Electronic air suspension control method and device

Abstract

The present application discloses an electronic air suspension control method, device, equipment, and medium, the method comprising: obtaining point cloud data of the road surface in front of the vehicle in the direction of travel; obtaining the road surface characteristics of the road surface based on the point cloud data of the road surface, the road surface characteristics including the type and degree of the unevenness of the road surface, determining the adjustment direction of the vehicle's electronic air suspension according to the unevenness type, and determining the adjustment height of the vehicle's electronic air suspension according to the unevenness degree; adjusting the vehicle's electronic air suspension based on the adjustment direction and the adjustment height. In this way, the condition of the road surface in front of the vehicle in the direction of travel can be predicted, so that when the vehicle reaches a raised or depressed place, the height of the electronic air suspension is adjusted synchronously with the change in the height of the suspension, so as to minimize the bumpy feeling caused by the asynchronous adjustment and improve the comfort of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving, and specifically to an electronic air suspension control method and device. Background Art

[0002] Vehicle electronic air suspension is a vehicle shock absorption system, which usually adjusts the height of the wheel by controlling the height of the suspension installed between the vehicle body and the wheel, maintaining the vehicle body at the same horizontal line to achieve the purpose of shock absorption.

[0003] The working method of the existing vehicle electronic air suspension is to first install a vehicle height sensor on the vehicle electronic air suspension. When the vehicle height changes, the vehicle height change information is obtained by using the vehicle height sensor, and then the vehicle height change information is transmitted to the control center for processing, and the adjustment direction and adjustment height of the vehicle electronic air suspension are obtained, and an adjustment instruction is issued according to the adjustment direction and adjustment height of the vehicle electronic air suspension. Then, the vehicle electronic air suspension is adjusted according to the adjustment instruction, and then the vehicle height is adjusted to achieve the purpose of shock absorption. However, since the vehicle electronic air suspension is adjusted only after the vehicle height changes, the adjustment of the vehicle electronic air suspension has a serious lag, thereby reducing the comfort of the vehicle. Summary of the invention

[0004] The embodiments of the present application provide an electronic air suspension control method, device, equipment, and medium, which can identify road information in advance and predict the adjustment direction and height of the vehicle's electronic air suspension, so as to synchronize adjustments when the height of the vehicle's electronic air suspension changes, thereby improving the comfort of the vehicle.

[0005] In view of this, the first aspect of the present application provides an electronic air suspension control method, comprising:

[0006] Obtain point cloud data of the road surface ahead of the vehicle in its traveling direction;

[0007] The road surface characteristics of the road surface are obtained based on the point cloud data of the road surface, and the road surface characteristics include the type and degree of unevenness of the road surface. The adjustment direction of the vehicle electronic air suspension is determined according to the type of unevenness, and the adjustment height of the vehicle electronic air suspension is determined according to the degree of unevenness. There is a first corresponding relationship between the type of unevenness and the adjustment direction of the vehicle electronic air suspension, and there is a second corresponding relationship between the degree of unevenness and the adjustment height of the vehicle electronic air suspension.

[0008] Based on the adjustment direction and the adjustment height, the vehicle electronic air suspension is adjusted.

[0009] Optionally, the step of acquiring point cloud data of a road surface ahead of the vehicle in the direction of travel includes:

[0010] A laser radar sensor is used to obtain point cloud data of the road surface in front of the vehicle in the direction of travel, and the point cloud data includes three-dimensional coordinate information, echo number, reflection intensity, and color information of the road surface feature points.

[0011] Optionally, before acquiring the pavement features of the pavement based on the point cloud data of the pavement, the method further includes:

[0012] Acquire a training sample, wherein the training sample includes historical three-dimensional coordinate information, historical echo times, historical reflection intensity, and historical color information of a sample road surface, and a sample label of the training sample is the corresponding depth, height, and area information of the sample road surface;

[0013] The road surface model is obtained by training the training samples.

[0014] Optionally, the acquiring the pavement features of the pavement based on the point cloud data of the pavement includes:

[0015] Based on the three-dimensional coordinate information, echo number, reflection intensity, and color information of the feature points in the point cloud data, the road surface model is used to obtain the depth, height, and area information of the road surface;

[0016] The road surface characteristics are acquired based on the depth, height, and area information, and the road surface characteristics include the type and degree of the unevenness of the road surface.

[0017] Optionally, adjusting the electronic air suspension based on the adjustment direction and the adjustment height includes:

[0018] Acquire an adjustment rate of the vehicle electronic air suspension based on the concavo-convex degree, and acquire a first time duration used by the vehicle electronic air suspension to complete adjustment based on the adjustment rate;

[0019] Determine the distance from the front wheel of the vehicle in the direction of travel to the highest point of the convex road surface or the lowest point of the concave road surface within the visible range based on the number of echoes in the point cloud data, and obtain the second time duration for the vehicle to reach the highest point of the convex road surface or the lowest point of the concave road surface based on the current vehicle speed and the distance;

[0020] When the second time length is less than or equal to the sum of the first time length and a third time length, the vehicle electronic air suspension is adjusted, and the third time length is a delay time for adjusting the vehicle electronic air suspension.

[0021] Optionally, the concavo-convex type is convex;

[0022] The step of adjusting the vehicle electronic air suspension based on the adjustment direction and the adjustment height includes:

[0023] The electronic air suspension of the vehicle is downwardly adjusted for the front wheels in the direction of travel of the vehicle.

[0024] Optionally, the concavoconvex type is concave;

[0025] The step of adjusting the vehicle electronic air suspension based on the adjustment direction and the adjustment height includes:

[0026] The electronic air suspension of the vehicle is adjusted upward for the front wheels in the direction of travel of the vehicle.

[0027] In a second aspect, the present application provides a device for controlling an electronic air suspension, characterized in that it comprises:

[0028] A detection unit, used to obtain point cloud data of the road surface ahead of the vehicle in the direction of travel;

[0029] a processing unit, configured to obtain road surface features of the road surface based on the point cloud data of the road surface, wherein the road surface features include a concavity type and a concavity degree of the road surface, determine an adjustment direction of the vehicle electronic air suspension according to the concavity type, determine an adjustment height of the vehicle electronic air suspension according to the concavity degree, a first corresponding relationship exists between the concavity type and the adjustment direction of the vehicle electronic air suspension, and a second corresponding relationship exists between the concavity degree and the adjustment height of the vehicle electronic air suspension;

[0030] An adjustment unit is used to adjust the vehicle electronic air suspension based on the adjustment direction and the adjustment height.

[0031] It can be seen that the present application pre-uses a laser radar detector to obtain road point cloud data, obtains the type and degree of unevenness of the road surface based on the point cloud data, obtains the adjustment height of the vehicle's electronic air suspension based on the type and degree of unevenness of the road surface, and executes the adjustment action when the time when the vehicle reaches the uneven road surface is less than or equal to the sum of the time required for adjustment of the vehicle's electronic air suspension and the delay time, thereby achieving advance prediction of the vehicle's electronic air suspension adjustment action, improving comfort, and solving the problem in the prior art of adjusting the vehicle's electronic air suspension after the height changes, resulting in low comfort caused by the lag in adjustment of the vehicle's electronic air suspension. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A flow chart of an electronic air suspension control method disclosed in this application;

[0033] Figure 2 A flow chart of a specific electronic air suspension control method disclosed in this application;

[0034] Figure 3 A time relationship diagram for controlling an electronic air suspension disclosed in the present application;

[0035] Figure 4 A structural diagram of a device for controlling an electronic air suspension disclosed in the present application;

[0036] Figure 5 This is a schematic diagram of the structure of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0037] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings, and the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0038] See also Figure 1 As shown, the embodiment of the present application discloses an electronic air suspension control method, the method comprising:

[0039] S11. Obtaining point cloud data of the road surface ahead of the vehicle in the direction of travel.

[0040] In this embodiment, the data acquisition equipment can be used to first obtain point cloud data of the road surface in front of the vehicle's forward direction. The point cloud data here refers to information that can be used to analyze the road conditions. The purpose of obtaining point cloud data is to reproduce the specific characteristics of the road surface based on these data, such as whether the road surface is flat, whether there are any raised or sunken slopes, and the point cloud data can also be used to analyze the distance between the vehicle and the raised or sunken slope in front, so as to facilitate the subsequent use of this distance to analyze other data.

[0041] The acquisition of the point cloud data may be performed at fixed intervals or at irregular intervals, and the time interval may be set by the laser radar sensor or by the user.

[0042] In the specific implementation process, a lidar sensor can be used to collect point cloud data of the road surface in front of the vehicle. The lidar sensor has the advantages of fast speed and high precision, so the collected point cloud data is highly timely and accurate. Of course, high-precision cameras and other scanning equipment can also be used to obtain road surface information.

[0043] The acquired point cloud data is then sent to a controller to analyze the point cloud data, obtain the road conditions ahead, evaluate the adjustment direction and height of the vehicle's electronic air suspension based on the road conditions, and prepare for the adjustment of the vehicle's electronic air suspension. The controller is a synonym for data processing equipment, which is only used for ease of understanding and is not a limiting standard.

[0044] S12. Acquire road surface characteristics of the road surface based on the point cloud data of the road surface, wherein the road surface characteristics include the type and degree of unevenness of the road surface, determine the adjustment direction of the vehicle electronic air suspension according to the type of unevenness, and determine the adjustment height of the vehicle electronic air suspension according to the degree of unevenness, there is a first corresponding relationship between the type of unevenness and the adjustment direction of the vehicle electronic air suspension, and there is a second corresponding relationship between the degree of unevenness and the adjustment height of the vehicle electronic air suspension.

[0045] The controller can pre-save the road surface model, and this road surface model can be obtained through a large amount of road surface training, and can be obtained specifically in the following manner. First, a large number of training samples of sample road surfaces are collected. The training samples may include the historical three-dimensional coordinate information, historical echo times, historical reflection intensity, and historical color information of the sample road surfaces. The correspondence between the above information and the depth, height, and area information of the sample road surfaces is obtained by deducing these information. This correspondence can be used as a road surface model, or a table can be established to reflect the depth, height, and area information of the road surface corresponding to different historical three-dimensional coordinate information, historical echo times, historical reflection intensity, and historical color information. In this way, when point cloud data of a new road surface is obtained, it is only necessary to obtain the depth, height, and area information of the road surface by looking up the table based on the three-dimensional coordinate information, echo times, reflection intensity, and color information in the point cloud data.

[0046] After the controller obtains the point cloud data sent by the data acquisition device, the three-dimensional coordinate information, echo number, reflection intensity, and color information of the feature points in the point cloud data are analyzed. The corresponding relationship in the road surface model can be used to obtain the depth, height, and area information of the road surface corresponding to the three-dimensional coordinate information, echo number, reflection intensity, and color information. The three-dimensional coordinate information, echo number, reflection intensity, and color information of the feature points can also be obtained by a table lookup method through a table pre-established in the road surface model. Then, the type and degree of the concavity of the road surface are analyzed based on the acquired depth, height, and area information of the road surface. The concavity type can be a concave slope or a protruding slope, which can be understood as two uneven forms of uneven positions on the road surface. Here, the degree of concavity can be understood as the slope of the protruding slope or the slope of the concave slope.

[0047] Accordingly, the adjustment direction of the vehicle's electronic air suspension can be analyzed based on the type of unevenness of the road surface obtained through analysis. The adjustment direction can be the direction that needs to be adjusted, including but not limited to upward adjustment and downward adjustment. The method of analyzing and obtaining the adjustment direction can be calculated through a pre-stored correspondence between the unevenness type and the adjustment direction, or it can be obtained by looking up a table.

[0048] Accordingly, the adjustment height of the vehicle's electronic air suspension can be analyzed based on the degree of unevenness of the road surface obtained through analysis. The adjustment height may be the height that needs to be adjusted. The adjustment height can be obtained by calculating based on a pre-stored correspondence between the degree of unevenness and the adjustment height, or by looking up a table.

[0049] Accordingly, the controller can issue an adjustment instruction according to the acquired adjustment direction and adjustment height, so that the vehicle electronic air suspension can be adjusted according to the adjustment instruction.

[0050] It can be seen that by analyzing the point cloud data obtained by the lidar sensor, the area, depth, height and other information of the uneven road surface are obtained, the characteristics of the road surface are determined and classified, and the adjustment height and adjustment direction are determined according to the determined road surface characteristics and classification. In this way, the adjustment direction and adjustment height of the vehicle's electronic air suspension can be obtained in advance before the vehicle reaches the uneven road surface, and the adjustment of the vehicle's electronic air suspension can be predicted, so as to prepare for the subsequent execution of the vehicle's electronic air suspension adjustment action, and prevent the problem of low comfort caused by serious lag caused by obtaining the adjustment direction and adjustment height and then executing the adjustment action after the vehicle reaches the uneven road surface and the height of the vehicle's electronic air suspension has changed.

[0051] S13. Adjust the vehicle electronic air suspension based on the adjustment direction and the adjustment height.

[0052] Accordingly, after the regulator receives the adjustment instruction of the electronic air suspension, the vehicle electronic air suspension is adjusted according to the received adjustment direction and adjustment height. The regulator is a synonym for the device for adjusting the vehicle electronic air suspension and is not used as a limitation.

[0053] A specific adjustment method may be that, when the asperity type is a raised slope, the vehicle electronic air suspension of the front wheels in the direction of vehicle travel is adjusted downward, and the downward adjustment height may be the adjustment height; and when the asperity type is a sunken slope, the vehicle electronic air suspension of the front wheels in the direction of vehicle travel is adjusted upward, and the upward adjustment height may be the adjustment height.

[0054] It can be seen that in the present application, point cloud data of the road surface ahead of the vehicle's forward direction is collected in advance, and then the point cloud data is analyzed to obtain the road surface characteristics of the road surface, including the type and degree of unevenness of the road surface, and then the adjustment direction of the vehicle's electronic air suspension is determined according to the type of unevenness, and the adjustment height of the vehicle's electronic air suspension is determined according to the degree of unevenness. Finally, before the vehicle reaches the uneven road surface, the vehicle's electronic air suspension is adjusted according to the adjustment direction and adjustment height. In this way, the road condition information of the road surface ahead can be predicted in advance, and how to adjust the vehicle's electronic air suspension can be determined according to the road condition information, so that the adjustment method of the vehicle's electronic air suspension can be predicted in advance. Before the vehicle reaches the uneven road surface, the adjustment action is started. When the height of the vehicle's electronic air suspension changes due to the uneven road surface, the adjustment action has been completed or performed synchronously, reducing the bumpy feeling caused by the hysteresis adjustment of the suspension, thereby improving the comfort of the vehicle.

[0055] See also Figure 2 As shown, the embodiment of the present application discloses a specific electronic air suspension control method, the method comprising:

[0056] S21, Perception target: The lidar sensor perceives road information and sends point cloud data to the controller.

[0057] In this embodiment, the laser radar sensor is a kind of instrument for obtaining road surface point cloud data, which is not limited to other instruments. Other instruments can also be used to obtain road surface point cloud data. The controller is an instrument for analyzing data and sending adjustment instructions, which is not limited to other instruments.

[0058] S22, time distance: The controller calculates the time Tgap based on the distance from the sensor to the target and the vehicle speed.

[0059] The Tgap is a second time length, which can be obtained based on the current vehicle's speed and the distance after the front wheel of the vehicle in the direction of travel reaches the highest point of the convex road surface or the lowest point of the concave road surface within the visible range according to the number of echoes in the point cloud data, and the time length for the vehicle to reach the highest point of the convex road surface or the lowest point of the concave road surface is obtained based on the current vehicle's travel speed and the distance;

[0060] S23. Analyze features: classify based on area, depth, height and other information.

[0061] S24, table lookup method: different height adjustment target values ​​are obtained by table lookup according to the characteristics of different types of road surfaces, and the time T is calculated at a constant height change rate.

[0062] The time T is a first duration, and the first duration may be a duration taken for the vehicle electronic air suspension to complete adjustment after the adjustment rate of the vehicle electronic air suspension is obtained based on the concave-convex degree and then based on the adjustment rate;

[0063] S25. Time comparison: comparison between Tgap and the sum of T+Tdelay.

[0064] The Tdelay is the third time length, that is, the delay time length for adjusting the electronic air suspension. The time threshold is calculated and compared and judged here. This judgment result can be used as the time standard for adjusting the vehicle electronic air suspension.

[0065] S26, determine whether Tgap is equal to the sum of T and Tdelay, if not, execute S28, if yes, execute S27.

[0066] When the second time duration is equal to the sum of the first time duration and the third time duration, the vehicle electronic air suspension is adjusted according to the adjustment height and the adjustment direction; if the second time duration is not equal to the sum of the first time duration and the third time duration, the vehicle electronic air suspension is not adjusted.

[0067] For specific time relations, please refer to Figure 3 As shown, Figure 3 Wherein Tdelay is the delay time for adjusting the electronic air suspension, and T is the first time, which can also be understood as the adjustment time of the vehicle electronic air suspension.

[0068] In addition, when the second time length is less than the sum of the first time length and the third time length, the following adjustment method can also be used. First, a new adjustment rate of the electronic air suspension can be re-obtained based on the sum of the first time length and the third time length and the degree of unevenness of the uneven road surface. Then, the height of the vehicle's electronic air suspension is adjusted according to the new adjustment rate to complete the adjustment action when the vehicle reaches the uneven road surface.

[0069] S27, actual control: linearly and slowly adjust to the target height.

[0070] See also Figure 3 As shown, it reflects the dynamic change of the height change rate when adjusting the vehicle's electronic air suspension, as well as the overshoot calculation of the actual height.

[0071] S28, end this process.

[0072] See also Figure 4 As shown, the embodiment of the present application discloses an electronic air suspension control device, comprising:

[0073] The detection unit 11 is used to obtain point cloud data of the road surface ahead of the vehicle in the direction of travel;

[0074] A processing unit 12 is used to obtain road surface features of the road surface based on the point cloud data of the road surface, wherein the road surface features include a concavity type and a concavity degree of the road surface, determine an adjustment direction of the vehicle electronic air suspension according to the concavity type, and determine an adjustment height of the vehicle electronic air suspension according to the concavity degree, wherein there is a first corresponding relationship between the concavity type and the adjustment direction of the vehicle electronic air suspension, and there is a second corresponding relationship between the concavity degree and the adjustment height of the vehicle electronic air suspension;

[0075] The adjustment unit 13 is used to adjust the vehicle electronic air suspension based on the adjustment direction and the adjustment height.

[0076] Optionally, in an electronic suspension control device provided in another embodiment of the present application, the detection unit 11 is used to:

[0077] The point cloud data of the road surface ahead of the vehicle in the traveling direction is obtained, wherein the point cloud data includes the three-dimensional coordinate information, the number of echoes, the reflection intensity, and the color information of the road surface feature points.

[0078] Optionally, in the electronic suspension control device provided in another embodiment of the present application, the processing unit 12 is further configured to:

[0079] Acquire a training sample, wherein the training sample includes historical three-dimensional coordinate information, historical echo times, historical reflection intensity, and historical color information of a sample road surface, and a sample label of the training sample is the corresponding depth, height, and area information of the sample road surface;

[0080] The road surface model is obtained by training the training samples.

[0081] Optionally, in an electronic suspension control device provided in another embodiment of the present application, the processing unit 12 is configured to:

[0082] Based on the three-dimensional coordinate information, echo number, reflection intensity, and color information of the feature points in the point cloud data, the road surface model is used to obtain the depth, height, and area information of the road surface;

[0083] The road surface characteristics are acquired based on the depth, height, and area information, and the road surface characteristics include the type and degree of the unevenness of the road surface.

[0084] Optionally, in the electronic suspension control device provided in another embodiment of the present application, the adjusting unit 13 is used to:

[0085] Acquire an adjustment rate of the vehicle electronic air suspension based on the concavo-convex degree, and acquire a first time duration used by the vehicle electronic air suspension to complete adjustment based on the adjustment rate;

[0086] Determine the distance from the front wheel of the vehicle in the direction of travel to the highest point of the convex road surface or the lowest point of the concave road surface within the visible range based on the number of echoes in the point cloud data, and obtain the second time duration for the vehicle to reach the highest point of the convex road surface or the lowest point of the concave road surface based on the current vehicle speed and the distance;

[0087] When the second time length is less than or equal to the sum of the first time length and a third time length, the vehicle electronic air suspension is adjusted, and the third time length is a delay time for adjusting the vehicle electronic air suspension.

[0088] Optionally, in the electronic suspension control device provided in another embodiment of the present application, the concavo-convex type is a convexity;

[0089] The regulating unit 13 is used for:

[0090] The electronic air suspension of the vehicle is downwardly adjusted for the front wheels in the direction of travel of the vehicle.

[0091] Optionally, in an electronic suspension control device provided in another embodiment of the present application, the concave-convex type is concave;

[0092] The regulating unit 13 is used for:

[0093] The electronic air suspension of the vehicle is adjusted upward for the front wheels in the direction of travel of the vehicle.

[0094] It can be seen that in the present application, point cloud data of the road surface ahead of the vehicle's forward direction is collected in advance, and then the point cloud data is analyzed to obtain the road surface characteristics of the road surface, including the type and degree of unevenness of the road surface, and then the adjustment direction of the vehicle's electronic air suspension is determined according to the type of unevenness, and the adjustment height of the vehicle's electronic air suspension is determined according to the degree of unevenness. Finally, before the vehicle reaches the uneven road surface, the vehicle's electronic air suspension is adjusted according to the adjustment direction and adjustment height. In this way, the road condition information of the road surface ahead can be predicted in advance, and how to adjust the vehicle's electronic air suspension can be determined according to the road condition information, so that the adjustment method of the vehicle's electronic air suspension can be predicted in advance. Before the vehicle reaches the uneven road surface, the adjustment action is started. When the height of the vehicle's electronic air suspension changes due to the uneven road surface, the adjustment action has been completed or performed synchronously, reducing the bumpy feeling caused by the hysteresis adjustment of the suspension, thereby improving the comfort of the vehicle.

[0095] See also Figure 5 As shown, it is a structural schematic diagram of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 can be a server, a laptop computer or a desktop computer, etc., and can implement the SDN network data transmission method steps disclosed in the aforementioned embodiments.

[0096] Generally, the electronic device 20 in this embodiment includes: a processor 21 and a memory 22 .

[0097] Among them, the processor 21 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. The processor 21 may be implemented using at least one of DSP (digital signal processing), FPGA (field-programmable gate array), and PLA (programmable logic array). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (central processing unit); the coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 21 may be integrated with a GPU (graphics processing unit), which is responsible for rendering and drawing images to be displayed on the display screen. In some embodiments, the processor 21 may include an AI (artificial intelligence) processor, which is used to process computing operations related to machine learning.

[0098] The memory 22 may include one or more computer-readable storage media, and the computer-readable storage media may be non-transitory. The memory 22 may also include a high-speed random access memory and a non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In this embodiment, the memory 22 is at least used to store the following computer program 221, wherein after the computer program is loaded and executed by the processor 21, the steps of the SDN network data transmission method disclosed in any of the aforementioned embodiments can be implemented.

[0099] In some embodiments, the electronic device 20 may further include a display screen 23 , an input / output interface 24 , a communication interface 25 , a sensor 26 , a power source 27 , and a communication bus 28 .

[0100] Those skilled in the art will understand that Figure 5 The structure shown in the figure does not constitute a limitation on the electronic device 20, and may include more or fewer components than shown in the figure.

[0101] Furthermore, the embodiment of the present application also discloses a computer-readable storage medium for storing a computer program, wherein when the computer program is executed by a processor, the following steps are implemented:

[0102] Pre-training and storing a road surface model, wherein the road surface model can be obtained by obtaining training samples, wherein the training samples include historical three-dimensional coordinate information, historical echo times, historical reflection intensity, and historical color information of the sample road surface, and the sample labels of the training samples are the depth, height, and area information of the corresponding sample road surface, and the road surface model is obtained and pre-stored by using the training samples to train;

[0103] Based on the three-dimensional coordinate information, echo number, reflection intensity, and color information of the feature points in the point cloud data, the depth, height, and area information of the road surface are obtained; based on the depth, height, and area information, the type and degree of the concavity of the road surface are obtained; based on the first corresponding relationship between the type of concavity and the adjustment direction, the adjustment direction of the electronic air suspension of the vehicle is obtained; based on the second corresponding relationship between the degree of concavity and the adjustment height, the adjustment height of the electronic air suspension of the vehicle is obtained;

[0104] An adjustment instruction is issued according to the adjustment height and the adjustment direction.

[0105] It can be seen that in the present application, point cloud data of the road surface ahead of the vehicle's forward direction is collected in advance, and then the point cloud data is analyzed to obtain the road surface characteristics of the road surface, including the type and degree of unevenness of the road surface, and then the adjustment direction of the vehicle's electronic air suspension is determined according to the type of unevenness, and the adjustment height of the vehicle's electronic air suspension is determined according to the degree of unevenness. Finally, before the vehicle reaches the uneven road surface, the vehicle's electronic air suspension is adjusted according to the adjustment direction and adjustment height. In this way, the road condition information of the road surface ahead can be predicted in advance, and how to adjust the vehicle's electronic air suspension can be determined according to the road condition information, so that the adjustment method of the vehicle's electronic air suspension can be predicted in advance. Before the vehicle reaches the uneven road surface, the adjustment action is started. When the height of the vehicle's electronic air suspension changes due to the uneven road surface, the adjustment action has been completed or performed synchronously, reducing the bumpy feeling caused by the hysteresis adjustment of the suspension, thereby improving the comfort of the vehicle.

[0106] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0107] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0108] Finally, it should be noted that, in this article, 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 series of processes, methods, articles or equipment containing other elements include not only those elements, but also other elements not explicitly listed, or also include elements inherent to such processes, methods, articles or equipment. 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 equipment that includes the elements.

[0109] The above is a detailed introduction to an electronic air suspension control method, device, equipment, and medium provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An electronic air suspension control method, characterized in that: The method comprises: Obtain point cloud data of the road surface ahead of the vehicle in its traveling direction; Acquiring road features of the road based on the point cloud data of the road, the road features including the type and degree of concavity of the road, determining the adjustment direction of the vehicle electronic air suspension according to the type of concavity, determining the adjustment height of the vehicle electronic air suspension according to the degree of concavity, a first corresponding relationship between the type of concavity and the adjustment direction of the vehicle electronic air suspension, and a second corresponding relationship between the degree of concavity and the adjustment height of the vehicle electronic air suspension; Acquire an adjustment rate of the vehicle electronic air suspension based on the concavo-convex degree, and acquire a first time duration used by the vehicle electronic air suspension to complete adjustment based on the adjustment rate; Determine the distance from the front wheel of the vehicle in the direction of travel to the highest point of the convex road surface or the lowest point of the concave road surface within the visible range based on the number of echoes in the point cloud data, and obtain the second time duration for the vehicle to reach the highest point of the convex road surface or the lowest point of the concave road surface based on the current vehicle speed and the distance; When the second time period is less than or equal to the sum of the first time period and a third time period, the vehicle electronic air suspension is adjusted, and the third time period is a delay time for adjusting the electronic air suspension.

2. The method according to claim 1, characterized in that The step of obtaining point cloud data of the road surface ahead of the vehicle in the direction of travel includes: A laser radar sensor is used to obtain point cloud data of the road surface in front of the vehicle in the direction of travel, and the point cloud data includes three-dimensional coordinate information, echo number, reflection intensity, and color information of the road surface feature points.

3. The method according to claim 2, characterized in that Before acquiring the pavement features of the pavement based on the point cloud data of the pavement, the method further includes: Acquire a training sample, wherein the training sample includes historical three-dimensional coordinate information, historical echo times, historical reflection intensity, and historical color information of a sample road surface, and a sample label of the training sample is the corresponding depth, height, and area information of the sample road surface; The road surface model is obtained by training the training samples.

4. The method according to claim 3, characterized in that The acquiring the pavement characteristics of the pavement based on the point cloud data of the pavement comprises: Based on the three-dimensional coordinate information, echo number, reflection intensity, and color information of the feature points in the point cloud data, the road surface model is used to obtain the depth, height, and area information of the road surface; The road surface characteristics are acquired based on the depth, height, and area information, and the road surface characteristics include the type and degree of the unevenness of the road surface.

5. The method according to any one of claims 1 to 4, characterized in that: The concavo-convex type is a convexity; and adjusting the vehicle electronic air suspension based on the adjustment direction and the adjustment height includes: The electronic air suspension of the vehicle is downwardly adjusted for the front wheels in the direction of travel of the vehicle.

6. The method according to any one of claims 1 to 4, characterized in that: The concave-convex type is concave; adjusting the vehicle electronic air suspension based on the adjustment direction and the adjustment height includes: upwardly adjusting the vehicle electronic air suspension of the front wheel in the direction of travel of the vehicle.

7. A device for controlling an electronic air suspension, characterized in that: include: A detection unit, used to obtain point cloud data of the road surface ahead of the vehicle in the direction of travel; a processing unit, configured to obtain road surface features of the road surface based on the point cloud data of the road surface, wherein the road surface features include a concavity type and a concavity degree of the road surface, determine an adjustment direction of the vehicle electronic air suspension according to the concavity type, determine an adjustment height of the vehicle electronic air suspension according to the concavity degree, a first corresponding relationship exists between the concavity type and the adjustment direction of the vehicle electronic air suspension, and a second corresponding relationship exists between the concavity degree and the adjustment height of the vehicle electronic air suspension; an adjusting unit, configured to obtain an adjusting rate of the electronic air suspension of the vehicle based on the degree of concavity and convexity, and obtain a first time duration used by the electronic air suspension of the vehicle to complete the adjustment based on the adjusting rate; Determine the distance from the front wheel of the vehicle in the direction of travel to the highest point of the convex road surface or the lowest point of the concave road surface within the visible range based on the number of echoes in the point cloud data, and obtain the second time duration for the vehicle to reach the highest point of the convex road surface or the lowest point of the concave road surface based on the current vehicle speed and the distance; When the second time period is less than or equal to the sum of the first time period and a third time period, the vehicle electronic air suspension is adjusted, and the third time period is a delay time for adjusting the electronic air suspension.

8. An electronic device, characterized in that: include: Memory and processor; Wherein, the memory is used to store computer programs; The processor is used to execute the computer program to implement the electronic air suspension control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: Used to store a computer program, wherein when the computer program is executed by a processor, the electronic air suspension control method according to any one of claims 1 to 6 is implemented.

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