. The suspension adjustment instruction is preset in advance, so that the suspension component can execute the corresponding instruction promptly and quickly according to the road surface information, thereby overcoming the problem of delayed response of the actuator of the existing suspension adjustment system and improving the driving comfort.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile suspension, and in particular to a suspension adaptive adjustment method based on road surface information, a system and a vehicle. Background Art

[0002] With the promotion of intelligent assisted driving cars, drivers and passengers have higher and higher requirements for vehicle comfort. Active suspension system components are increasingly used, such as CDC shock absorbers, air springs, and disconnectable electromagnetic stabilizer bars. However, when cars equipped with electronically controlled suspension encounter road bumps or road speed bumps, they generally adjust the CDC shock absorber damping to reduce impact and suppress vehicle pitching. The stiffness of the air springs and stabilizer bars is not adjusted. The adjustment strategies of various suspension components are poorly matched with the real-time road conditions, and there is a lag. The suspension is not adjusted in time, and the driving comfort is poor. Summary of the invention

[0003] The present invention provides a suspension adaptive adjustment method, system and vehicle based on road surface information.

[0004] In the first aspect, the present invention proposes a suspension adaptive adjustment method based on road surface information, comprising: using a road condition collection device to collect road surface information, and obtaining expected height information of protrusions on the expected trajectory of the front axle wheels of the vehicle on the road surface; using an active suspension system module to preset multiple reference height information with different value ranges and multiple different suspension adjustment instructions corresponding to the multiple reference height information; receiving the expected height information obtained by the road condition collection device, and comparing it with the reference height information to determine a suspension adjustment instruction that matches the expected height information, and issuing the suspension adjustment instruction to a suspension component, and the suspension component executes the suspension adjustment instruction; wherein the suspension component includes a CDC shock absorber, an air spring and a detachable electromagnetic stabilizer bar.

[0005] Furthermore, the front axle wheels include a left front wheel and a right front wheel; the predicted height information includes a predicted height of a protrusion of the left front wheel / right front wheel on a predicted trajectory of the road surface and a predicted height difference of a protrusion of the left front wheel and the right front wheel on their respective predicted trajectories of the road surface.

[0006] Furthermore, the reference height information includes multiple reference heights with different value ranges and multiple reference height differences with different value ranges; each of the reference heights or reference height difference corresponds to a suspension adjustment instruction; the value of the expected height is within a certain value range of the reference height, and the value of the expected height difference is within a certain value range of the reference height difference.

[0007] Furthermore, the suspension adjustment instruction includes adjusting the damping force of the CDC shock absorber and adjusting the stiffness value of the air spring; the value ranges of the multiple reference heights increase step by step, and for each increase by one level, the corresponding suspension adjustment instruction reduces the damping force of the CDC shock absorber by one level, and for each increase by two levels, the corresponding suspension adjustment instruction reduces the stiffness value of the air spring by one level.

[0008] Furthermore, the suspension adjustment instruction also includes adjusting the state of the electromagnetic stabilizer bar to be connected or disconnected; the reference height difference has a value range of 0-3cm and 3-15cm; when the reference height difference has a value range of 0-3cm, the suspension adjustment instruction includes adjusting the state of the electromagnetic stabilizer bar to be connected, and when the reference height difference has a value range of 3-15cm, the suspension adjustment instruction includes adjusting the state of the electromagnetic stabilizer bar to be disconnected.

[0009] Furthermore, the road condition collection device also obtains the time information when the front axle wheels of the vehicle are expected to reach the protrusion.

[0010] Furthermore, the protrusion includes a speed bump or a road surface bulge.

[0011] In a second aspect, the present invention further proposes a system using the suspension adaptive adjustment method based on road surface information, comprising:

[0012] Suspension components, including CDC shock absorbers, air springs and disconnectable electromagnetic stabilizer bar;

[0013] A road condition collection device, used to collect road surface information and obtain estimated height information of protrusions on the estimated trajectory of the front axle wheels of the vehicle on the road surface;

[0014] The active suspension system module is preset with a plurality of reference height information with different value ranges and a plurality of different suspension adjustment instructions corresponding to the plurality of reference height information; it is used to compare the expected height information with the reference height information to determine the suspension adjustment instruction matching the expected height information, and issue the suspension adjustment instruction to the suspension component.

[0015] Furthermore, the adjustment system also includes a wheel speed sensor, which is arranged at the front axle wheel of the vehicle; the road condition collection device is electrically connected to the wheel speed sensor for obtaining the time information when the front axle wheel of the vehicle is expected to reach the protrusion.

[0016] In a third aspect, the present invention further proposes a vehicle, comprising a suspension adaptive adjustment system based on road surface information.

[0017] The beneficial effects brought about by the technical solution provided by the present invention include: by presetting multiple reference height information with different value ranges and multiple different suspension adjustment instructions corresponding to the multiple reference height information; comparing the expected height information of the protrusions on the expected trajectory of the front axle wheels of the vehicle on the road surface obtained by the road condition collection device with the reference height information, and issuing corresponding suspension adjustment instructions based on the comparison results; the suspension adjustment instructions are preset in advance, so that the suspension components can execute the corresponding instructions promptly and quickly according to the road surface information, thereby overcoming the problem of delayed response of the actuators of the existing suspension adjustment system and improving driving comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 The present invention is a structural schematic diagram of a vehicle equipped with a road condition collection device for collecting road surface information.

[0020] Figure 2 for Figure 1 Schematic diagram of the structure when the vehicle is traveling in a straight line from a top view.

[0021] Figure 3 for Figure 1 Schematic diagram of the overhead structure of the vehicle when it is driving on a curve.

[0022] Figure 4 It is a principle diagram of an implementation scheme of the adaptive adjustment system of the present invention.

[0023] Figure 5 for Figure 4 Schematic diagram of the structure of an air spring. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] like Figure 1-3The vehicle shown includes a suspension adaptive adjustment system based on road surface information, and the suspension adaptive adjustment system based on road surface information includes: a suspension component, a road condition collection device, an active suspension system module, and a wheel speed sensor.

[0026] The suspension assembly includes a CDC shock absorber, an air spring and a disconnectable electromagnetic stabilizer bar. The suspension assembly is an existing suspension structure of the vehicle, and this embodiment does not limit its structure.

[0027] The road condition collection device is used to collect road surface information and obtain the estimated height information of the protrusions on the estimated trajectory of the front axle wheels of the vehicle on the road surface. In this embodiment, the road condition collection device is arranged on the top of the vehicle.

[0028] The wheel speed sensor is arranged at the front axle wheel of the automobile; the road condition collecting device is electrically connected to the wheel speed sensor for obtaining the time information when the front axle wheel of the automobile is expected to reach the protrusion.

[0029] After the road condition collection device collects road information, the road condition information processing module contained therein calculates the real-time distance between the vehicle and the road protrusion and measures the height of the protrusion.

[0030] The road condition information processing module calculates the estimated time when the front axle wheel of the vehicle reaches the protrusion in combination with the wheel speed sensor, thereby acquiring the time information. In this embodiment, the protrusion includes a speed bump or a road bump, and the estimated time when the front axle wheel of the vehicle reaches the protrusion is the estimated time when the front axle wheel of the vehicle contacts the speed bump or the road bump.

[0031] Based on this time information, the active suspension system module can plan the time in advance, determine the time when the vehicle reaches the bump, and combine the time required for the suspension components to execute relevant instructions and complete the corresponding actions to give the starting time for each suspension component to execute the suspension adjustment instructions.

[0032] For example, the electromagnetic stabilizer bar executes the disconnection command, and it takes 1 second to complete the disconnection action. The vehicle reaches the protrusion 5 seconds later. Therefore, the electromagnetic stabilizer bar executes the disconnection command 4 seconds after this moment to prevent the suspension components from executing related commands in advance and affecting the driving experience.

[0033] After the road condition collection device collects road surface information, it calculates the expected trajectory of the front axle wheels of the vehicle on the road surface based on the steering wheel angle of the vehicle.

[0034] The active suspension system module is preset with a plurality of reference height information with different value ranges and a plurality of different suspension adjustment instructions corresponding to the plurality of reference height information; it is used to compare the expected height information with the reference height information to determine the suspension adjustment instruction that matches the expected height information, and issue the suspension adjustment instruction to the suspension component.

[0035] like Figure 4 As shown, the adaptive adjustment system of this embodiment includes a right front wheel speed sensor 1, a left front wheel speed sensor 2, a left front air spring 3, a left front CDC shock absorber 4, a left front wheel acceleration sensor 5, a left front height sensor 6, a front stabilizer bar left end 7, a front stabilizer bar electromagnetic module 8, a front stabilizer bar right end 9, a right front height sensor 10, a right front wheel acceleration sensor 11, a right front CDC shock absorber 12, a right front air spring 13, a left front body acceleration sensor 14, a GPS+high-precision map module 15, a road condition collection device 16, a right front body acceleration sensor 17, and a body electronic stability system 18.

[0036] The right front wheel speed sensor 1 and the left front wheel speed sensor 2 are respectively installed on the wheel hub bearings to monitor the wheel speed in real time and transmit it to the vehicle body electronic stability system 18.

[0037] The left front air spring 3 and the right front air spring 13 are connected to the suspension arm at the lower end and to the vehicle body at the upper end, and are used to support the vehicle body and mitigate the impact of the road on the vehicle body. When the vehicle travels over a bump or speed bump, a smaller spring stiffness will reduce the vertical impact of the vehicle.

[0038] Attach Figure 5 For example, the left front air spring 3 includes the left air spring upper chamber 3.1, the left air spring middle chamber 3.2, the left air spring lower chamber 3.3, the left air spring first electromagnetic switch valve 3.4 and the left air spring second electromagnetic switch valve 3.5. When the vehicle is driving on a normal road, the left air spring first electromagnetic switch valve 3.4 and the left air spring second electromagnetic switch valve 3.5 are closed, and the left air spring upper chamber 3.1, the left air spring middle chamber 3.2 and the left air spring lower chamber 3.3 are all independent chambers, that is, the air inside the air spring is not connected.

[0039] The left front CDC shock absorber 4 and the right front CDC shock absorber 12 are connected to the suspension swing arm at the lower end and the vehicle body at the upper end to attenuate the vibration after the road impacts the vehicle body. When the vehicle drives over a bump or speed bump, the smaller compression damping will reduce the vertical impact of the vehicle and improve the ride comfort of the vehicle. When the vehicle leaves the bump or speed bump, the CDC shock absorber will increase the tensile and compression damping force to increase the vehicle's anti-nodding ability.

[0040] CDC shock absorber is composed of ordinary shock absorber and bypass solenoid valve. Ordinary shock absorber provides basic tensile and compression damping force. Bypass solenoid valve controls the opening and closing degree of solenoid valve core by adjusting the current, changes the basic tensile and compression damping of ordinary shock absorber, and achieves the purpose of adjusting the damping force of shock absorber.

[0041] The left front wheel acceleration sensor 5 and the right front wheel acceleration sensor 11 are connected to the suspension swing arm at the lower end and to the vehicle body at the upper end, and are used to monitor the vertical acceleration of the wheels in real time when they are traveling.

[0042] The left front height sensor 6 and the right front height sensor 10 are connected to the suspension swing arm at the lower end and to the vehicle body at the upper end, and are used to monitor the vertical displacement of the wheels in real time when driving.

[0043] The detachable electromagnetic stabilizer bar includes a front stabilizer bar and a rear stabilizer bar. In this embodiment, the front stabilizer bar is taken as an example. The front stabilizer bar is composed of three parts: a front stabilizer bar left end 7, a front stabilizer bar electromagnetic module 8, and a front stabilizer bar right end 9.

[0044] The left end 7 of the front stabilizer bar is connected to the left front suspension rod system, the right end 9 of the front stabilizer bar is connected to the right front suspension rod system, and the left end 7 of the front stabilizer bar and the right end 9 of the front stabilizer bar are connected through the front stabilizer bar electromagnetic module 8. The front stabilizer bar electromagnetic module 8 can control the connection and disconnection of the left end 7 of the front stabilizer bar and the right end 9 of the front stabilizer bar.

[0045] The left front body acceleration sensor 14 and the right front body acceleration sensor 17 monitor the body acceleration in real time and transmit signals to the active suspension system module to evaluate the riding comfort of the driver and passengers.

[0046] The GPS+ high-precision map module 15 is installed on the vehicle body and is used for positioning the vehicle, intelligent assisted driving and navigation. According to the road condition information obtained by the GPS+ high-precision map module 15, the vehicle can obtain information such as bumps or speed bumps on the road ahead in advance, or obtain the latest road information through cloud information.

[0047] The vehicle body electronic stability system 18 can integrate the information of various sensors of other vehicle systems, such as steering wheel angle, lateral acceleration, yaw rate, etc., to determine whether the vehicle's driving state is stable.

[0048] The road condition collection device 16 is installed on the top of the vehicle to collect road information in front of the vehicle, such as bumps or speed bumps, etc. The laser radar can scan objects within a range of 120°.

[0049] The present invention proposes a suspension adaptive adjustment method based on road surface information, comprising:

[0050] The road condition collection device is used to collect road surface information and obtain the estimated height information of the protrusions on the estimated trajectory of the front axle wheel of the vehicle on the road surface;

[0051] An active suspension system module is used to preset multiple reference height information with different value ranges and multiple different suspension adjustment instructions corresponding to the multiple reference height information; the expected height information obtained by the road condition collection device is received, and it is compared with the reference height information to determine the suspension adjustment instruction that matches the expected height information, and the suspension adjustment instruction is issued to the suspension component, and the suspension component executes the suspension adjustment instruction; wherein the suspension component includes a CDC shock absorber, an air spring and a detachable electromagnetic stabilizer bar.

[0052] The front axle wheels include a left front wheel and a right front wheel; the predicted height information includes the predicted height of the protrusions of the left front wheel / right front wheel on the predicted trajectory of the road surface and the predicted height difference of the protrusions of the left front wheel and the right front wheel on their respective predicted trajectories of the road surface.

[0053] The reference height information includes multiple reference heights with different value ranges and multiple reference height differences with different value ranges; each of the reference heights or reference height differences corresponds to a suspension adjustment instruction; the value of the expected height is within a certain value range of the reference height, and the value of the expected height difference is within a certain value range of the reference height difference.

[0054] The suspension adjustment instruction includes adjusting the damping force of the CDC shock absorber and adjusting the stiffness value of the air spring;

[0055] The value ranges of the multiple reference heights increase step by step. For each increase by one level, the damping force of the CDC shock absorber adjusted by the corresponding suspension adjustment instruction is reduced by one level. For each increase by two levels, the stiffness value of the air spring adjusted by the corresponding suspension adjustment instruction is reduced by one level.

[0056] The suspension adjustment instruction also includes adjusting the state of the electromagnetic stabilizer bar to be connected or disconnected; the reference height difference has a value range of 0-3cm and 3-15cm; when the reference height difference has a value range of 0-3cm, the suspension adjustment instruction includes adjusting the state of the electromagnetic stabilizer bar to be connected, and when the reference height difference has a value range of 3-15cm, the suspension adjustment instruction includes adjusting the state of the electromagnetic stabilizer bar to be disconnected.

[0057] In this embodiment, the value range of the reference height is set to five levels of increments as shown in Table 1 below.

[0058] Table 1 Corresponding suspension adjustment instructions for different ranges of reference height

[0059]

[0060] As can be seen from Table 1, the reference height has five ranges, namely, as shown in the serial numbers 1 to 5 in Table 1. According to the reference heights of the five ranges, the expected heights of the protrusions in the corresponding ranges are determined to be low, low-medium, medium, medium-high and high. The active suspension system module compares the measured expected height with the reference height. When the expected height falls within a certain reference height range, a suspension adjustment instruction matching the reference height range is issued to the suspension component. For example, when the expected height of the protrusion is 2cm, the expected height falls within the reference height range of 1-3cm. The height of the protrusion is determined to be low-medium, and the damping force of the CDC shock absorber is adjusted to be reduced by one level (from normal to small), and the stiffness value of the air spring is adjusted to be reduced by one level (from normal to soft).

[0061] Specifically, when the active suspension system module determines that the left and right wheels pass over a low protrusion at the same time, the left and right air spring solenoid valves are normally closed to maintain the normal mode; the left and right CDC shock absorber compression damping force is adjusted to normal; the front stabilizer bar solenoid module does not work, so that the left end of the front stabilizer bar and the right end of the front stabilizer bar are connected.

[0062] When the active suspension system module determines that the left and right wheels simultaneously pass over a low-to-medium height protrusion, the first electromagnetics of the left and right air springs open, connecting the upper and middle cavities of the air springs, and adjusting the left and right spring stiffnesses to soft; the left and right CDC shock absorber compression damping forces are adjusted to small; the front stabilizer bar electromagnetic module does not work, connecting the left and right ends of the front stabilizer bar.

[0063] When the active suspension system module determines that the left and right wheels simultaneously pass a protrusion with a medium height, the first and second electromagnetics of the left and right air springs open, so that the upper, middle and lower chambers of the air springs are connected, and the left and right spring stiffnesses are adjusted to soft; the left and right CDC shock absorber compression damping forces are adjusted to +small, and the front stabilizer bar electromagnetic module does not work, so that the left end of the front stabilizer bar and the right end of the front stabilizer bar are connected.

[0064] When the active suspension system module determines that the left and right wheels simultaneously pass over a medium-high protrusion, the first and second electromagnetics of the left and right air springs open, so that the upper, middle and lower chambers of the air springs are connected, and the left and right spring stiffnesses are adjusted to +soft; the left and right CDC shock absorber compression damping forces are adjusted to ++small. It should be noted that the damping force of "++small" is less than the damping force of "+small"; the front stabilizer bar electromagnetic module does not work, so that the left end of the front stabilizer bar and the right end of the front stabilizer bar are connected.

[0065] When the active suspension system module determines that the left and right wheels pass a high protrusion at the same time, the first and second electromagnetics of the left and right air springs are opened, so that the upper, middle and lower chambers of the air springs are connected, and the left and right spring stiffnesses are adjusted to +soft; the left and right CDC shock absorber compression damping forces are adjusted to +++small, and the front stabilizer bar electromagnetic module does not work, so that the left end of the front stabilizer bar is connected to the right end of the front stabilizer bar.

[0066] When the heights of the bumps on the road are inconsistent, or the left and right wheels do not pass the bumps at the same time, there is a height difference between the left and right wheels, that is, there are bumps on the expected trajectories of the left and right wheels and there is a height difference, refer to the control logic in Table 2 below.

[0067] Table 2 Corresponding suspension adjustment instructions for different ranges of reference height difference

[0068] Height difference between left and right wheel protrusions (cm) Height difference determination Stabilizer bar status 0～3 Low connect 3 or more to 6 middle disconnect 6 or more to 10 Medium to high disconnect More than 10~15 high disconnect

[0069] When the value range of the reference height difference is 0-3 cm, the state of the electromagnetic stabilization bar is adjusted to be connected.

[0070] When the reference height difference is in the range of 3-15 cm, the state of the electromagnetic stabilization bar is adjusted to be disconnected.

[0071] According to the reference height difference of different value ranges, the expected height difference is determined as four levels: low, medium, medium-high and high. For example, when the expected height difference falls into the reference height difference within the range of 0-3cm, the expected height difference between the left and right wheels is determined to be a low level, and the state of the electromagnetic stabilizer bar is connected. The three levels of medium, medium-high and high in the expected height difference determination correspond one to one with the three levels of medium, medium-high and high in the expected height of the protrusion. The low level in the expected height difference determination corresponds to the two levels of low and low-medium in the expected height of the protrusion.

[0072] Therefore, the adaptive adjustment system of this embodiment needs to consider not only the height of the protrusion that the left and right wheels are expected to pass through, but also the expected height difference between the left and right wheels, and then execute corresponding adjustment instructions based on the expected height and the expected height difference to achieve a better driving experience.

[0073] Since the adjustment instructions, reference height and reference height difference are preset in advance, it is only necessary to measure the expected height and expected height difference of the protrusion in real time to directly execute the corresponding adjustment instructions. The instructions are sent quickly without lag, which is particularly suitable for suspension adjustment of vehicles with faster driving speeds.

[0074] The vehicle body electronic stability system monitors the steering wheel angle, vehicle roll acceleration and other signals in real time. When it detects that the vehicle's driving state exceeds the set stability threshold, it sends a vehicle state command to the active suspension system module. The active suspension system module stops sending suspension adjustment commands to the air spring, CDC shock absorber, and stabilizer bar electromagnetic module to ensure that vehicle driving stability is prioritized.

[0075] The active suspension system module determines the comfort level of the front axle based on the vibration signal of the front body acceleration sensor, and then corrects the parameters of the rear air spring, rear CDC shock absorber, and rear stabilizer bar electromagnetic module according to the working conditions of the front axle encountered by the rear axle to meet the rear axle ride comfort requirements.

[0076] When the wheels pass over a bump, the vehicle will pitch multiple times. The active suspension system module will monitor the pitch acceleration of the vehicle body through the body acceleration sensor. According to the magnitude of the vehicle body acceleration, the active suspension system module will adjust the compression and tension damping of the front and rear CDC shock absorbers to reduce the number of pitches of the vehicle.

[0077] Based on the same inventive concept, the present invention also proposes a vehicle, comprising the above-mentioned suspension adaptive adjustment system based on road surface information.

[0078] It should be noted that, in the present invention, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0079] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A suspension adaptive adjustment method based on road surface information, characterized in that: include: The road condition collection device is used to collect road surface information and obtain the estimated height information of the protrusions on the estimated trajectory of the front axle wheel of the vehicle on the road surface; Using an active suspension system module to preset multiple reference height information with different value ranges and multiple different suspension adjustment instructions corresponding to the multiple reference height information; receiving the predicted height information obtained by the road condition collection device, and comparing it with the reference height information to determine the suspension adjustment instruction matching the predicted height information, and issuing the suspension adjustment instruction to the suspension component, and the suspension component executing the suspension adjustment instruction; wherein the suspension component includes a CDC shock absorber, an air spring and a disconnectable electromagnetic stabilizer bar; The road condition collection device is a laser radar; The detachable electromagnetic stabilizer bar comprises a front stabilizer bar and a rear stabilizer bar, wherein the front stabilizer bar is composed of a left end of the front stabilizer bar, a front stabilizer bar electromagnetic module, and a right end of the front stabilizer bar; the left end of the front stabilizer bar is connected to the left front suspension rod system, the right end of the front stabilizer bar is connected to the right front suspension rod system, and the left end of the front stabilizer bar and the right end of the front stabilizer bar are connected through the front stabilizer bar electromagnetic module; the front stabilizer bar electromagnetic module can control the connection and disconnection of the left end of the front stabilizer bar and the right end of the front stabilizer bar; The front axle wheels include a left front wheel and a right front wheel; the estimated height information includes an estimated height of a protrusion of the left front wheel / right front wheel on an estimated trajectory of the road surface and an estimated height difference of the protrusions of the left front wheel and the right front wheel on their respective estimated trajectories of the road surface; The reference height information includes a plurality of reference heights with different value ranges and a plurality of reference height differences with different value ranges; each of the reference heights or reference height differences corresponds to a suspension adjustment instruction; the value of the expected height is within a value range of a certain reference height, and the value of the expected height difference is within a value range of a certain reference height difference; The suspension adjustment instruction includes adjusting the damping force of the CDC shock absorber and adjusting the stiffness value of the air spring; The value ranges of the multiple reference heights are increased step by step, and for each increase of one level, the corresponding suspension adjustment instruction adjusts the damping force of the CDC shock absorber by one level, and for each increase of two levels, the corresponding suspension adjustment instruction adjusts the stiffness value of the air spring by one level; The suspension adjustment instruction also includes adjusting the state of the electromagnetic stabilizer bar to be connected or disconnected; the reference height difference has a value range of 0-3cm and 3-15cm; when the reference height difference has a value range of 0-3cm, the suspension adjustment instruction includes adjusting the left and right ends of the electromagnetic stabilizer bar to be connected, and when the reference height difference has a value range of 3-15cm, the suspension adjustment instruction includes adjusting the left and right ends of the electromagnetic stabilizer bar to be disconnected.

2. The method for adaptively adjusting suspension based on road surface information according to claim 1, characterized in that: The road condition collection device also obtains the time information when the front axle wheel of the vehicle is expected to reach the protrusion.

3. The method for adaptively adjusting suspension based on road surface information according to claim 1, characterized in that: The protrusions include speed bumps or road surface bulges.

4. A system using the suspension adaptive adjustment method based on road surface information as described in any one of claims 1 to 3, characterized in that: include: Suspension components, including CDC shock absorbers, air springs and disconnectable electromagnetic stabilizer bar; A road condition collection device, used to collect road surface information and obtain estimated height information of protrusions on the estimated trajectory of the front axle wheels of the vehicle on the road surface; The active suspension system module is preset with a plurality of reference height information with different value ranges and a plurality of different suspension adjustment instructions corresponding to the plurality of reference height information; it is used to compare the expected height information with the reference height information to determine the suspension adjustment instruction matching the expected height information, and issue the suspension adjustment instruction to the suspension component.

5. The suspension adaptive adjustment system based on road surface information as claimed in claim 4, characterized in that: The adjustment system also includes a wheel speed sensor, which is arranged at the front axle wheel of the vehicle; the road condition acquisition device is electrically connected to the wheel speed sensor for obtaining the time information when the front axle wheel of the vehicle is expected to reach the protrusion.

6. A vehicle, characterized in that: It includes the suspension adaptive adjustment system based on road surface information as described in claim 4.

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