A hybrid electromagnetic suspension control system based on binocular camera

Abstract

The application discloses a kind of based on binocular camera formula hybrid electromagnetic suspension control system, including travel information detection unit, binocular camera comprehensive evaluation index calculation unit, binocular camera formula hybrid electromagnetic suspension control mode selection unit, binocular camera formula hybrid electromagnetic suspension execution unit.Travel information detection unit is used to obtain outdoor temperature, full energy feedback control mode execution time, half energy feedback half energy consumption control mode execution time, full energy consumption control mode execution time;Binocular camera comprehensive evaluation index calculation unit is used to calculate image pre-detection evaluation factor, original image correction evaluation factor, temperature compensation evaluation factor, to obtain binocular camera comprehensive evaluation index;Binocular camera formula hybrid electromagnetic suspension control mode selection unit includes full energy feedback control mode, half energy feedback half energy consumption control mode, full energy consumption control mode;Binocular camera formula hybrid electromagnetic suspension execution unit is adjusted according to different control mode to vehicle corresponding rule.

Description

Technical Field

[0001] This invention relates to a hybrid electromagnetic suspension control system based on a binocular camera. Background Technology

[0002] Currently, vehicles are becoming increasingly intelligent. To ensure the safety and reliability of autonomous vehicles, the development of related functions has largely focused on research into environmental perception, path planning, and decision control, with little consideration given to binocular camera-based hybrid electromagnetic suspension control technology. Furthermore, the evaluation indicators for binocular camera-based hybrid electromagnetic suspension control are relatively singular. However, for vehicle smoothness and driver comfort, binocular camera-based hybrid electromagnetic suspension needs to consider image pre-detection evaluation factors, original image correction evaluation factors, and temperature compensation evaluation factors. Therefore, how to effectively ensure the smoothness and comfort of the vehicle during driving has become a pressing technical problem for the applicant. To improve these issues, this invention proposes a binocular camera-based hybrid electromagnetic suspension control system. Summary of the Invention

[0003] The purpose of this invention is to provide a binocular camera-based hybrid electromagnetic suspension control system to solve the problems encountered in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a binocular camera-based hybrid electromagnetic suspension control system, comprising a driving information detection unit, a binocular camera comprehensive evaluation index calculation unit, a binocular camera-based hybrid electromagnetic suspension control mode selection unit, and a binocular camera-based hybrid electromagnetic suspension execution unit.

[0005] The driving information detection unit is used to acquire the focal length f of the binocular camera, the center distance b between the two cameras of the binocular camera, the outdoor temperature T0, the execution time T1 of the full power supply control mode, the execution time T2 of the half power supply and half power consumption control mode, and the execution time T3 of the full power consumption control mode.

[0006] The binocular camera comprehensive evaluation index calculation unit is used to calculate the image pre-detection evaluation factor J1, the original image correction evaluation factor J2, and the temperature compensation evaluation factor J3, thereby obtaining the binocular camera comprehensive evaluation index J; the image pre-detection evaluation factor J1 depends on the pixel matching coefficient K0, the focal length f of the binocular camera, the center distance b between the two cameras of the binocular camera, and the detection pixel point (X) of the left camera in the binocular camera. l ,Y l ), the optical center coordinates of the left camera in the binocular camera (X) l0 ,Y l0 ), the right camera in the binocular camera detects pixels (X) r ,Y r ), the optical center coordinates of the right camera in the binocular camera (X)r0 ,Y r0 ), distortion coefficient K of the left camera in the binocular camera l The distortion coefficient K of the right camera in the binocular camera system. r The coefficient of unevenness of the optical center of the two cameras on both sides of the binocular camera, k. θ The original image correction evaluation factor J2 depends on the number of image frames processed per second (n0) by the binocular camera and the coordinates of the center of the detected object in the two-dimensional plane coordinate system (X). 00 ,Y 00 The coordinates of the object being detected are: distorted coordinates (X', Y'), center coordinates of the object in the binocular camera coordinate system (X, Y, Z), and center coordinates of the object in the vehicle coordinate system (X0, Y0, Z0); the temperature compensation evaluation factor J3 depends on the maximum detection distance d of the binocular camera. max Outdoor temperature T0, outdoor temperature compensation factor K T0 ;

[0007] The binocular camera-based hybrid electromagnetic suspension control mode selection unit includes a fully powered control mode, a semi-powered and semi-powered control mode, and a fully powered control mode. The control strength of the fully powered control mode is higher than that of the semi-powered and semi-powered control mode, and the control strength of the semi-powered and semi-powered control mode is higher than that of the fully powered control mode. The control strength of the control mode is described by designing a fully powered control factor threshold γ1, a semi-powered and semi-powered control factor threshold γ2, and a fully powered control factor threshold γ3, where 0 < γ3 < γ2 < γ1 < 1. When the binocular camera's comprehensive evaluation index J satisfies γ... When 1 ≤ J < 1, the binocular camera-type hybrid electromagnetic suspension actuator executes the full energy-feeding control mode; when the binocular camera comprehensive evaluation index J satisfies γ2 ≤ J < γ1, the binocular camera-type hybrid electromagnetic suspension actuator executes the half energy-feeding and half energy-consuming control mode; when the binocular camera comprehensive evaluation index J satisfies γ3 ≤ J < γ2, the binocular camera-type hybrid electromagnetic suspension actuator executes the full energy-consuming control mode; when the binocular camera comprehensive evaluation index J satisfies 0 ≤ J < γ3, the binocular camera-type hybrid electromagnetic suspension actuator does not perform any operation.

[0008] When the binocular camera-type hybrid electromagnetic suspension actuator operates in the fully fed-energy control mode, the actuator is a parallel integration of a magnetorheological damper and a linear motor. At this time, no current is applied to the magnetorheological damper, and the back electromotive force generated by the linear motor is entirely used for energy recovery. The average damping force output by the binocular camera-type hybrid electromagnetic suspension depends on the heat loss power P generated by the linear motor under the fully fed-energy control mode. i1 The reactive power P generated by the linear motor in the fully fed-energy control mode w1 The electromagnetic power P1 generated by the linear motor in the fully fed-energy control mode, and the number of pole pairs p of the linear motor. nThe equivalent internal resistance R0 of the linear motor, the damping force f1 generated by the magnetorheological damper in the fully fed-energy control mode, the back electromotive force E1 generated by the linear motor in the fully fed-energy control mode, and the electromagnetic force F of the linear motor in the fully fed-energy control mode. i1 The energy conversion loss coefficient K of the linear motor under the fully fed-energy control mode 11 The influence coefficients β1 and β2 of the magnetorheological damper under full-energy-feed control mode are designed. An evaluation factor η1 for full-energy-feed control is designed to evaluate the degree of control of the binocular camera-based hybrid electromagnetic suspension under full-energy-feed control mode; its value depends on the execution time T1 of the full-energy-feed control mode and the battery power supply voltage value under full-energy-feed control mode. Design the full feed control judgment factor λ1 and the full feed control re-judgment time t1, and adjust the vehicle rules accordingly based on the magnitude of the full feed control evaluation factor η1.

[0009] When the binocular camera-type hybrid electromagnetic suspension actuator operates in a semi-feeded, semi-dissipative control mode, the actuator consists of a magnetorheological damper and a linear motor connected in parallel. Current is applied to the magnetorheological damper, and the back electromotive force generated by the linear motor is used not only for energy recovery but also to apply current to the magnetorheological damper. The average damping force output by the binocular camera-type hybrid electromagnetic suspension depends on the heat loss power P generated by the linear motor under the semi-feeded, semi-dissipative control mode. i2 The reactive power P generated by the linear motor in the semi-feeding and semi-dissipation control mode w2 The electromagnetic power P2 generated by the linear motor in the semi-feeded and semi-dissipative control mode, and the number of pole pairs p of the linear motor. n The equivalent internal resistance R0 of the linear motor; the damping force f2 generated by the magnetorheological damper in the semi-feeded and semi-dissipated control mode; the back electromotive force E2 generated by the linear motor in the semi-feeded and semi-dissipated control mode; and the electromagnetic force F of the linear motor in the semi-feeded and semi-dissipated control mode. i2 The energy conversion loss coefficient K of the linear motor in the semi-feeding and semi-dissipation control mode 22 The influence coefficients β3 and β4 of the magnetorheological damper under the semi-feeded and semi-dissipated energy control mode are designed. An evaluation factor η2 for semi-feeded and semi-dissipated energy control is designed to evaluate the degree of binocular camera-based hybrid electromagnetic suspension control under this mode. Its value depends on the execution time T2 of the semi-feeded and semi-dissipated energy control mode and the battery power supply voltage under this mode. Design a semi-feeding and semi-dissipating energy control judgment factor λ2 and a semi-feeding and semi-dissipating energy control re-judgment time t2, and adjust the vehicle rules accordingly based on the magnitude of the semi-feeding and semi-dissipating energy control evaluation factor η2.

[0010] When the binocular camera-type hybrid electromagnetic suspension actuator operates in full-energy-dissipation control mode, the actuator is composed of a magnetorheological damper and a linear motor connected in parallel. At this time, current is applied to the magnetorheological damper, and the back electromotive force generated by the linear motor is entirely used to apply current to the magnetorheological damper. The average damping force output by the binocular camera-type hybrid electromagnetic suspension depends on the heat loss power P generated by the linear motor under full-energy-dissipation control mode. i3 The reactive power P generated by the linear motor in the full energy consumption control mode w3 The electromagnetic power P3 generated by the linear motor in the full energy consumption control mode, and the number of pole pairs p of the linear motor. n The equivalent internal resistance R0 of the linear motor, the damping force f3 generated by the magnetorheological damper under full energy dissipation control mode, the back electromotive force E3 generated by the linear motor under full energy dissipation control mode, and the electromagnetic force F of the linear motor under full energy dissipation control mode. i3 The energy conversion loss coefficient K of the linear motor under the full energy consumption control mode 33 The influence coefficients β5 and β6 of the magnetorheological damper under full energy dissipation control mode are designed. An evaluation factor η3 for full energy dissipation control is designed to evaluate the degree of control of the binocular camera-based hybrid electromagnetic suspension under full energy dissipation control mode. Its value depends on the execution time T3 of the full energy dissipation control mode and the external battery supply voltage under full energy dissipation control mode. Design a total energy consumption control judgment factor λ3 and a total energy consumption control re-judgment time t3, and adjust the vehicle rules accordingly based on the magnitude of the total energy consumption control evaluation factor η3.

[0011] The binocular camera comprehensive evaluation index calculation unit can calculate the image pre-detection evaluation factor according to the following formula:

[0012]

[0013] Where w1, w2, and w3 are weighting coefficients, K0 is the pixel matching coefficient, f is the focal length of the stereo camera, b is the center distance between the two cameras of the stereo camera, (X l ,Y l (X) represents the pixel detected by the left camera in a binocular camera system. l0 ,Y l0 (X) represents the coordinates of the optical center of the left camera in the binocular camera system. r ,Y r (X) represents the pixel detected by the right camera in a binocular camera system. r0 ,Y r0 K represents the coordinates of the optical center of the right camera in the binocular camera system. l K represents the distortion coefficient of the left camera in a binocular camera system. r k represents the distortion coefficient of the right camera in a binocular camera system. θThe optical center unevenness coefficient of the two cameras of the binocular camera depends on the angle θ between the line connecting the optical centers of the two cameras and the plane parallel to the ideal optical axis. Its expression is:

[0014]

[0015] The binocular camera comprehensive evaluation index calculation unit can calculate the original image correction evaluation factor according to the following formula:

[0016]

[0017] Where w4 and w5 are weighting coefficients, n0 is the number of image frames processed per second by the binocular camera, (X 00 ,Y 00 Let (X',Y') be the coordinates of the center of the object being detected in the two-dimensional planar coordinate system, (X',Y') be the distorted coordinates, (X,Y,Z) be the coordinates of the center of the object being detected in the binocular camera coordinate system, and (X0,Y0,Z0) be the coordinates of the center of the object being detected in the vehicle coordinate system. The coordinates of the center of the object being detected in the vehicle coordinate system (X0,Y0,Z0) can be obtained by transforming the coordinates of the center of the object being detected in the binocular camera coordinate system (X,Y,Z). The transformation expression is as follows:

[0018] (X0,Y0,Z0) T =Q0(X,Y,Z) T +Q 00 ,

[0019] Where Q0 is the coordinate rotation transformation matrix, Q 00 This is the coordinate translation transformation matrix;

[0020] By performing a two-dimensional plane coordinate system normalization transformation on the center coordinates (X,Y,Z) of the object being detected in the binocular camera coordinate system, we can obtain the center coordinates (X,Y,Z) of the object being detected in the two-dimensional plane coordinate system. 00 ,Y 00 The conversion expression is as follows:

[0021]

[0022] Among them, K X K represents the normalized longitudinal transformation coefficient of a two-dimensional planar coordinate system. Y K represents the normalized transverse transformation coefficient of a two-dimensional planar coordinate system. Z These are the normalized vertical transformation coefficients for a two-dimensional planar coordinate system.

[0023] The coordinates of the center of the object being detected in the two-dimensional plane coordinate system (X) 00 ,Y 00 The coordinates are converted to distorted coordinates (X', Y') using the following expression:

[0024]

[0025] Where τ1 is the radial distortion allocation coefficient and τ2 is the tangential distortion allocation coefficient.

[0026] The binocular camera comprehensive evaluation index calculation unit can calculate the temperature compensation evaluation factor according to the following formula:

[0027]

[0028] Where w6 and w7 are weighting coefficients, d max The maximum detection distance of the binocular camera is T0, where T0 is the outdoor temperature in Kelvin. T0 This is the outdoor temperature compensation factor, whose value depends on the outdoor temperature, and its expression is as follows:

[0029]

[0030] The binocular camera comprehensive evaluation index calculation unit can calculate the binocular camera comprehensive evaluation index according to the following formula:

[0031]

[0032] Among them, Q1, Q2, and Q3 are the weighted values ​​calculated for individual indicators.

[0033] The binocular camera-type hybrid electromagnetic suspension control mode selection unit includes a fully powered control mode, a half-powered and half-powered control mode, and a fully powered control mode. The control strength of the fully powered control mode is higher than that of the half-powered and half-powered control mode, and the control strength of the half-powered and half-powered control mode is higher than that of the fully powered control mode. The control strength of the control mode is described by designing the fully powered control factor threshold γ1, the half-powered and half-powered control factor threshold γ2, and the fully powered control factor threshold γ3, where 0 < γ3 < γ2 < γ1 < 1.

[0034] When the comprehensive evaluation index J of the binocular camera satisfies γ1≤J<1, the binocular camera-type hybrid electromagnetic suspension actuator executes the full-feed control mode. The binocular camera-type hybrid electromagnetic suspension actuator is integrated by a magnetorheological damper and a linear motor connected in parallel. At this time, no current is applied to the magnetorheological damper, and the back electromotive force generated by the linear motor is used entirely for energy recovery. The expression for the average damping force output by the binocular camera-type hybrid electromagnetic suspension is as follows:

[0035]

[0036] Among them, P i1 P represents the heat loss power generated by the linear motor in the fully fed-energy control mode. w1 P1 represents the reactive power generated by the linear motor in the fully fed-energy control mode, and P2 represents the electromagnetic power generated by the linear motor in the fully fed-energy control mode.n R0 is the number of pole pairs of the linear motor, F1 is the equivalent internal resistance of the linear motor, E1 is the damping force generated by the magnetorheological damper in the fully fed control mode, and F is the back electromotive force generated by the linear motor in the fully fed control mode. i1 For the electromagnetic force of the linear motor in the fully fed-energy control mode, K 11 β1 is the energy conversion loss coefficient of the linear motor under the fully fed energy control mode, β2 is the influence coefficient of the magnetorheological damper under the fully fed energy control mode, and β2 is the influence coefficient of the linear motor under the fully fed energy control mode.

[0037] The back electromotive force E1 generated by the linear motor in the fully fed-energy control mode can be calculated using the following formula:

[0038] E1 = K E v1,

[0039] Among them, K E v1 is the back electromotive force coefficient generated by the linear motor, and v1 is the relative speed of the upper and lower parts of the suspension under the full energy feeding control mode.

[0040] The electromagnetic force F of the linear motor in the fully fed-energy control mode can be calculated using the following formula. i1 :

[0041] F i1 =K i i1,

[0042] Where i1 is the current flowing through the linear motor in the fully fed-energy control mode, and K i The electromagnetic force coefficient of the linear motor;

[0043] The evaluation factor η1 for the full-feed energy control is designed to evaluate the degree of control of the binocular camera-based hybrid electromagnetic suspension under the full-feed energy control mode. Its expression is as follows:

[0044]

[0045] Where T1 is the execution time of the full-feed control mode. This represents the battery power supply voltage value under full power supply control mode.

[0046] Design a full-feed energy control judgment factor λ1 and a full-feed energy control re-judgment time t1, where 3% < λ1 < 15%. Adjust the vehicle accordingly based on the magnitude of the full-feed energy control evaluation factor η1, with the following adjustment rules:

[0047] When the evaluation factor for full-energy feeding control satisfies λ1≤η1≤15%, the effect of the binocular camera-type hybrid electromagnetic suspension actuator in executing the full-energy feeding control mode is good, and the binocular camera-type hybrid electromagnetic suspension control continues to execute normally, with the mean damping force still outputting normally. When the evaluation factor for full-energy feeding control satisfies η1>15% or 3%≤η1<λ1, the effect of the binocular camera-type hybrid electromagnetic suspension actuator in executing the full-energy feeding control mode is poor, and the binocular camera-type hybrid electromagnetic suspension control temporarily executes normally. After the control system continues for t1s, it re-evaluates whether η1 satisfies λ1≤η1≤15%. If it is again determined that λ1≤η1≤15%, the binocular camera-type hybrid electromagnetic suspension control continues to execute normally, with the mean damping force still outputting normally. If it is again determined that η1>15% or 3%≤η1<λ1, the control of the binocular camera-type hybrid electromagnetic suspension and the output of the mean damping force need to be readjusted.

[0048] When the comprehensive evaluation index J of the binocular camera satisfies γ2≤J<γ1, the binocular camera-type hybrid electromagnetic suspension actuator executes a semi-feeding and semi-dissipating control mode. The binocular camera-type hybrid electromagnetic suspension actuator is integrated by a magnetorheological damper and a linear motor connected in parallel. At this time, current is applied to the magnetorheological damper. The back electromotive force generated by the linear motor is used not only for energy recovery but also for applying current to the magnetorheological damper. The expression for the average damping force output by the binocular camera-type hybrid electromagnetic suspension is as follows:

[0049]

[0050] Among them, P i2 P represents the heat loss power generated by the linear motor in the semi-feeding and semi-dissipation control mode. w2 P1 represents the reactive power generated by the linear motor in the semi-feeded and semi-dissipated control mode, and P2 represents the electromagnetic power generated by the linear motor in the semi-feeded and semi-dissipated control mode. n R0 is the number of pole pairs of the linear motor, F2 is the equivalent internal resistance of the linear motor, E2 is the damping force generated by the magnetorheological damper in the semi-feeded and semi-dissipated control mode, and F is the back electromotive force generated by the linear motor in the semi-feeded and semi-dissipated control mode. i2 For the electromagnetic force of the linear motor in the semi-feeding and semi-dissipation control mode, K 22 β3 is the energy conversion loss coefficient of the linear motor under the semi-feeded and semi-dissipated control mode, β4 is the influence coefficient of the magnetorheological damper under the semi-feeded and semi-dissipated control mode, and β5 is the influence coefficient of the linear motor under the semi-feeded and semi-dissipated control mode.

[0051] The back electromotive force E2 generated by the linear motor in the semi-infeed and semi-dissipation control mode can be calculated using the following formula:

[0052] E2 = K E v2,

[0053] Among them, KE v1 is the back electromotive force coefficient generated by the linear motor, and v2 is the relative speed of the upper and lower parts of the suspension under the semi-energy-feeding and semi-energy-dissipating control mode.

[0054] The electromagnetic force F of the linear motor in the semi-feeded and semi-dissipated energy control mode can be calculated using the following formula. i2 :

[0055] F i2 =K i i2,

[0056] Where i2 is the current flowing through the linear motor in the semi-feeding and semi-dissipating control mode, and K i The electromagnetic force coefficient of the linear motor;

[0057] The damping force f2 generated by the magnetorheological vibration damper in the semi-energy-feeding and semi-energy-dissipating control mode can be calculated using the following formula:

[0058]

[0059] Among them, i 20 For the magnetorheological vibration damper input current in the semi-feeding and semi-dissipating control mode, i 200 i is the lower limit of the input current threshold of the magnetorheological vibration damper in the semi-feeding and semi-dissipating control mode. 201 C represents the upper limit of the input current threshold for the magnetorheological vibration damper under semi-feeded and semi-dissipated control mode. 2min C is the minimum equivalent damping coefficient of the magnetorheological damper in the semi-feeding and semi-dissipating control mode. 2max , where is the maximum equivalent damping coefficient of the magnetorheological damper under the semi-feeding and semi-dissipating control mode, and a0, a1, a2, a3, a4, and a5 are polynomial nonlinear fitting coefficients.

[0060] The evaluation factor η2 for semi-feeded and semi-dissipated energy control is designed to evaluate the degree of binocular camera-based hybrid electromagnetic suspension control under the semi-feeded and semi-dissipated energy control mode. Its expression is as follows:

[0061]

[0062] Where T2 is the execution time of the semi-feeding and semi-dissipating control mode. This refers to the battery power supply voltage value under the semi-power supply and semi-power consumption control mode.

[0063] Design a semi-feeding and semi-dissipation control judgment factor λ2 and a semi-feeding and semi-dissipation control re-judgment time t2, where 4% < λ2 < 14%. Adjust the vehicle accordingly based on the magnitude of the semi-feeding and semi-dissipation control evaluation factor η2, with the following adjustment rules:

[0064] When the evaluation factor for the semi-energized and semi-dissipated control satisfies λ2≤η2≤14%, the effect of the dual-camera hybrid electromagnetic suspension actuator in executing the semi-energized and semi-dissipated control mode is good, and the dual-camera hybrid electromagnetic suspension control continues to execute normally, with the mean damping force still outputting normally. When the evaluation factor for the semi-energized and semi-dissipated control satisfies η2>14% or 4%≤η2<λ2, the effect of the dual-camera hybrid electromagnetic suspension actuator in executing the semi-energized and semi-dissipated control mode is poor, and the dual-camera hybrid electromagnetic suspension control temporarily executes normally. After the control system continues for t2 s, it re-evaluates whether η2 satisfies λ2≤η2≤14%. If it is again determined that λ2≤η2≤14%, the dual-camera hybrid electromagnetic suspension control continues to execute normally, with the damping force still outputting normally. If it is again determined that η2>14% or 4%≤η2<λ2, the control and mean damping force output of the dual-camera hybrid electromagnetic suspension need to be readjusted.

[0065] When the comprehensive evaluation index J of the binocular camera satisfies γ3≤J<γ2, the binocular camera-type hybrid electromagnetic suspension actuator executes the full energy consumption control mode. The binocular camera-type hybrid electromagnetic suspension actuator is integrated by a magnetorheological damper and a linear motor connected in parallel. At this time, current is applied to the magnetorheological damper, and the back electromotive force generated by the linear motor is entirely used to apply current to the magnetorheological damper. The expression for the average damping force output by the binocular camera-type hybrid electromagnetic suspension is as follows:

[0066]

[0067] Among them, P i3 P represents the heat loss power generated by the linear motor in full energy dissipation control mode. w3 P1 represents the reactive power generated by the linear motor in full energy dissipation control mode, and P2 represents the electromagnetic power generated by the linear motor in full energy dissipation control mode. n R0 is the number of pole pairs of the linear motor, F3 is the equivalent internal resistance of the linear motor, E3 is the damping force generated by the magnetorheological damper in the full energy dissipation control mode, and F is the back electromotive force generated by the linear motor in the full energy dissipation control mode. i3 For the electromagnetic force of the linear motor in the full energy dissipation control mode, K 33 β5 is the energy conversion loss coefficient of the linear motor under the full energy dissipation control mode, β6 is the influence coefficient of the magnetorheological damper under the full energy dissipation control mode, and β7 is the influence coefficient of the linear motor under the full energy dissipation control mode.

[0068] The back electromotive force E3 generated by the linear motor in the full energy dissipation control mode can be calculated using the following formula:

[0069] E3 = K E v3,

[0070] Among them, K Ev3 is the back electromotive force coefficient generated by the linear motor, and v3 is the relative speed of the upper and lower sprung suspensions under full energy dissipation control mode.

[0071] The electromagnetic force F of the linear motor under full energy consumption control mode can be calculated using the following formula. i3 :

[0072] F i3 =K i i3,

[0073] Where i3 is the current flowing through the linear motor in full-energy-consuming control mode, and K i The electromagnetic force coefficient of the linear motor;

[0074] The damping force f3 generated by the magnetorheological vibration damper under full energy dissipation control mode can be calculated using the following formula:

[0075]

[0076] Among them, i 30 For the magnetorheological vibration damper input current in full energy dissipation control mode, i 300 i is the lower limit of the input current threshold of the magnetorheological vibration damper under full energy dissipation control mode. 301 C represents the upper limit of the input current threshold for the magnetorheological vibration damper under full energy dissipation control mode. 3min C represents the minimum equivalent damping coefficient of the magnetorheological damper under full energy dissipation control mode. 3max The maximum equivalent damping coefficient of the magnetorheological damper under full energy dissipation control mode is a6, a7, a8, a9, a 10 a 11 These are the polynomial nonlinear fitting coefficients;

[0077] The full energy dissipation control evaluation factor η3 is designed to evaluate the degree of control of the binocular camera-based hybrid electromagnetic suspension under the full energy dissipation control mode. Its expression is as follows:

[0078]

[0079] Where T3 is the execution time of the full energy consumption control mode. This represents the external power supply voltage of the battery under full energy consumption control mode.

[0080] Design a total energy consumption control judgment factor λ3 and a total energy consumption control re-judgment time t3, where 5% < λ3 < 13%. Adjust the vehicle accordingly based on the magnitude of the total energy consumption control evaluation factor η3, as follows:

[0081] When the total energy dissipation control evaluation factor satisfies λ3≤η3≤13%, the effect of the binocular camera-type hybrid electromagnetic suspension actuator in executing the total energy dissipation control mode is good, and the binocular camera-type hybrid electromagnetic suspension control continues to execute normally, with the mean damping force still outputting normally. When the total energy dissipation control evaluation factor satisfies η3>13% or 5%≤η3<λ3, the effect of the binocular camera-type hybrid electromagnetic suspension actuator in executing the total energy dissipation control mode is poor, and the binocular camera-type hybrid electromagnetic suspension control temporarily executes normally. After the control system continues for t3 s, it will again judge whether η3 satisfies λ3≤η3≤13%. If it is judged again that λ3≤η3≤13%, the binocular camera-type hybrid electromagnetic suspension control continues to execute normally, with the damping force still outputting normally. If it is judged again that η3>13% or 5%≤η3<λ3, the control of the binocular camera-type hybrid electromagnetic suspension and the output of the mean damping force need to be readjusted.

[0082] When the comprehensive evaluation index J of the binocular camera satisfies 0≤J<γ3, the binocular camera-type hybrid electromagnetic suspension execution unit does not perform any work.

[0083] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0084] 1. A binocular camera-based hybrid electromagnetic suspension control system obtains a comprehensive evaluation index for the binocular camera based on image pre-detection evaluation factors, original image correction evaluation factors, and temperature compensation evaluation factors.

[0085] 2. The control modes of the present invention include a fully fed energy control mode, a half fed energy and half dissipation control mode, and a fully dissipation control mode. The control strength of the fully dissipation control mode is higher than that of the half fed energy and half dissipation control mode, and the control strength of the half fed energy and half dissipation control mode is higher than that of the fully fed energy control mode. The control strength of the control mode is described by designing the threshold values ​​of the fully fed energy control factor, the half fed energy and half dissipation control factor, and the fully dissipation control factor.

[0086] 3. Based on different control modes, calculate the average output damping force of the binocular camera-type hybrid electromagnetic suspension under different modes. By designing evaluation factors for different control modes, evaluate the degree of control of the binocular camera-type hybrid electromagnetic suspension under different control modes, and thus adjust the vehicle control rules accordingly. Attached Figure Description

[0087] The present invention will be further described below with reference to the accompanying drawings:

[0088] Figure 1 This invention presents a hybrid electromagnetic suspension control system based on a binocular camera. Detailed Implementation

[0089] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0090] like Figure 1 As shown, the present invention is a binocular camera-based hybrid electromagnetic suspension control system, including a driving information detection unit, a binocular camera comprehensive evaluation index calculation unit, a binocular camera-based hybrid electromagnetic suspension control mode selection unit, and a binocular camera-based hybrid electromagnetic suspension execution unit.

[0091] The driving information detection unit is used to acquire the focal length f of the binocular camera, the center distance b between the two cameras of the binocular camera, the outdoor temperature T0, the execution time T1 of the full power supply control mode, the execution time T2 of the half power supply and half power consumption control mode, and the execution time T3 of the full power consumption control mode.

[0092] The binocular camera comprehensive evaluation index calculation unit is used to calculate the image pre-detection evaluation factor J1, the original image correction evaluation factor J2, and the temperature compensation evaluation factor J3, thereby obtaining the binocular camera comprehensive evaluation index J; the image pre-detection evaluation factor J1 depends on the pixel matching coefficient K0, the focal length f of the binocular camera, the center distance b between the two cameras of the binocular camera, and the detection pixel point (X) of the left camera in the binocular camera. l ,Y l ), the optical center coordinates of the left camera in the binocular camera (X) l0 ,Y l0 ), the right camera in the binocular camera detects pixels (X) r ,Y r ), the optical center coordinates of the right camera in the binocular camera (X) r0 ,Y r0 ), distortion coefficient K of the left camera in the binocular camera l The distortion coefficient K of the right camera in the binocular camera system. r The coefficient of unevenness of the optical center of the two cameras on both sides of the binocular camera, k. θ The original image correction evaluation factor J2 depends on the number of image frames processed per second (n0) by the binocular camera and the coordinates of the center of the detected object in the two-dimensional plane coordinate system (X). 00 ,Y 00 The coordinates of the object being detected are: distorted coordinates (X', Y'), center coordinates of the object in the binocular camera coordinate system (X, Y, Z), and center coordinates of the object in the vehicle coordinate system (X0, Y0, Z0); the temperature compensation evaluation factor J3 depends on the maximum detection distance d of the binocular camera. max Outdoor temperature T0, outdoor temperature compensation factor K T0 ;

[0093] The binocular camera-based hybrid electromagnetic suspension control mode selection unit includes a fully powered control mode, a semi-powered and semi-powered control mode, and a fully powered control mode. The control strength of the fully powered control mode is higher than that of the semi-powered and semi-powered control mode, and the control strength of the semi-powered and semi-powered control mode is higher than that of the fully powered control mode. The control strength of the control mode is described by designing a fully powered control factor threshold γ1, a semi-powered and semi-powered control factor threshold γ2, and a fully powered control factor threshold γ3, where 0 < γ3 < γ2 < γ1 < 1. When the binocular camera's comprehensive evaluation index J satisfies γ... When 1 ≤ J < 1, the binocular camera-type hybrid electromagnetic suspension actuator executes the full energy-feeding control mode; when the binocular camera comprehensive evaluation index J satisfies γ2 ≤ J < γ1, the binocular camera-type hybrid electromagnetic suspension actuator executes the half energy-feeding and half energy-consuming control mode; when the binocular camera comprehensive evaluation index J satisfies γ3 ≤ J < γ2, the binocular camera-type hybrid electromagnetic suspension actuator executes the full energy-consuming control mode; when the binocular camera comprehensive evaluation index J satisfies 0 ≤ J < γ3, the binocular camera-type hybrid electromagnetic suspension actuator does not perform any operation.

[0094] When the binocular camera-type hybrid electromagnetic suspension actuator operates in the fully fed-energy control mode, the actuator is a parallel integration of a magnetorheological damper and a linear motor. At this time, no current is applied to the magnetorheological damper, and the back electromotive force generated by the linear motor is entirely used for energy recovery. The average damping force output by the binocular camera-type hybrid electromagnetic suspension depends on the heat loss power P generated by the linear motor under the fully fed-energy control mode. i1 The reactive power P generated by the linear motor in the fully fed-energy control mode w1 The electromagnetic power P1 generated by the linear motor in the fully fed-energy control mode, and the number of pole pairs p of the linear motor. n The equivalent internal resistance R0 of the linear motor, the damping force f1 generated by the magnetorheological damper in the fully fed-energy control mode, the back electromotive force E1 generated by the linear motor in the fully fed-energy control mode, and the electromagnetic force F of the linear motor in the fully fed-energy control mode. i1 The energy conversion loss coefficient K of the linear motor under the fully fed-energy control mode 11 The influence coefficients β1 and β2 of the magnetorheological damper under full-energy-feed control mode are designed. An evaluation factor η1 for full-energy-feed control is designed to evaluate the degree of control of the binocular camera-based hybrid electromagnetic suspension under full-energy-feed control mode; its value depends on the execution time T1 of the full-energy-feed control mode and the battery power supply voltage value under full-energy-feed control mode. Design the full feed control judgment factor λ1 and the full feed control re-judgment time t1, and adjust the vehicle rules accordingly based on the magnitude of the full feed control evaluation factor η1.

[0095] When the binocular camera-type hybrid electromagnetic suspension actuator operates in a semi-feeded, semi-dissipative control mode, the actuator consists of a magnetorheological damper and a linear motor connected in parallel. Current is applied to the magnetorheological damper, and the back electromotive force generated by the linear motor is used not only for energy recovery but also to apply current to the magnetorheological damper. The average damping force output by the binocular camera-type hybrid electromagnetic suspension depends on the heat loss power P generated by the linear motor under the semi-feeded, semi-dissipative control mode. i2 The reactive power P generated by the linear motor in the semi-feeding and semi-dissipation control mode w2 The electromagnetic power P2 generated by the linear motor in the semi-feeded and semi-dissipative control mode, and the number of pole pairs p of the linear motor. n The equivalent internal resistance R0 of the linear motor; the damping force f2 generated by the magnetorheological damper in the semi-feeded and semi-dissipated control mode; the back electromotive force E2 generated by the linear motor in the semi-feeded and semi-dissipated control mode; and the electromagnetic force F of the linear motor in the semi-feeded and semi-dissipated control mode. i2 The energy conversion loss coefficient K of the linear motor in the semi-feeding and semi-dissipation control mode 22 The influence coefficients β3 and β4 of the magnetorheological damper under the semi-feeded and semi-dissipated energy control mode are designed. An evaluation factor η2 for semi-feeded and semi-dissipated energy control is designed to evaluate the degree of binocular camera-based hybrid electromagnetic suspension control under this mode. Its value depends on the execution time T2 of the semi-feeded and semi-dissipated energy control mode and the battery power supply voltage under this mode. Design a semi-feeding and semi-dissipating energy control judgment factor λ2 and a semi-feeding and semi-dissipating energy control re-judgment time t2, and adjust the vehicle rules accordingly based on the magnitude of the semi-feeding and semi-dissipating energy control evaluation factor η2.

[0096] When the binocular camera-type hybrid electromagnetic suspension actuator operates in full-energy-dissipation control mode, the actuator is composed of a magnetorheological damper and a linear motor connected in parallel. At this time, current is applied to the magnetorheological damper, and the back electromotive force generated by the linear motor is entirely used to apply current to the magnetorheological damper. The average damping force output by the binocular camera-type hybrid electromagnetic suspension depends on the heat loss power P generated by the linear motor under full-energy-dissipation control mode. i3 The reactive power P generated by the linear motor in the full energy consumption control mode w3 The electromagnetic power P3 generated by the linear motor in the full energy consumption control mode, and the number of pole pairs p of the linear motor. n The equivalent internal resistance R0 of the linear motor, the damping force f3 generated by the magnetorheological damper under full energy dissipation control mode, the back electromotive force E3 generated by the linear motor under full energy dissipation control mode, and the electromagnetic force F of the linear motor under full energy dissipation control mode. i3 The energy conversion loss coefficient K of the linear motor under the full energy consumption control mode 33The influence coefficients β5 and β6 of the magnetorheological damper under full energy dissipation control mode are designed. An evaluation factor η3 for full energy dissipation control is designed to evaluate the degree of control of the binocular camera-based hybrid electromagnetic suspension under full energy dissipation control mode. Its value depends on the execution time T3 of the full energy dissipation control mode and the external battery supply voltage under full energy dissipation control mode. Design a total energy consumption control judgment factor λ3 and a total energy consumption control re-judgment time t3, and adjust the vehicle rules accordingly based on the magnitude of the total energy consumption control evaluation factor η3.

[0097] The binocular camera comprehensive evaluation index calculation unit can calculate the image pre-detection evaluation factor according to the following formula:

[0098]

[0099] Where w1, w2, and w3 are weighting coefficients, K0 is the pixel matching coefficient, f is the focal length of the stereo camera, b is the center distance between the two cameras of the stereo camera, (X l ,Y l (X) represents the pixel detected by the left camera in a binocular camera system. l0 ,Y l0 (X) represents the coordinates of the optical center of the left camera in the binocular camera system. r ,Y r (X) represents the pixel detected by the right camera in a binocular camera system. r0 ,Y r0 K represents the coordinates of the optical center of the right camera in the binocular camera system. l K represents the distortion coefficient of the left camera in a binocular camera system. r k represents the distortion coefficient of the right camera in a binocular camera system. θ The optical center unevenness coefficient of the two cameras of the binocular camera depends on the angle θ between the line connecting the optical centers of the two cameras and the plane parallel to the ideal optical axis. Its expression is:

[0100]

[0101] The binocular camera comprehensive evaluation index calculation unit can calculate the original image correction evaluation factor according to the following formula:

[0102]

[0103] Where w4 and w5 are weighting coefficients, n0 is the number of image frames processed per second by the binocular camera, (X 00 ,Y 00Let (X',Y') be the coordinates of the center of the object being detected in the two-dimensional planar coordinate system, (X',Y') be the distorted coordinates, (X,Y,Z) be the coordinates of the center of the object being detected in the binocular camera coordinate system, and (X0,Y0,Z0) be the coordinates of the center of the object being detected in the vehicle coordinate system. The coordinates of the center of the object being detected in the vehicle coordinate system (X0,Y0,Z0) can be obtained by transforming the coordinates of the center of the object being detected in the binocular camera coordinate system (X,Y,Z). The transformation expression is as follows:

[0104] (X0,Y0,Z0) T =Q0(X,Y,Z) T +Q 00 ,

[0105] Where Q0 is the coordinate rotation transformation matrix, Q 00 This is the coordinate translation transformation matrix;

[0106] By performing a two-dimensional plane coordinate system normalization transformation on the center coordinates (X,Y,Z) of the object being detected in the binocular camera coordinate system, we can obtain the center coordinates (X,Y,Z) of the object being detected in the two-dimensional plane coordinate system. 00 ,Y 00 The conversion expression is as follows:

[0107]

[0108] Among them, K X K represents the normalized longitudinal transformation coefficient of a two-dimensional planar coordinate system. Y K represents the normalized transverse transformation coefficient of a two-dimensional planar coordinate system. Z These are the normalized vertical transformation coefficients for a two-dimensional planar coordinate system.

[0109] The coordinates of the center of the object being detected in the two-dimensional plane coordinate system (X) 00 ,Y 00 The coordinates are converted to distorted coordinates (X', Y') using the following expression:

[0110]

[0111] Where τ1 is the radial distortion allocation coefficient and τ2 is the tangential distortion allocation coefficient.

[0112] The binocular camera comprehensive evaluation index calculation unit can calculate the temperature compensation evaluation factor according to the following formula:

[0113]

[0114] Where w6 and w7 are weighting coefficients, d max The maximum detection distance of the binocular camera is T0, where T0 is the outdoor temperature in Kelvin. T0 This is the outdoor temperature compensation factor, whose value depends on the outdoor temperature, and its expression is as follows:

[0115]

[0116] The binocular camera comprehensive evaluation index calculation unit can calculate the binocular camera comprehensive evaluation index according to the following formula:

[0117]

[0118] Among them, Q1, Q2, and Q3 are the weighted values ​​calculated for individual indicators.

[0119] The binocular camera-type hybrid electromagnetic suspension control mode selection unit includes a fully powered control mode, a half-powered and half-powered control mode, and a fully powered control mode. The control strength of the fully powered control mode is higher than that of the half-powered and half-powered control mode, and the control strength of the half-powered and half-powered control mode is higher than that of the fully powered control mode. The control strength of the control mode is described by designing the fully powered control factor threshold γ1, the half-powered and half-powered control factor threshold γ2, and the fully powered control factor threshold γ3, where 0 < γ3 < γ2 < γ1 < 1.

[0120] When the comprehensive evaluation index J of the binocular camera satisfies γ1≤J<1, the binocular camera-type hybrid electromagnetic suspension actuator executes the full-feed control mode. The binocular camera-type hybrid electromagnetic suspension actuator is integrated by a magnetorheological damper and a linear motor connected in parallel. At this time, no current is applied to the magnetorheological damper, and the back electromotive force generated by the linear motor is used entirely for energy recovery. The expression for the average damping force output by the binocular camera-type hybrid electromagnetic suspension is as follows:

[0121]

[0122] Among them, P i1 P represents the heat loss power generated by the linear motor in the fully fed-energy control mode. w1 P1 represents the reactive power generated by the linear motor in the fully fed-energy control mode, and P2 represents the electromagnetic power generated by the linear motor in the fully fed-energy control mode. n R0 is the number of pole pairs of the linear motor, F1 is the equivalent internal resistance of the linear motor, E1 is the damping force generated by the magnetorheological damper in the fully fed control mode, and F is the back electromotive force generated by the linear motor in the fully fed control mode. i1 For the electromagnetic force of the linear motor in the fully fed-energy control mode, K 11 β1 is the energy conversion loss coefficient of the linear motor under the fully fed energy control mode, β2 is the influence coefficient of the magnetorheological damper under the fully fed energy control mode, and β2 is the influence coefficient of the linear motor under the fully fed energy control mode.

[0123] The back electromotive force E1 generated by the linear motor in the fully fed-energy control mode can be calculated using the following formula:

[0124] E1 = KE v1,

[0125] Among them, K E v1 is the back electromotive force coefficient generated by the linear motor, and v1 is the relative speed of the upper and lower parts of the suspension under the full energy feeding control mode.

[0126] The electromagnetic force F of the linear motor in the fully fed-energy control mode can be calculated using the following formula. i1 :

[0127] F i1 =K i i1,

[0128] Where i1 is the current flowing through the linear motor in the fully fed-energy control mode, and K i The electromagnetic force coefficient of the linear motor;

[0129] The evaluation factor η1 for the full-feed energy control is designed to evaluate the degree of control of the binocular camera-based hybrid electromagnetic suspension under the full-feed energy control mode. Its expression is as follows:

[0130]

[0131] Where T1 is the execution time of the full-feed control mode. This represents the battery power supply voltage value under full power supply control mode.

[0132] Design a full-feed energy control judgment factor λ1 and a full-feed energy control re-judgment time t1, where 3% < λ1 < 15%. Adjust the vehicle accordingly based on the magnitude of the full-feed energy control evaluation factor η1, with the following adjustment rules:

[0133] When the evaluation factor for full-energy feeding control satisfies λ1≤η1≤15%, the effect of the binocular camera-type hybrid electromagnetic suspension actuator in executing the full-energy feeding control mode is good, and the binocular camera-type hybrid electromagnetic suspension control continues to execute normally, with the mean damping force still outputting normally. When the evaluation factor for full-energy feeding control satisfies η1>15% or 3%≤η1<λ1, the effect of the binocular camera-type hybrid electromagnetic suspension actuator in executing the full-energy feeding control mode is poor, and the binocular camera-type hybrid electromagnetic suspension control temporarily executes normally. After the control system continues for t1s, it re-evaluates whether η1 satisfies λ1≤η1≤15%. If it is again determined that λ1≤η1≤15%, the binocular camera-type hybrid electromagnetic suspension control continues to execute normally, with the mean damping force still outputting normally. If it is again determined that η1>15% or 3%≤η1<λ1, the control of the binocular camera-type hybrid electromagnetic suspension and the output of the mean damping force need to be readjusted.

[0134] When the comprehensive evaluation index J of the binocular camera satisfies γ2≤J<γ1, the binocular camera-type hybrid electromagnetic suspension actuator executes a semi-feeding and semi-dissipating control mode. The binocular camera-type hybrid electromagnetic suspension actuator is integrated by a magnetorheological damper and a linear motor connected in parallel. At this time, current is applied to the magnetorheological damper. The back electromotive force generated by the linear motor is used not only for energy recovery but also for applying current to the magnetorheological damper. The expression for the average damping force output by the binocular camera-type hybrid electromagnetic suspension is as follows:

[0135]

[0136] Among them, P i2 P represents the heat loss power generated by the linear motor in the semi-feeding and semi-dissipation control mode. w2 P1 represents the reactive power generated by the linear motor in the semi-feeded and semi-dissipated control mode, and P2 represents the electromagnetic power generated by the linear motor in the semi-feeded and semi-dissipated control mode. n R0 is the number of pole pairs of the linear motor, F2 is the equivalent internal resistance of the linear motor, E2 is the damping force generated by the magnetorheological damper in the semi-feeded and semi-dissipated control mode, and F is the back electromotive force generated by the linear motor in the semi-feeded and semi-dissipated control mode. i2 For the electromagnetic force of the linear motor in the semi-feeding and semi-dissipation control mode, K 22 β3 is the energy conversion loss coefficient of the linear motor under the semi-feeded and semi-dissipated control mode, β4 is the influence coefficient of the magnetorheological damper under the semi-feeded and semi-dissipated control mode, and β5 is the influence coefficient of the linear motor under the semi-feeded and semi-dissipated control mode.

[0137] The back electromotive force E2 generated by the linear motor in the semi-infeed and semi-dissipation control mode can be calculated using the following formula:

[0138] E2 = K E v2,

[0139] Among them, K E v1 is the back electromotive force coefficient generated by the linear motor, and v2 is the relative speed of the upper and lower parts of the suspension under the semi-energy-feeding and semi-energy-dissipating control mode.

[0140] The electromagnetic force F of the linear motor in the semi-feeded and semi-dissipated energy control mode can be calculated using the following formula. i2 :

[0141] F i2 =K i i2,

[0142] Where i2 is the current flowing through the linear motor in the semi-feeding and semi-dissipating control mode, and K i The electromagnetic force coefficient of the linear motor;

[0143] The damping force f2 generated by the magnetorheological vibration damper in the semi-energy-feeding and semi-energy-dissipating control mode can be calculated using the following formula:

[0144]

[0145] Among them, i 20 For the magnetorheological vibration damper input current in the semi-feeding and semi-dissipating control mode, i 200 i is the lower limit of the input current threshold of the magnetorheological vibration damper in the semi-feeding and semi-dissipating control mode. 201 C represents the upper limit of the input current threshold for the magnetorheological vibration damper under semi-feeded and semi-dissipated control mode. 2min C is the minimum equivalent damping coefficient of the magnetorheological damper in the semi-feeding and semi-dissipating control mode. 2max , where is the maximum equivalent damping coefficient of the magnetorheological damper under the semi-feeding and semi-dissipating control mode, and a0, a1, a2, a3, a4, and a5 are polynomial nonlinear fitting coefficients.

[0146] The evaluation factor η2 for semi-feeded and semi-dissipated energy control is designed to evaluate the degree of binocular camera-based hybrid electromagnetic suspension control under the semi-feeded and semi-dissipated energy control mode. Its expression is as follows:

[0147]

[0148] Where T2 is the execution time of the semi-feeding and semi-dissipating control mode. This refers to the battery power supply voltage value under the semi-power supply and semi-power consumption control mode.

[0149] Design a semi-feeding and semi-dissipation control judgment factor λ2 and a semi-feeding and semi-dissipation control re-judgment time t2, where 4% < λ2 < 14%. Adjust the vehicle accordingly based on the magnitude of the semi-feeding and semi-dissipation control evaluation factor η2, with the following adjustment rules:

[0150] When the evaluation factor for the semi-energized and semi-dissipated control satisfies λ2≤η2≤14%, the effect of the dual-camera hybrid electromagnetic suspension actuator in executing the semi-energized and semi-dissipated control mode is good, and the dual-camera hybrid electromagnetic suspension control continues to execute normally, with the mean damping force still outputting normally. When the evaluation factor for the semi-energized and semi-dissipated control satisfies η2>14% or 4%≤η2<λ2, the effect of the dual-camera hybrid electromagnetic suspension actuator in executing the semi-energized and semi-dissipated control mode is poor, and the dual-camera hybrid electromagnetic suspension control temporarily executes normally. After the control system continues for t2 s, it re-evaluates whether η2 satisfies λ2≤η2≤14%. If it is again determined that λ2≤η2≤14%, the dual-camera hybrid electromagnetic suspension control continues to execute normally, with the damping force still outputting normally. If it is again determined that η2>14% or 4%≤η2<λ2, the control and mean damping force output of the dual-camera hybrid electromagnetic suspension need to be readjusted.

[0151] When the comprehensive evaluation index J of the binocular camera satisfies γ3≤J<γ2, the binocular camera-type hybrid electromagnetic suspension actuator executes the full energy consumption control mode. The binocular camera-type hybrid electromagnetic suspension actuator is integrated by a magnetorheological damper and a linear motor connected in parallel. At this time, current is applied to the magnetorheological damper, and the back electromotive force generated by the linear motor is entirely used to apply current to the magnetorheological damper. The expression for the average damping force output by the binocular camera-type hybrid electromagnetic suspension is as follows:

[0152]

[0153] Among them, P i3 P represents the heat loss power generated by the linear motor in full energy dissipation control mode. w3 P1 represents the reactive power generated by the linear motor in full energy dissipation control mode, and P2 represents the electromagnetic power generated by the linear motor in full energy dissipation control mode. n R0 is the number of pole pairs of the linear motor, F3 is the equivalent internal resistance of the linear motor, E3 is the damping force generated by the magnetorheological damper in the full energy dissipation control mode, and F is the back electromotive force generated by the linear motor in the full energy dissipation control mode. i3 For the electromagnetic force of the linear motor in the full energy dissipation control mode, K 33 β5 is the energy conversion loss coefficient of the linear motor under the full energy dissipation control mode, β6 is the influence coefficient of the magnetorheological damper under the full energy dissipation control mode, and β7 is the influence coefficient of the linear motor under the full energy dissipation control mode.

[0154] The back electromotive force E3 generated by the linear motor in the full energy dissipation control mode can be calculated using the following formula:

[0155] E3 = K E v3,

[0156] Among them, K E v3 is the back electromotive force coefficient generated by the linear motor, and v3 is the relative speed of the upper and lower sprung suspensions under full energy dissipation control mode.

[0157] The electromagnetic force F of the linear motor under full energy consumption control mode can be calculated using the following formula. i3 :

[0158] F i3 =K i i3,

[0159] Where i3 is the current flowing through the linear motor in full-energy-consuming control mode, and K i The electromagnetic force coefficient of the linear motor;

[0160] The damping force f3 generated by the magnetorheological vibration damper under full energy dissipation control mode can be calculated using the following formula:

[0161]

[0162] Among them, i 30 For the magnetorheological vibration damper input current in full energy dissipation control mode, i 300 i is the lower limit of the input current threshold of the magnetorheological vibration damper under full energy dissipation control mode. 301 C represents the upper limit of the input current threshold for the magnetorheological vibration damper under full energy dissipation control mode. 3min C represents the minimum equivalent damping coefficient of the magnetorheological damper under full energy dissipation control mode. 3max The maximum equivalent damping coefficient of the magnetorheological damper under full energy dissipation control mode is a6, a7, a8, a9, a 10 a 11 These are the polynomial nonlinear fitting coefficients;

[0163] The full energy dissipation control evaluation factor η3 is designed to evaluate the degree of control of the binocular camera-based hybrid electromagnetic suspension under the full energy dissipation control mode. Its expression is as follows:

[0164]

[0165] Where T3 is the execution time of the full energy consumption control mode. This represents the external power supply voltage of the battery under full energy consumption control mode.

[0166] Design a total energy consumption control judgment factor λ3 and a total energy consumption control re-judgment time t3, where 5% < λ3 < 13%. Adjust the vehicle accordingly based on the magnitude of the total energy consumption control evaluation factor η3, as follows:

[0167] When the total energy dissipation control evaluation factor satisfies λ3≤η3≤13%, the effect of the binocular camera-type hybrid electromagnetic suspension actuator in executing the total energy dissipation control mode is good, and the binocular camera-type hybrid electromagnetic suspension control continues to execute normally, with the mean damping force still outputting normally. When the total energy dissipation control evaluation factor satisfies η3>13% or 5%≤η3<λ3, the effect of the binocular camera-type hybrid electromagnetic suspension actuator in executing the total energy dissipation control mode is poor, and the binocular camera-type hybrid electromagnetic suspension control temporarily executes normally. After the control system continues for t3 s, it will again judge whether η3 satisfies λ3≤η3≤13%. If it is judged again that λ3≤η3≤13%, the binocular camera-type hybrid electromagnetic suspension control continues to execute normally, with the damping force still outputting normally. If it is judged again that η3>13% or 5%≤η3<λ3, the control of the binocular camera-type hybrid electromagnetic suspension and the output of the mean damping force need to be readjusted.

[0168] When the comprehensive evaluation index J of the binocular camera satisfies 0≤J<γ3, the binocular camera-type hybrid electromagnetic suspension execution unit does not perform any work.

Claims

1. A dual camera based hybrid electromagnetic suspension control system, characterized in that, The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The binocular camera comprehensive evaluation index calculation unit is configured to calculate an image pre-detection evaluation factor J1, an original image correction evaluation factor J2, and a temperature compensation evaluation factor J3, thereby obtaining a binocular camera comprehensive evaluation index J; the image pre-detection evaluation factor J1 depends on a pixel matching coefficient K0, a binocular camera focal length f, a binocular camera two-side camera center distance b, a binocular camera middle left camera detection pixel point (X l ,Y l ), a binocular camera middle left camera optical center position coordinate (X l0 ,Y l0 ), a binocular camera middle right camera detection pixel point (X r ,Y r ), a binocular camera middle right camera optical center position coordinate (X r0 ,Y r0 ), a binocular camera middle left camera distortion coefficient K l , a binocular camera middle right camera distortion coefficient K r , and a binocular camera two-side camera optical center uneven coefficient k θ ; the original image correction evaluation factor J2 depends on a binocular camera image frame processing number per second n0, a two-dimensional plane coordinate system detected object center coordinate (X 00 ,Y 00 ), a distortion coordinate (X', Y'), a binocular camera coordinate system detected object center coordinate (X, Y, Z), and a vehicle coordinate system detected object center coordinate (X0, Y0, Z0); and the temperature compensation evaluation factor J3 depends on a binocular camera maximum detection distance d max , an outdoor temperature T0, and an outdoor temperature compensation factor K T0 . The application relates to a double-camera hybrid electromagnetic suspension control system. When the binocular camera type hybrid electromagnetic suspension execution unit executes the full energy feedback control mode, the binocular camera type hybrid electromagnetic suspension actuator is integrated by the magneto-rheological damper and the linear motor in parallel, at this time no current is applied to the magneto-rheological damper, the back electromotive force generated by the linear motor is all used for energy recovery, the output average damping force of the binocular camera type hybrid electromagnetic suspension depends on the heat loss power P generated by the linear motor in the full energy feedback control mode i1 , the reactive power P generated by the linear motor in the full energy feedback control mode w1 , the electromagnetic power P1 generated by the linear motor in the full energy feedback control mode, the pole pair number p of the linear motor n , the equivalent internal resistance R0 of the linear motor, the damping force f1 generated by the magneto-rheological damper in the full energy feedback control mode, the back electromotive force E1 generated by the linear motor in the full energy feedback control mode, the electromagnetic force F of the linear motor in the full energy feedback control mode i1 , the energy conversion loss coefficient K of the linear motor in the full energy feedback control mode 11 , the influence coefficient β1 of the magneto-rheological damper in the full energy feedback control mode, the influence coefficient β2 of the linear motor in the full energy feedback control mode; the full energy feedback control evaluation factor η1 is designed to evaluate the degree of control of the binocular camera type hybrid electromagnetic suspension in the full energy feedback control mode, the value depends on the full energy feedback control mode execution time T1, the battery energy feedback voltage value in the full energy feedback control mode The full energy feedback control judgment factor λ1 and the full energy feedback control re-judgment time t1 are designed, and the vehicle is adjusted according to the size of the full energy feedback control evaluation factor η1. When the binocular camera type hybrid electromagnetic suspension executes the semi-feed energy semi-dissipate energy control mode, the binocular camera type hybrid electromagnetic suspension actuator is integrated by the magneto-rheological damper and the linear motor in parallel, at this time, the current is applied to the magneto-rheological damper, the back electromotive force generated by the linear motor is not only used for energy recovery, but also used for applying current to the magneto-rheological damper, and the output average damping force of the binocular camera type hybrid electromagnetic suspension depends on the heat loss power P generated by the linear motor in the semi-feed energy semi-dissipate energy control mode i2 , the reactive power P generated by the linear motor in the semi-feed energy semi-dissipate energy control mode w2 , the electromagnetic power P2 generated by the linear motor in the semi-feed energy semi-dissipate energy control mode, the pole pair number p of the linear motor n , the equivalent internal resistance R0 of the linear motor, the damping force f2 generated by the magneto-rheological damper in the semi-feed energy semi-dissipate energy control mode, the back electromotive force E2 generated by the linear motor in the semi-feed energy semi-dissipate energy control mode, and the electromagnetic force F of the linear motor in the semi-feed energy semi-dissipate energy control mode i2 , the energy conversion loss coefficient K of the linear motor in the semi-feed energy semi-dissipate energy control mode 22 , the influence coefficient β3 of the magneto-rheological damper in the semi-feed energy semi-dissipate energy control mode, and the influence coefficient β4 of the linear motor in the semi-feed energy semi-dissipate energy control mode; the semi-feed energy semi-dissipate energy control evaluation factor η2 is designed to evaluate the control degree of the binocular camera type hybrid electromagnetic suspension in the semi-feed energy semi-dissipate energy control mode, and the value depends on the semi-feed energy semi-dissipate energy control mode execution time T2, the battery feed energy voltage value in the semi-feed energy semi-dissipate energy control mode The semi-feed energy semi-dissipate energy control judgment factor λ2 and the semi-feed energy semi-dissipate energy control re-judgment time t2 are designed, and the vehicle is adjusted according to the size of the semi-feed energy semi-dissipate energy control evaluation factor η2. When the binocular camera type hybrid electromagnetic suspension execution unit executes the full energy consumption control mode, the binocular camera type hybrid electromagnetic suspension actuator is integrated in parallel by the magneto-rheological damper and the linear motor. At this time, the current is applied to the magneto-rheological damper, and the back electromotive force generated by the linear motor is all used to apply current to the magneto-rheological damper. The output average damping force of the binocular camera type hybrid electromagnetic suspension depends on the heat loss power P generated by the linear motor in the full energy consumption control mode i3 , the reactive power P generated by the linear motor in the full energy consumption control mode w3 , the electromagnetic power P3 generated by the linear motor in the full energy consumption control mode, the pole pair number p of the linear motor n , the equivalent internal resistance R0 of the linear motor, the damping force f3 generated by the magneto-rheological damper in the full energy consumption control mode, the back electromotive force E3 generated by the linear motor in the full energy consumption control mode, and the electromagnetic force F of the linear motor in the full energy consumption control mode i3 , the energy conversion loss coefficient K of the linear motor in the full energy consumption control mode 33 , the influence coefficient β5 of the magneto-rheological damper in the full energy consumption control mode, and the influence coefficient β6 of the linear motor in the full energy consumption control mode; a full energy consumption control evaluation factor η3 is designed to evaluate the degree of control of the binocular camera type hybrid electromagnetic suspension in the full energy consumption control mode, and the value depends on the full energy consumption control mode execution time T3, the battery external power supply voltage value A full energy consumption control judgment factor λ3 and a full energy consumption control re-judgment time t3 are designed, and the vehicle is adjusted according to the size of the full energy consumption control evaluation factor η3.

2. The dual camera based hybrid electromagnetic suspension control system of claim 1, wherein: The application relates to a double-camera hybrid electromagnetic suspension control system. wherein w1, w2, w3 are weighting coefficients, K0 is a pixel matching coefficient, f is a focal length of the binocular camera, b is a camera center distance of the binocular camera, (X l ,Y l ) is a pixel point detected by a left camera in the binocular camera, (X l0 ,Y l0 ) is a light center position coordinate of the left camera in the binocular camera, (X r ,Y r ) is a pixel point detected by a right camera in the binocular camera, (X r0 ,Y r0 ) is a light center position coordinate of the right camera in the binocular camera, K l is a distortion coefficient of the left camera in the binocular camera, K r is a distortion coefficient of the right camera in the binocular camera, k θ is a light center uneven coefficient of the binocular camera, and the value of k depends on an angle θ between a line connecting the light centers of the cameras of the binocular camera and an ideal optical axis parallel plane, and the expression of k is as follows:

3. The dual camera based hybrid electromagnetic suspension control system of claim 1, wherein: The application relates to a double-camera hybrid electromagnetic suspension control system. wherein w4, w5 are weighting coefficients, n0 is the number of image frames processed per second by the binocular camera, (X 00 ,Y 00 ) is the center coordinate of the detected object in the two-dimensional plane coordinate system, (X', Y') is the distorted coordinate, (X, Y, Z) is the center coordinate of the detected object in the binocular camera coordinate system, (X0, Y0, Z0) is the center coordinate of the detected object in the vehicle coordinate system, wherein the center coordinate of the detected object (X0, Y0, Z0) in the vehicle coordinate system can be converted from the center coordinate of the detected object (X, Y, Z) in the binocular camera coordinate system, and the conversion expression is as follows: (X0, Y0, Z0) T = Q0(X, Y, Z) T + Q 00 , wherein Q0is a coordinate rotation transformation matrix, Q 00 is a coordinate translation transformation matrix; The center coordinates (X, Y, Z) of the detected object in the binocular camera coordinate system are normalized and converted into two-dimensional plane coordinate system, and the center coordinates (X 00 ,Y 00 ) of the detected object in the two-dimensional plane coordinate system are obtained, and the conversion expression is as follows: wherein K X is a normalized longitudinal transformation coefficient of the two-dimensional planar coordinate system, K Y is a normalized transverse transformation coefficient of the two-dimensional planar coordinate system, K Z is a normalized vertical transformation coefficient of the two-dimensional planar coordinate system; The two-dimensional plane coordinate system of the detected object center coordinate (X 00 ,Y 00 ) is converted into the distortion coordinate (X', Y'), and the conversion expression is as follows: The application relates to a double-camera hybrid electromagnetic suspension control system.

4. The dual camera based hybrid electromagnetic suspension control system of claim 1, wherein: The application relates to a double-camera hybrid electromagnetic suspension control system. where w6, w7 are weighting coefficients, d max is the maximum detection distance of the binocular camera, T0 is the outdoor temperature, K T0 is the outdoor temperature compensation factor, whose value depends on the outdoor temperature, and is expressed as follows:

5. The dual camera based hybrid electromagnetic suspension control system of claim 1, wherein: The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system.

6. The dual camera based hybrid electromagnetic suspension control system of claim 1, wherein: The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. 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The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera hybrid electromagnetic suspension control system. The application relates to a double-camera 7. The dual camera based hybrid electromagnetic suspension control system of claim 1, wherein: When the comprehensive evaluation index J of the binocular camera satisfies γ1≤J<1, the binocular camera type hybrid electromagnetic suspension execution unit executes full energy feedback control mode, the binocular camera type hybrid electromagnetic suspension actuator is integrated in parallel by a magneto-rheological damper and a linear motor, at this time no current is applied to the magneto-rheological damper, the back electromotive force generated by the linear motor is all used for energy recovery, and the binocular camera type hybrid electromagnetic suspension output mean damping force expression is as follows: Among them, P i1 P represents the heat loss power generated by the linear motor in the fully fed-energy control mode. w1 P1 represents the reactive power generated by the linear motor in the fully fed-energy control mode, and P2 represents the electromagnetic power generated by the linear motor in the fully fed-energy control mode. n R0 is the number of pole pairs of the linear motor, F1 is the equivalent internal resistance of the linear motor, E1 is the damping force generated by the magnetorheological damper in the fully fed control mode, and F is the back electromotive force generated by the linear motor in the fully fed control mode. i1 For the electromagnetic force of the linear motor in the fully fed-energy control mode, K 11 β1 is the energy conversion loss coefficient of the linear motor under the fully fed energy control mode, β2 is the influence coefficient of the magnetorheological damper under the fully fed energy control mode, and β2 is the influence coefficient of the linear motor under the fully fed energy control mode. The back electromotive force E1 generated by the linear motor under the full energy feedback control mode can be calculated according to the following formula: E1 = K E v1, wherein K E is the back electromotive force coefficient of the linear motor, and v1 is the relative velocity of the suspension in the full energy feed control mode. The electromagnetic force F of the linear motor in the full power feeding control mode can be calculated according to the following formula i1 : F i1 = K i i1, Wherein, i1 is the current flowing through the linear motor in the full energy feedback control mode, K i is the electromagnetic force coefficient of the linear motor; A full energy feedback control evaluation factor η1 is designed to evaluate the degree of binocular camera type hybrid electromagnetic suspension control under the full energy feedback control mode, and its expression is as follows: Wherein, T1 is full energy feedback control mode execution time, Vbatt is the battery energy feedback voltage value under full energy feedback control mode. Full energy feedback control judgment factor λ1 and full energy feedback control re-judgment time t1 are designed, and 3%<λ1<15%, according to the size of the full energy feedback control evaluation factor η1, the vehicle is adjusted accordingly, and the adjustment rules are as follows: When the full energy feedback control evaluation factor satisfies λ1≤η1≤15%, it is judged that the effect of the binocular camera type hybrid electromagnetic suspension execution unit executing full energy feedback control mode is good, the binocular camera type hybrid electromagnetic suspension control is still normally executed, and the mean damping force is still normally output; when the full energy feedback control evaluation factor satisfies η1>15% or 3%≤η1<λ1, it is judged that the effect of the binocular camera type hybrid electromagnetic suspension execution unit executing full energy feedback control mode is poor, the binocular camera type hybrid electromagnetic suspension control is temporarily normally executed, and the control system continues t1s to judge again whether η1 satisfies λ1≤η1≤15%, if λ1≤η1≤15% is judged again, the binocular camera type hybrid electromagnetic suspension control is still normally executed, and the mean damping force is still normally output, if η1>15% or 3%≤η1<λ1 is judged again, the control of the binocular camera type hybrid electromagnetic suspension and the output of the mean damping force need to be adjusted again.

8. The dual camera based hybrid electromagnetic suspension control system of claim 1, wherein: When the comprehensive evaluation index J of the binocular camera satisfies γ2≤J<γ1, the binocular camera type hybrid electromagnetic suspension execution unit executes semi-energy feedback semi-energy consumption control mode, the binocular camera type hybrid electromagnetic suspension actuator is integrated in parallel by a magneto-rheological damper and a linear motor, at this time current is applied to the magneto-rheological damper, the back electromotive force generated by the linear motor is not only used for energy recovery, but also used for applying current to the magneto-rheological damper, and the binocular camera type hybrid electromagnetic suspension output mean damping force expression is as follows: wherein, P i2 is the heat loss power generated by the linear motor in the semi-energy feedback and semi-energy consumption control mode, P w2 is the reactive power generated by the linear motor in the semi-energy feedback and semi-energy consumption control mode, P2 is the electromagnetic power generated by the linear motor in the semi-energy feedback and semi-energy consumption control mode, p n is the number of pole pairs of the linear motor, R0 is the equivalent internal resistance of the linear motor, f2 is the damping force generated by the magnetorheological damper in the semi-energy feedback and semi-energy consumption control mode, E2 is the counter electromotive force generated by the linear motor in the semi-energy feedback and semi-energy consumption control mode, F i2 is the electromagnetic force of the linear motor in the semi-energy feedback and semi-energy consumption control mode, K 22 is the energy conversion loss coefficient of the linear motor in the semi-energy feedback and semi-energy consumption control mode, β3 is the influence coefficient of the magnetorheological damper in the semi-energy feedback and semi-energy consumption control mode, and β4 is the influence coefficient of the linear motor in the semi-energy feedback and semi-energy consumption control mode. The back electromotive force E2 generated by the linear motor under the semi-energy feedback semi-energy consumption control mode can be calculated according to the following formula: E2 = K E v2, wherein K E is the back electromotive force coefficient of the linear motor, and v2 is the relative velocity of the suspension in the semi-energizing semi-dissipating control mode. The electromagnetic force F of the linear motor in the semi-energy feedback and semi-energy consumption control mode can be calculated according to the following formula i2 : F i2 = K i i2, Wherein, i2 is the current flowing through the linear motor in the semi-feed semi-consumption control mode, K i is the electromagnetic force coefficient of the linear motor; The damping force f2 generated by the magneto-rheological damper under the semi-energy feedback semi-energy consumption control mode can be calculated according to the following formula: wherein, i 20 is the input current of the MR damper in the semi-energizing and semi-dissipating control mode, i 200 is the lower limit of the input current threshold of the MR damper in the semi-energizing and semi-dissipating control mode, i 201 is the upper limit of the input current threshold of the MR damper in the semi-energizing and semi-dissipating control mode, C 2min is the minimum equivalent damping coefficient of the MR damper in the semi-energizing and semi-dissipating control mode, C 2max is the maximum equivalent damping coefficient of the MR damper in the semi-energizing and semi-dissipating control mode, a0, a1, a2, a3, a4, a5 are polynomial nonlinear fitting coefficients; A semi-energy feedback semi-energy consumption control evaluation factor η2 is designed to evaluate the degree of binocular camera type hybrid electromagnetic suspension control under the semi-energy feedback semi-energy consumption control mode, and its expression is as follows: T2 is the execution time of the semi-feed semi-consumption control mode, Vbatt is the battery feed voltage value in the semi-feed semi-consumption control mode. Semi-energy feedback semi-energy consumption control judgment factor λ2 and semi-energy feedback semi-energy consumption control re-judgment time t2 are designed, and 4%<λ2<14%, according to the size of the semi-energy feedback semi-energy consumption control evaluation factor η2, the vehicle is adjusted accordingly, and the adjustment rules are as follows: When the semi-feed semi-dissipate control evaluation factor satisfies λ2≤η2≤14%, it is judged that the effect of the binocular camera type hybrid electromagnetic suspension execution unit executing the semi-feed semi-dissipate control mode is good, the binocular camera type hybrid electromagnetic suspension control is still normally executed, and the average damping force is still normally output; when the semi-feed semi-dissipate control evaluation factor satisfies η2>14% or 4%≤η2<λ2, it is judged that the effect of the binocular camera type hybrid electromagnetic suspension execution unit executing the semi-feed semi-dissipate control mode is poor, the binocular camera type hybrid electromagnetic suspension control is temporarily normally executed, and the control system judges again whether η2 satisfies λ2≤η2≤14% after lasting t2 s, if it is judged again that λ2≤η2≤14%, the binocular camera type hybrid electromagnetic suspension control is still normally executed, and the damping force is still normally output, if it is judged again that η2>14% or 4%≤η2<λ2, the binocular camera type hybrid electromagnetic suspension control needs to be adjusted again.

9. The dual camera based hybrid electromagnetic suspension control system of claim 1, wherein: When the binocular camera comprehensive evaluation index J satisfies γ3≤J<γ2, the binocular camera type hybrid electromagnetic suspension execution unit executes the full-dissipate control mode, the binocular camera type hybrid electromagnetic suspension actuator is integrated in parallel by the magneto-rheological damper and the linear motor, at this time, the current is applied to the magneto-rheological damper, and the back electromotive force generated by the linear motor is all used to apply the current to the magneto-rheological damper, and the binocular camera type hybrid electromagnetic suspension outputs the average damping force as follows: Among them, P i3 P represents the heat loss power generated by the linear motor in full energy dissipation control mode. w3 P1 represents the reactive power generated by the linear motor in full energy dissipation control mode, and P2 represents the electromagnetic power generated by the linear motor in full energy dissipation control mode. n R0 is the number of pole pairs of the linear motor, F3 is the equivalent internal resistance of the linear motor, E3 is the damping force generated by the magnetorheological damper in the full energy dissipation control mode, and F is the back electromotive force generated by the linear motor in the full energy dissipation control mode. i3 For the electromagnetic force of the linear motor in the full energy dissipation control mode, K 33 β5 is the energy conversion loss coefficient of the linear motor under the full energy dissipation control mode, β6 is the influence coefficient of the magnetorheological damper under the full energy dissipation control mode, and β7 is the influence coefficient of the linear motor under the full energy dissipation control mode. The back electromotive force E3 generated by the linear motor in the full-dissipate control mode can be calculated according to the following formula: E3 = K E v3, wherein K E is the back electromotive force coefficient of the linear motor, v3 is the relative velocity of the suspension in the full energy dissipation control mode. The electromagnetic force F of the linear motor in the full energy consumption control mode can be calculated according to the following formula i3 : F i3 = K i i3, Wherein, i3 is the current flowing through the linear motor in the full energy consumption control mode, K i is the electromagnetic force coefficient of the linear motor; The damping force f3 generated by the magneto-rheological damper in the full-dissipate control mode can be calculated according to the following formula: wherein, i 30 is the input current of the MR damper in the full energy dissipation control mode, i 300 is the lower limit of the input current threshold of the MR damper in the full energy dissipation control mode, i 301 is the upper limit of the input current threshold of the MR damper in the full energy dissipation control mode, C 3min is the minimum equivalent damping coefficient of the MR damper in the full energy dissipation control mode, C 3max is the maximum equivalent damping coefficient of the MR damper in the full energy dissipation control mode, a6, a7, a8, a9, a 10 , a 11 are polynomial nonlinear fitting coefficients; The full-dissipate control evaluation factor η3 is designed to evaluate the degree of the binocular camera type hybrid electromagnetic suspension control in the full-dissipate control mode, and its expression is as follows: T3 is the full energy consumption control mode execution time, Vbatt is the external power supply voltage value of the battery in the full energy consumption control mode. The full-dissipate control judgment factor λ3 and the full-dissipate control re-judgment time t3 are designed, and 5%<λ3<13%, according to the size of the full-dissipate control evaluation factor η3, the vehicle is adjusted accordingly, and the adjustment rules are as follows: When the full-dissipate control evaluation factor satisfies λ3≤η3≤13%, it is judged that the effect of the binocular camera type hybrid electromagnetic suspension execution unit executing the full-dissipate control mode is good, the binocular camera type hybrid electromagnetic suspension control is still normally executed, and the average damping force is still normally output; when the full-dissipate control evaluation factor satisfies η3>13% or 5%≤η3<λ3, it is judged that the effect of the binocular camera type hybrid electromagnetic suspension execution unit executing the full-dissipate control mode is poor, the binocular camera type hybrid electromagnetic suspension control is temporarily normally executed, and the control system judges again whether η3 satisfies λ3≤η3≤13% after lasting t3 s, if it is judged again that λ3≤η3≤13%, the binocular camera type hybrid electromagnetic suspension control is still normally executed, and the damping force is still normally output, if it is judged again that η3>13% or 5%≤η3<λ3, the binocular camera type hybrid electromagnetic suspension control needs to be adjusted again.

10. The dual camera based hybrid electromagnetic suspension control system of claim 1, wherein: When the binocular camera comprehensive evaluation index J satisfies 0≤J<γ3, the binocular camera type hybrid electromagnetic suspension execution unit does not execute work.

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