A camera-based electromagnetic active suspension control system

Abstract

The application discloses a camera-based electromagnetic active suspension control system, which comprises a driving information detection unit, a camera sensing evaluation index calculation unit, a camera-based electromagnetic active suspension control mode selection unit and a camera-based electromagnetic active suspension execution unit. The driving information detection unit is used for acquiring the number of noise points detected by the camera, the execution time of a first load impedance control mode, the execution time of a second load impedance control mode and the execution time of a third load impedance control mode. The camera sensing evaluation index calculation unit is used for calculating target object coordinate detection evaluation factors, motion detection distance and color analysis evaluation factors and road noise point detection evaluation factors. The camera-based electromagnetic active suspension control mode selection unit comprises the first load impedance control mode, the second load impedance control mode and the third load impedance control mode. The camera-based electromagnetic active suspension execution unit adjusts the vehicle according to different control modes.

Description

Technical Field

[0001] This invention relates to a camera-based electromagnetic active suspension control system. Background Technology

[0002] As vehicles become increasingly intelligent, the development of related functions for autonomous vehicles, particularly focusing on environmental perception, path planning, and decision-making control, has largely neglected camera-based electromagnetic active suspension control technology to ensure safety and reliability. Furthermore, the evaluation metrics for camera-based electromagnetic active suspension control are relatively simplistic. However, for vehicle smoothness and driver comfort, camera-based electromagnetic active suspension needs to consider factors such as target coordinate detection, motion detection distance and color analysis, and road noise detection. Therefore, effectively ensuring vehicle smoothness and comfort during driving has become a pressing technical problem for the applicant. To address these issues, this invention proposes a camera-based electromagnetic active suspension control system. Summary of the Invention

[0003] The purpose of this invention is to provide a camera-based electromagnetic active 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 camera-based electromagnetic active suspension control system, comprising a driving information detection unit, a camera perception evaluation index calculation unit, a camera-based electromagnetic active suspension control mode selection unit, and a camera-based electromagnetic active suspension execution unit.

[0005] The driving information detection unit is used to obtain the number of noise points detected by the camera n0, the execution time T1 of the first-level load impedance control mode, the execution time T2 of the second-level load impedance control mode, and the execution time T3 of the third-level load impedance control mode.

[0006] The camera perception evaluation index calculation unit is used to calculate the target coordinate detection evaluation factor J1, motion detection distance and color analysis evaluation factor J2, and road noise detection evaluation factor J3, thereby obtaining the camera perception evaluation index J. The target coordinate detection evaluation factor J1 depends on the number of front cameras n1, the number of side front-view cameras n2, the number of side rear-view cameras n3, the number of rear cameras n4, and the coordinate transformation evaluation factor K. 00 Among them, the coordinate transformation evaluation factor K 00 Depending on the coordinates (X, Y) of the target center detected by the front-facing camera in the vehicle coordinate system. 01 ,Y 01 Z 01 ), the center coordinates of the target object detected by the side-view camera in the vehicle coordinate system (X)02 02 02 03 03 03 04 04 04 L RGB L x0max x0act y0max y0act y1max y1act x1max x1act RGB 11 11 11 22 22 22 33 33 33 44 44 44 l L0 τ

[0007] ​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​The camera electromagnetic active suspension control mode selection unit includes a first load impedance control mode, a second load impedance control mode, and a third load impedance control mode. The control strength of the third load impedance control mode is higher than that of the second load impedance control mode, and the control strength of the second load impedance control mode is higher than that of the first load impedance control mode. The control strength of the control mode is described by designing a first load impedance control factor threshold γ1, a second load impedance control factor threshold γ2, and a third load impedance control factor threshold γ3, wherein 0<γ3<γ2<γ1<1. When the camera perception evaluation index J satisfies γ1≤J<1, the camera electromagnetic active suspension execution unit executes the first load impedance control mode. When the camera perception evaluation index J satisfies γ2≤J<γ1, the camera electromagnetic active suspension execution unit executes the second load impedance control mode. When the camera perception evaluation index J satisfies γ3≤J<γ2, the camera electromagnetic active suspension execution unit executes the third load impedance control mode. When the camera perception evaluation index J satisfies 0≤J<γ3, the camera electromagnetic active suspension execution unit does not execute work.

[0008] When the camera electromagnetic active suspension execution unit executes the first load impedance control mode, the camera electromagnetic active suspension output damping force F1 depends on the internal resistance R of the rotating motor C0 The load resistance R in the first load impedance control mode L1 The rotating motor electromotive force constant K in the first load impedance control mode E1 The torque T generated by the rotating motor in the first load impedance control mode M1 The rotating motor speed n in the first load impedance control mode M1 The rotating motor rated speed N0, the relative speed v1 between the suspension spring and the spring in the first load impedance control mode, and the rotating motor external loop current I in the first load impedance control mode E1 The ball screw lead L0, the rotating motor influence coefficient β1 in the first load impedance control mode, and the ball screw influence coefficient β2 in the first load impedance control mode. A first load impedance control evaluation factor η1 is designed to evaluate the degree of camera electromagnetic active suspension control in the first load impedance control mode, which depends on the execution time T1 of the first load impedance control mode, the electromotive force V generated by the rotating motor in the first load impedance control mode E1 A first load impedance control judgment factor λ1 and a first load impedance control re-judgment time t1 are designed, and λ 1min <λ1<λ 1max , wherein λ 1min is the lower threshold of the first load impedance control judgment factor, and λ 1maxThe first load impedance control judgment factor upper threshold value is used to adjust the vehicle according to the size of the first load impedance control evaluation factor η1.

[0009] When the camera electromagnetic active suspension execution unit executes the second load impedance control mode, the value of the damping force F2 output by the camera electromagnetic active suspension depends on the internal resistance R of the rotating motor C0 The load resistance R in the second load impedance control mode L2 The rotating motor electromotive force constant K in the second load impedance control mode E2 The torque T generated by the rotating motor in the second load impedance control mode M2 The rotating motor speed n in the second load impedance control mode M2 The rotating motor rated speed N0, the relative speed v2 between the suspension spring and the spring in the third load impedance control mode, and the rotating motor external loop current I in the third load impedance control mode E2 The ball screw lead L0, the rotating motor influence coefficient β3 in the second load impedance control mode, and the ball screw influence coefficient β4 in the second load impedance control mode; the second load impedance control evaluation factor η2 is designed to evaluate the degree of control of the camera electromagnetic active suspension in the second load impedance control mode, and its value depends on the execution time T2 of the second load impedance control mode, and the electromotive force V generated by the rotating motor in the second load impedance control mode E2 The second load impedance control judgment factor λ2 and the second load impedance control re-judgment time t2 are designed, and λ 2min λ2 < λ 2max , where λ 2min is the second load impedance control judgment factor lower threshold value, and λ 2max is the second load impedance control judgment factor upper threshold value, and the vehicle is adjusted according to the size of the second load impedance control evaluation factor η2.

[0010] When the camera electromagnetic active suspension execution unit executes the third load impedance control mode, the value of the damping force F3 output by the camera electromagnetic active suspension depends on the internal resistance R of the rotating motor C0 The load resistance R in the third load impedance control mode L3 The rotating motor electromotive force constant K in the third load impedance control mode E3 The torque T generated by the rotating motor in the third load impedance control mode M3 The rotating motor speed n in the third load impedance control mode M3 The rotating motor rated speed N0, the relative speed v3 between the suspension spring and the spring in the third load impedance control mode, and the rotating motor external loop current I in the third load impedance control mode E3, ball screw lead L0, rotation motor influence coefficient β5 in three-stage load impedance control mode, ball screw influence coefficient β6 in three-stage load impedance control mode; three-stage load impedance control evaluation factor η3 is designed to evaluate the degree of camera electromagnetic active suspension control in three-stage load impedance control mode, and the value depends on three-stage load impedance control mode execution time T3, rotation motor generated electromotive force V E3 in three-stage load impedance control mode 3min <λ3<λ 3max , three-stage load impedance control rejudgment time t3, and λ 3min is three-stage load impedance control judgment factor lower threshold, λ 3max is three-stage load impedance control judgment factor upper threshold, and the vehicle is adjusted according to the size of three-stage load impedance control evaluation factor η3.

[0011] The camera perception evaluation index calculation unit can calculate the target object coordinate detection evaluation factor according to the following formula:

[0012]

[0013] Wherein, w1, w2 are weighting coefficients, n1 is the number of front-mounted cameras carried by the whole vehicle, n2 is the number of side front view cameras carried by the whole vehicle, n3 is the number of side rear view cameras carried by the whole vehicle, n4 is the number of rear-mounted cameras carried by the whole vehicle, K 00 is coordinate conversion evaluation factor, and the value depends on the front-mounted camera detection target object center coordinates (X 01 , Y 01 , Z 01 ) in vehicle coordinate system, side front view camera detection target object center coordinates (X 02 , Y 02 , Z 02 ) in vehicle coordinate system, side rear view camera detection target object center coordinates (X 03 , Y 03 , Z 03 ) in vehicle coordinate system, and rear-mounted camera detection target object center coordinates (X 04 , Y 04 , Z 04 ) in vehicle coordinate system, and its expression is as follows:

[0014]

[0015] Wherein, w3, w4, w5, w6 are weighting coefficients, and the front-mounted camera detection target object center coordinates (X 01 , Y 01 , Z 01) can be converted from the front camera coordinate system, and the conversion expression is as follows:

[0016]

[0017] wherein K 1x is a front camera longitudinal coordinate conversion coefficient, K 1y is a front camera transverse coordinate conversion coefficient, and K 1z is a front camera vertical coordinate conversion coefficient.

[0018] The target object center coordinate (X 02 , Y 02 , Z 02 ) detected by the side front view camera in the vehicle coordinate system can be converted from the side front view camera coordinate system, and the conversion expression is as follows:

[0019]

[0020] wherein K 2x is a side front view camera longitudinal coordinate conversion coefficient, K 2y is a side front view camera transverse coordinate conversion coefficient, and K 2z is a side front view camera vertical coordinate conversion coefficient.

[0021] The target object center coordinate (X 03 , Y 03 , Z 03 ) detected by the side rear view camera in the vehicle coordinate system can be converted from the side rear view camera coordinate system, and the conversion expression is as follows:

[0022]

[0023] wherein K 3x is a side rear view camera longitudinal coordinate conversion coefficient, K 3y is a side rear view camera transverse coordinate conversion coefficient, and K 3z is a side rear view camera vertical coordinate conversion coefficient.

[0024] The target object center coordinate (X 04 , Y 04 , Z 04 ) detected by the rear camera in the vehicle coordinate system can be converted from the rear camera coordinate system, and the conversion expression is as follows:

[0025]

[0026] wherein, K 4x is a longitudinal coordinate conversion coefficient of the rear camera, K 4y is a lateral coordinate conversion coefficient of the rear camera, K 4z is a vertical coordinate conversion coefficient of the rear camera.

[0027] The camera perception evaluation index calculation unit can calculate the motion detection distance and the color analysis evaluation factor according to the following formula:

[0028]

[0029] wherein, w7, w8 are weighting coefficients, K L is a detection distance comprehensive coefficient, and its expression is:

[0030]

[0031] wherein, w9, w 10 , w 11 , w 12 are weighting coefficients, L x0max is a maximum detection distance of the front camera, L x0act is an actual detection distance of the front camera, L y0max is a maximum detection distance of the side front camera, L y0act is an actual detection distance of the side front camera, L y1max is a maximum detection distance of the side rear camera, L y1act is an actual detection distance of the side rear camera, L x1max is a maximum detection distance of the rear camera, L x1act is an actual detection distance of the rear camera.

[0032] K RGB is a color conversion comprehensive coefficient, and its expression is:

[0033]

[0034] wherein, (R 11 , G 11 , B 11 ) are three primary colors of the color of the target object detected by the front camera in the human eye, (R 22 , G 22 , B 22 ) are three primary colors of the color of the target object detected by the side front camera in the human eye, (R 33 , G 33 , B 33 ) are three primary colors of the color of the target object detected by the side rear camera in the human eye, and (R 44 , G 44 , B 44 are three primary colors of the color of the target object detected by the rear camera in the human eye.) is the color three primary colors of the target object detected by the rear camera, and the color three primary colors (R 11 ,G 11 ,B 11 ) of the target object detected by the front camera can be obtained according to the following formula:

[0035] (R 11 ,G 11 ,B 11 ) T =Q1(R1,G1,B1) T ,

[0036] wherein (R1, G1, B1) is the color three primary colors of the target object detected by the front camera, and Q1 is the color conversion matrix of the front camera;

[0037] The color three primary colors (R 22 ,G 22 ,B 22 ) of the target object detected by the side front camera can be obtained according to the following formula:

[0038] (R 22 ,G 22 ,B 22 ) T =Q2(R2,G2,B2) T ,

[0039] wherein (R2, G2, B2) is the color three primary colors of the target object detected by the side front camera, and Q2 is the color conversion matrix of the side front camera;

[0040] The color three primary colors (R 33 ,G 33 ,B 33 ) of the target object detected by the side rear camera can be obtained according to the following formula:

[0041] (R 33 ,G 33 ,B 33 ) T =Q3(R3,G3,B3) T ,

[0042] wherein (R3, G3, B3) is the color three primary colors of the target object detected by the side rear camera, and Q3 is the color conversion matrix of the side rear camera;

[0043] The color three primary colors (R 44 ,G 44 ,B 44 ) of the target object detected by the rear camera can be obtained according to the following formula:

[0044] (R44 ,G 44 ,B 44 ) T =Q4(R4,G4,B4) T ,

[0045] Wherein, (R4, G4, B4) is the color three primary colors of the target object sensed by the rear camera, and Q4 is the color conversion matrix of the rear camera.

[0046] The camera perception evaluation index calculation unit can calculate the road noise point detection evaluation factor according to the following formula:

[0047]

[0048] Wherein, w 13 , w 14 are weighting coefficients, K l is a road detection anti-interference factor, τ is the noise point value of the target object detected by the camera, n0 is the number of noise points detected by the camera, K L0 is a road condition classification index, the value of which depends on the road noise point evaluation threshold [n 00 , n 01 ], if n0≤n 00 , it is judged that the road surface has a concave situation, K L0 =0.3 is taken, if n 00 <n0<n 01 , it is judged that the road surface is relatively flat, K L0 =0.55 is taken, if n0≥n 01 , it is judged that the road surface has a convex situation, K L0 =0.8 is taken, and K τ is a noise point detection coefficient, the value of which depends on the detection noise point judgment threshold [τ1, τ2], and the expression is as follows:

[0049]

[0050] The camera perception evaluation index calculation unit can calculate the camera perception evaluation index according to the following formula:

[0051]

[0052] Wherein, Q1, Q2 and Q3 are the weighted values of single index calculation.

[0053] The camera electromagnetic active suspension control mode selection unit comprises a first load impedance control mode, a second load impedance control mode and a third load impedance control mode, the control strength of the third load impedance control mode is higher than that of the second load impedance control mode, the control strength of the second load impedance control mode is higher than that of the first load impedance control mode, and the control strength of the control mode is described by designing a first load impedance control factor threshold γ1, a second load impedance control factor threshold γ2 and a third load impedance control factor threshold γ3, wherein 0<γ3<γ2<γ1<1.

[0054] When the camera perception evaluation index J satisfies γ1≤J<1, the camera electromagnetic active suspension execution unit executes the first load impedance control mode, the camera electromagnetic active suspension actuator is integrated by a rotary motor and a ball screw, and the camera electromagnetic active suspension output damping force expression is as follows:

[0055]

[0056] Wherein, R C0 is the internal resistance of the rotary motor, R L1 is the load resistance under the first load impedance control mode, K E1 is the electromotive force constant of the rotary motor under the first load impedance control mode, T M1 is the torque generated by the rotary motor under the first load impedance control mode, n M1 is the rotary motor speed under the first load impedance control mode, N0 is the rated speed of the rotary motor, v1 is the relative speed between the suspension spring and the spring under the first load impedance control mode, I E1 is the external loop current of the rotary motor under the first load impedance control mode, L0 is the lead of the ball screw, β1 is the rotary motor influence coefficient under the first load impedance control mode, and β2 is the ball screw influence coefficient under the first load impedance control mode.

[0057] A first load impedance control evaluation factor η1 is designed to evaluate the degree of camera electromagnetic active suspension control under the first load impedance control mode, and its expression is as follows:

[0058]

[0059] Wherein, T1 is the execution time of the first load impedance control mode, V E1 is the electromotive force generated by the rotary motor under the first load impedance control mode.

[0060] A first load impedance control judgment factor λ1 and a first load impedance control re-judgment time t1 are designed, and λ 1min <λ1<λ 1max , wherein λ 1minλ1 is a lower threshold of the primary load impedance control evaluation factor 1max λ2 is an upper threshold of the primary load impedance control evaluation factor, and the vehicle is adjusted according to the size of the primary load impedance control evaluation factor η1, and the adjustment rule is as follows:

[0061] When the primary load impedance control evaluation factor satisfies λ1≤η1≤λ 1max , it is judged that the effect of the camera-type electromagnetic active suspension execution unit executing the primary load impedance control mode is good, and the camera-type electromagnetic active suspension control is still normally executed, and the damping force is still normally output; when the primary load impedance control evaluation factor satisfies η1>λ 1max or λ 1min ≤η1<λ1, it is judged that the effect of the camera-type electromagnetic active suspension execution unit executing the primary load impedance control mode is poor, and the camera-type electromagnetic active suspension control is temporarily normally executed, and the control system continues to judge whether η1 satisfies λ1≤η1≤λ 1max after t1s, if it is judged again that λ1≤η1≤λ 1max , the camera-type electromagnetic active suspension control is still normally executed, and the damping force is still normally output, if it is judged again that η1>λ 1max or λ 1min ≤η1<λ1, the control of the camera-type electromagnetic active suspension and the output of the damping force need to be adjusted again.

[0062] When the camera perception evaluation index J satisfies γ2≤J<γ1, the camera-type electromagnetic active suspension execution unit executes the secondary load impedance control mode, the camera-type electromagnetic active suspension actuator is integrated by a rotary motor and a ball screw, and the output damping force expression of the camera-type electromagnetic active suspension is as follows:

[0063]

[0064] Wherein, R C0 is the internal resistance of the rotary motor, R L2 is the load resistance under the secondary load impedance control mode, K E2 is the electromotive force constant of the rotary motor under the secondary load impedance control mode, T M2 is the torque generated by the rotary motor under the secondary load impedance control mode, n M2 is the rotary motor speed under the secondary load impedance control mode, N0 is the rated speed of the rotary motor, v2 is the relative speed between the suspension spring and the spring under the secondary load impedance control mode, I E2 is the external loop current of the rotary motor under the secondary load impedance control mode, L0 is the lead of the ball screw, β3 is the rotary motor influence coefficient under the secondary load impedance control mode, and β4 is the ball screw influence coefficient under the secondary load impedance control mode.

[0065] A secondary load impedance control evaluation factor η2 is designed to evaluate the degree of camera electromagnetic active suspension control in the secondary load impedance control mode, and its expression is as follows:

[0066]

[0067] wherein T2 is the execution time of the secondary load impedance control mode, V E2 is the electromotive force generated by the rotating motor in the secondary load impedance control mode;

[0068] A secondary load impedance control judgment factor λ2 and a secondary load impedance control re-judgment time t2 are designed, and λ 2min < λ2 < λ 2max , wherein λ 2min is the lower threshold of the secondary load impedance control judgment factor, and λ 2max is the upper threshold of the secondary load impedance control judgment factor, and the vehicle is adjusted according to the size of the secondary load impedance control evaluation factor η2, and the adjustment rules are as follows:

[0069] When the secondary load impedance control evaluation factor satisfies λ2≤η2≤λ 2max , it is judged that the effect of the camera electromagnetic active suspension execution unit executing the secondary load impedance control mode is good, the camera electromagnetic active suspension control is still normally executed, and the damping force is still normally output; when the secondary load impedance control evaluation factor satisfies η2>λ 2max or λ 2min ≤η2<λ2, it is judged that the effect of the camera electromagnetic active suspension execution unit executing the secondary load impedance control mode is poor, the camera electromagnetic active suspension control is temporarily normally executed, and the control system continues to judge whether η2 satisfies λ2≤η2≤λ 2max after t2 s, if it is judged again that λ2≤η2≤λ 2max , the camera electromagnetic active suspension control is still normally executed, and the damping force is still normally output, if it is judged again that η2>λ 2max or λ 2min ≤η2<λ2, the control of the camera electromagnetic active suspension and the output of the damping force need to be adjusted again.

[0070] When the camera perception evaluation index J satisfies γ3≤J<γ2, the camera electromagnetic active suspension execution unit executes the tertiary load impedance control mode, the camera electromagnetic active suspension actuator is integrated by a rotating motor and a ball screw, and the camera electromagnetic active suspension output damping force expression is as follows:

[0071]

[0072] wherein R C0 is the internal resistance of the rotating motor, and R L3K is a load resistance in a tertiary load impedance control mode E3 T is a motor electromotive force constant in the tertiary load impedance control mode M3 n is a torque generated by a motor in the tertiary load impedance control mode M3 N0 is a rated motor speed, v3 is a relative speed between a spring and a spring in the tertiary load impedance control mode, I E3 L0 is a ball screw lead, β5 is a motor influence coefficient in the tertiary load impedance control mode, and β6 is a ball screw influence coefficient in the tertiary load impedance control mode

[0073] An evaluation factor η3 for the tertiary load impedance control is designed to evaluate a degree of the camera electromagnetic active suspension control in the tertiary load impedance control mode, and an expression thereof is as follows:

[0074]

[0075] T3 is an execution time of the tertiary load impedance control mode, V E3 is a motor electromotive force generated in the tertiary load impedance control mode

[0076] A judgment factor λ3 for the tertiary load impedance control and a re-judgment time t3 for the tertiary load impedance control are designed, and λ 3min < λ3 < λ 3max , wherein λ 3min is a lower threshold value of the judgment factor for the tertiary load impedance control, and λ 3max is an upper threshold value of the judgment factor for the tertiary load impedance control

[0077] When the evaluation factor for the tertiary load impedance control satisfies λ3≤η3≤λ 3max , it is judged that an effect of the camera electromagnetic active suspension execution unit executing the tertiary load impedance control mode is good, the camera electromagnetic active suspension control is still normally executed, and a damping force is still normally outputted. When the evaluation factor for the tertiary load impedance control satisfies η3>λ 3max or λ 3min ≤η3<λ3, it is judged that the effect of the camera electromagnetic active suspension execution unit executing the tertiary load impedance control mode is poor, the camera electromagnetic active suspension control is temporarily normally executed, and the control system continues t3 s to judge again whether η3 satisfies λ3≤η3≤λ 3max . If it is judged again that λ3≤η3≤λ 3max , the camera electromagnetic active suspension control is still normally executed, and the damping force is still normally outputted. If it is judged again that η3>λ 3maxOr lambda 3min If < eta3 < lambda3, the control and damping force output of the camera electromagnetic active suspension needs to be readjusted.

[0078] When the camera perception evaluation index J satisfies 0 <= J < gamma3, the camera electromagnetic active suspension execution unit does not perform work.

[0079] Compared with the prior art, the present application has the following beneficial effects:

[0080] 1. A camera electromagnetic active suspension control system based on target coordinate detection evaluation factor, motion detection distance and color analysis evaluation factor, road noise point detection evaluation factor, to obtain a camera perception evaluation index.

[0081] 2. The control mode includes a primary load impedance control mode, a secondary load impedance control mode, and a tertiary load impedance control mode. The control strength of the tertiary load impedance control mode is higher than that of the secondary load impedance control mode, and the control strength of the secondary load impedance control mode is higher than that of the primary load impedance control mode. The control strength of the control mode is described by designing a primary load impedance control factor threshold, a secondary load impedance control factor threshold, and a tertiary load impedance control factor threshold.

[0082] 3. According to different control modes, the output damping force of the camera electromagnetic active suspension under different modes is calculated. The evaluation factor of different control modes is designed to evaluate the degree of camera electromagnetic active suspension control under different control modes, so as to adjust the vehicle control accordingly. BRIEF DESCRIPTION OF DRAWINGS

[0083] The present application will be further described below in conjunction with the accompanying drawings:

[0084] Figure 1 The present application is a camera electromagnetic active suspension control system. DETAILED DESCRIPTION

[0085] The present application will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0086] As Figure 1 shown, the present application is a camera electromagnetic active suspension control system, which includes a driving information detection unit, a camera perception evaluation index calculation unit, a camera electromagnetic active suspension control mode selection unit, and a camera electromagnetic active suspension execution unit.

[0087] The driving information detection unit is used to obtain the number of noise points n0 detected by the camera, the execution time T1 of the primary load impedance control mode, the execution time T2 of the secondary load impedance control mode, and the execution time T3 of the tertiary load impedance control mode.

[0088] The camera perception evaluation index calculation unit is used to calculate the target coordinate detection evaluation factor J1, motion detection distance and color analysis evaluation factor J2, and road noise detection evaluation factor J3, thereby obtaining the camera perception evaluation index J. The target coordinate detection evaluation factor J1 depends on the number of front cameras n1, the number of side front-view cameras n2, the number of side rear-view cameras n3, the number of rear cameras n4, and the coordinate transformation evaluation factor K. 00 Among them, the coordinate transformation evaluation factor K 00 Depending on the coordinates (X, Y) of the target center detected by the front-facing camera in the vehicle coordinate system. 01 ,Y 01 Z 01 ), the center coordinates of the target object detected by the side-view camera in the vehicle coordinate system (X) 02 ,Y 02 Z 02 ), the center coordinates of the target object detected by the side rearview camera in the vehicle coordinate system (X) 03 ,Y 03 Z 03 ), the center coordinates of the target object detected by the rear camera in the vehicle coordinate system (X) 04 ,Y 04 Z 04 The motion detection distance and color analysis evaluation factor J2 depend on the comprehensive coefficient K of the detection distance. L Color conversion coefficient K RGB Among them, the comprehensive coefficient of detection distance K L Depends on the maximum detection distance L of the front-facing camera x0max The actual detection distance L of the front-facing camera x0act The maximum detection distance L of the side-view camera y0max The actual detection distance L of the side-view camera y0act The maximum detection distance L of the side rearview camera y1max The actual detection distance L of the side rearview camera y1act The maximum detection distance L of the rear camera x1max The actual detection distance L of the rear camera x1act Color conversion coefficient K RGB The color of the target object detected by the front-facing camera depends on the human eye's perception. 11 G 11 B 11 ), the human eye-sensing side-view camera detects the three primary colors of the target object (R). 22 G 22 B 22), the color three primary colors (R 33 ,G 33 ,B 33 ) of the target object detected by the rear camera of the human eye response, the color three primary colors (R 44 ,G 44 ,B 44 ) of the target object detected by the rear camera of the human eye response; the road surface noise point detection evaluation factor J3 depends on the road surface detection anti-interference factor K l , the noise point value τ of the camera detecting the target object, the number n0 of camera detection noise points, the road condition classification index K L0 , the noise point detection coefficient K τ ;

[0089] The camera electromagnetic active suspension control mode selection unit includes a first load impedance control mode, a second load impedance control mode, and a third load impedance control mode. The control strength of the third load impedance control mode is higher than that of the second load impedance control mode, and the control strength of the second load impedance control mode is higher than that of the first load impedance control mode. The control strength of the control mode is described by designing a first load impedance control factor threshold γ1, a second load impedance control factor threshold γ2, and a third load impedance control factor threshold γ3, wherein 0<γ3<γ2<γ1<1. When the camera perception evaluation index J satisfies γ1≤J<1, the camera electromagnetic active suspension execution unit executes the first load impedance control mode. When the camera perception evaluation index J satisfies γ2≤J<γ1, the camera electromagnetic active suspension execution unit executes the second load impedance control mode. When the camera perception evaluation index J satisfies γ3≤J<γ2, the camera electromagnetic active suspension execution unit executes the third load impedance control mode. When the camera perception evaluation index J satisfies 0≤J<γ3, the camera electromagnetic active suspension execution unit does not execute work.

[0090] When the camera electromagnetic active suspension execution unit executes the first load impedance control mode, the camera electromagnetic active suspension output damping force F1 depends on the internal resistance R C0 of the rotating motor, the load resistance R L1 under the first load impedance control mode, the rotating motor electromotive force constant K E1 under the first load impedance control mode, the torque T M1 generated by the rotating motor under the first load impedance control mode, the rotating motor speed n M1 , the rated speed N0 of the rotating motor, the relative speed v1 between the spring and the spring under the first load impedance control mode, and the external loop current I E1The parameters include: ball screw lead L0, rotary motor influence coefficient β1 under first-level load impedance control mode, and ball screw influence coefficient β2 under first-level load impedance control mode. An evaluation factor η1 for first-level load impedance control is designed to evaluate the degree of camera-based electromagnetic active suspension control under first-level load impedance control mode. Its value depends on the execution time T1 of the first-level load impedance control mode and the electromotive force V generated by the rotary motor under first-level load impedance control mode. E1 Design a first-stage load impedance control decision factor λ1 and a first-stage load impedance control re-decision time t1, and λ 1min <λ1<λ 1max , where λ 1min λ is the threshold value under the first-level load impedance control judgment factor. 1max The threshold value of the first-level load impedance control judgment factor is set, and the vehicle is adjusted accordingly based on the value of the first-level load impedance control evaluation factor η1.

[0091] When the camera-type electromagnetic active suspension actuator executes the two-stage load impedance control mode, the output damping force F2 of the camera-type electromagnetic active suspension depends on the internal resistance R of the rotating motor. C0 Load resistance R in two-stage load impedance control mode L2 The electromotive force constant K of the rotating motor under the two-stage load impedance control mode E2 The torque T generated by the rotating motor under the two-stage load impedance control mode M2 Rotary motor speed n under two-stage load impedance control mode M2 Rated speed N0 of the rotating motor; relative speed v2 between the upper and lower springs of the suspension under two-stage load impedance control mode; external circuit current I of the rotating motor under two-stage load impedance control mode. E2 The following parameters are considered: ball screw lead L0, rotary motor influence coefficient β3 under secondary load impedance control mode, and ball screw influence coefficient β4 under secondary load impedance control mode. A secondary load impedance control evaluation factor η2 is designed to evaluate the degree of camera-based electromagnetic active suspension control under secondary load impedance control mode; its value depends on the execution time T2 of the secondary load impedance control mode and the electromotive force V generated by the rotary motor under secondary load impedance control mode. E2 Design a secondary load impedance control decision factor λ2 and a secondary load impedance control re-decision time t2, and λ 2min <λ2<λ 2max , where λ 2min λ is the threshold value under the second-level load impedance control judgment factor. 2max The upper threshold of the secondary load impedance control judgment factor is used, and the vehicle is adjusted accordingly based on the magnitude of the secondary load impedance control evaluation factor η2.

[0092] When the camera-type electromagnetic active suspension actuator executes the three-level load impedance control mode, the output damping force F3 of the camera-type electromagnetic active suspension depends on the internal resistance R of the rotating motor. C0 Load resistance R under three-level load impedance control mode L3 The electromotive force constant K of the rotating motor under the three-level load impedance control mode E3 The torque T generated by the rotating motor under the three-level load impedance control mode M3 Rotary motor speed n under three-level load impedance control mode M3 Rated speed N0 of the rotating motor; relative speed v3 between the upper and lower springs of the suspension under three-level load impedance control mode; external circuit current I of the rotating motor under three-level load impedance control mode. E3 The ball screw lead L0, the influence coefficient β5 of the rotating motor under the three-level load impedance control mode, and the influence coefficient β6 of the ball screw under the three-level load impedance control mode are all considered. A three-level load impedance control evaluation factor η3 is designed to evaluate the degree of camera-based electromagnetic active suspension control under the three-level load impedance control mode. Its value depends on the execution time T3 of the three-level load impedance control mode and the electromotive force V generated by the rotating motor under the three-level load impedance control mode. E3 Design a three-stage load impedance control decision factor λ3 and a three-stage load impedance control re-decision time t3, and λ 3min <λ3<λ 3max , where λ 3min λ is the threshold value under the three-level load impedance control judgment factor. 3max The threshold value of the three-level load impedance control judgment factor is used to adjust the vehicle's rules accordingly based on the magnitude of the three-level load impedance control evaluation factor η3.

[0093] The camera perception evaluation index calculation unit can calculate the target coordinate detection evaluation factor according to the following formula:

[0094]

[0095] Where w1 and w2 are weighting coefficients, n1 is the number of front-facing cameras in the vehicle, n2 is the number of side-facing cameras in the vehicle, n3 is the number of side-facing rear-view cameras in the vehicle, n4 is the number of rear-facing cameras in the vehicle, and K... 00 This is a coordinate transformation evaluation factor, the value of which depends on the coordinates (X, Y, F) of the center of the target object detected by the front-facing camera in the vehicle coordinate system. 01 ,Y 01 Z 01 ), the center coordinates of the target object detected by the side-view camera in the vehicle coordinate system (X) 02 ,Y 02 Z 02 ), the center coordinates of the target object detected by the side rearview camera in the vehicle coordinate system (X)03 ,Y 03 Z 03 ), the center coordinates of the target object detected by the rear camera in the vehicle coordinate system (X) 04 ,Y 04 Z 04 Its expression is as follows:

[0096]

[0097] Among them, w3, w4, w5, and w6 are weighting coefficients, representing the center coordinates (X, Y, F, G) of the target object detected by the front-facing camera in the vehicle coordinate system. 01 ,Y 01 Z 01 The coordinates (X1, Y1, Z1) of the target center detected in the coordinate system of the front camera can be transformed as follows:

[0098]

[0099] Among them, K 1x K is the vertical coordinate transformation coefficient for the front-facing camera. 1y K is the horizontal coordinate transformation coefficient for the front-facing camera. 1z For the vertical coordinate transformation coefficient of the front-facing camera;

[0100] The target center coordinates (X) detected by the side-view camera in the vehicle coordinate system 02 ,Y 02 Z 02 The coordinates of the target object's center (X2, Y2, Z2) can be transformed from the coordinates of the target object's center in the side-view camera coordinate system. The transformation expression is as follows:

[0101]

[0102] Among them, K 2x K is the longitudinal coordinate transformation coefficient for the side-view camera. 2y K is the lateral coordinate transformation coefficient for the side-view camera. 2z For the vertical coordinate transformation coefficient of the side-view camera;

[0103] The side-view camera in the vehicle coordinate system detects the center coordinates (X) of the target object. 03 ,Y 03 Z 03 The coordinates of the target object's center (X3, Y3, Z3) can be transformed from the coordinates of the side-view rear-view camera's center in the coordinate system. The transformation expression is as follows:

[0104]

[0105] Among them, K 3xK is the longitudinal coordinate transformation coefficient for the side-view rearview camera. 3y K is the lateral coordinate transformation coefficient for the side-view rearview camera. 3z For the vertical coordinate transformation coefficient of the side-view rear-view camera;

[0106] The rear camera detects the center coordinates (X) of the target object in the vehicle coordinate system. 04 ,Y 04 Z 04 The coordinates (X4, Y4, Z4) of the target center detected in the rear camera coordinate system can be transformed as follows:

[0107]

[0108] Among them, K 4x K is the vertical coordinate transformation coefficient for the rear camera. 4y K is the horizontal coordinate transformation coefficient for the rear camera. 4z This is the vertical coordinate transformation coefficient for the rear camera.

[0109] The camera perception evaluation index calculation unit can calculate the motion detection distance and color analysis evaluation factor according to the following formula:

[0110]

[0111] Where w7 and w8 are weighting coefficients, K L The comprehensive coefficient for detection range is expressed as follows:

[0112]

[0113] Among them, w9, w 10 w 11 w 12 L is the weighting coefficient. x0max L is the maximum detection distance of the front-facing camera. x0act L represents the actual detection distance of the front-facing camera. y0max L represents the maximum detection range of the side-view camera. y0act L represents the actual detection distance of the side-view camera. y1max L is the maximum detection range of the side-view rearview camera. y1act L represents the actual detection distance of the side-view rearview camera. x1max L is the maximum detection distance of the rear camera. x1act This refers to the actual detection distance of the rear camera;

[0114] K RGB The color conversion coefficient is expressed as follows:

[0115]

[0116] wherein (R 11 ,G 11 ,B 11 ) are the color three primary colors of the target object sensed by the front camera of the human eye, (R 22 ,G 22 ,B 22 ) are the color three primary colors of the target object sensed by the side front camera of the human eye, (R 33 ,G 33 ,B 33 ) are the color three primary colors of the target object sensed by the side rear camera of the human eye, and (R 44 ,G 44 ,B 44 ) are the color three primary colors of the target object sensed by the rear camera of the human eye, the color three primary colors (R 11 ,G 11 ,B 11 ) of the target object sensed by the front camera of the human eye can be obtained according to the following formula:

[0117] (R 11 ,G 11 ,B 11 ) T = Q1(R1, G1, B1) T ,

[0118] wherein (R1, G1, B1) are the color three primary colors of the target object sensed by the front camera, and Q1 is the color conversion matrix of the front camera;

[0119] The color three primary colors (R 22 ,G 22 ,B 22 ) of the target object sensed by the side front camera of the human eye can be obtained according to the following formula:

[0120] (R 22 ,G 22 ,B 22 ) T = Q2(R2, G2, B2) T ,

[0121] wherein (R2, G2, B2) are the color three primary colors of the target object sensed by the side front camera, and Q2 is the color conversion matrix of the side front camera;

[0122] The color three primary colors (R 33 ,G 33 ,B 33 ) of the target object sensed by the side rear camera of the human eye can be obtained according to the following formula:

[0123] (R 33G 33 B 33 ) T =Q3(R3,G3,B3) T ,

[0124] Wherein, (R3,G3,B3) are the three primary colors of the target object sensed by the side rearview camera, and Q3 is the color conversion matrix of the side rearview camera;

[0125] The three primary colors (R, R, C) of the target object detected by the human eye-sensing rear camera can be obtained according to the following formula. 44 G 44 B 44 ):

[0126] (R 44 G 44 B 44 ) T =Q4(R4,G4,B4) T ,

[0127] Wherein, (R4,G4,B4) are the three primary colors of the target object sensed by the rear camera, and Q4 is the color conversion matrix of the rear camera.

[0128] The camera perception evaluation index calculation unit can calculate the road noise detection evaluation factor according to the following formula:

[0129]

[0130] Among them, w 13 w 14 K is the weighting coefficient. l τ is the anti-interference factor for road surface detection, τ is the noise value of the target object detected by the camera, n0 is the number of noise points detected by the camera, and K is the noise level. L0 This is a road condition classification index, the value of which depends on the road surface noise assessment threshold [n]. 00 ,n 01 If n0≤n 00 When it is determined that there is a depression in the road surface, take K. L0 =0.3, if n 00 <n0<n 01 At that time, it was determined that the road surface was relatively flat, and K was selected. L0 =0.55, if n0≥n 01 When it is determined that there is a bump in the road surface, take K. L0 =0.8, K τ Here, τ1 represents the noise detection coefficient, and its value depends on the noise detection threshold [τ1, τ2]. The expression is as follows:

[0131]

[0132] The camera perception evaluation index calculation unit can calculate the camera perception evaluation index according to the following formula:

[0133]

[0134] Wherein, Q1, Q2, Q3 are single index calculation weighted values.

[0135] The camera electromagnetic active suspension control mode selection unit includes a first load impedance control mode, a second load impedance control mode, and a third load impedance control mode. The control strength of the third load impedance control mode is higher than that of the second load impedance control mode, and the control strength of the second load impedance control mode is higher than that of the first load impedance control mode. The control strength of the control mode is described by designing a first load impedance control factor threshold γ1, a second load impedance control factor threshold γ2, and a third load impedance control factor threshold γ3, wherein 0 < γ3 < γ2 < γ1 < 1.

[0136] When the camera perception evaluation index J satisfies γ1≤J<1, the camera electromagnetic active suspension execution unit executes the first load impedance control mode, the camera electromagnetic active suspension actuator is integrated by a rotary motor and a ball screw, and the camera electromagnetic active suspension output damping force expression is as follows:

[0137]

[0138] Wherein, R C0 is the internal resistance of the rotary motor, R L1 is the load resistance under the first load impedance control mode, K E1 is the rotary motor electromotive force constant under the first load impedance control mode, T M1 is the torque generated by the rotary motor under the first load impedance control mode, n M1 is the rotary motor speed under the first load impedance control mode, N0 is the rated speed of the rotary motor, v1 is the relative speed between the suspension spring and the spring under the first load impedance control mode, I E1 is the rotary motor external loop current under the first load impedance control mode, L0 is the lead of the ball screw, β1 is the rotary motor influence coefficient under the first load impedance control mode, and β2 is the ball screw influence coefficient under the first load impedance control mode.

[0139] A first load impedance control evaluation factor η1 is designed to evaluate the degree of camera electromagnetic active suspension control under the first load impedance control mode, and its expression is as follows:

[0140]

[0141] Wherein, T1 is the execution time of the first load impedance control mode, V E1The electromotive force generated by the rotating motor in the first load impedance control mode;

[0142] The first load impedance control judgment factor λ1 and the first load impedance control re-judgment time t1 are designed, and λ 1min <λ1<λ 1max , wherein λ 1min is the lower threshold of the first load impedance control judgment factor, and λ 1max is the upper threshold of the first load impedance control judgment factor. According to the size of the first load impedance control evaluation factor η1, the vehicle is adjusted accordingly, and the adjustment rules are as follows:

[0143] When the first load impedance control evaluation factor satisfies λ1≤η1≤λ 1max , it is judged that the effect of the camera electromagnetic active suspension execution unit executing the first load impedance control mode is good, and the camera electromagnetic active suspension control is still normally executed, and the damping force is still normally output; when the first load impedance control evaluation factor satisfies η1>λ 1max or λ 1min ≤η1<λ1, it is judged that the effect of the camera electromagnetic active suspension execution unit executing the first load impedance control mode is poor, and the camera electromagnetic active suspension control is temporarily normally executed. The control system continues for t1s and then judges again whether η1 satisfies λ1≤η1≤λ 1max . If it is judged again that λ1≤η1≤λ 1max , the camera electromagnetic active suspension control is still normally executed, and the damping force is still normally output. If it is judged again that η1>λ 1max or λ 1min ≤η1<λ1, the control of the camera electromagnetic active suspension and the output of the damping force need to be adjusted again.

[0144] When the camera perception evaluation index J satisfies γ2≤J<γ1, the camera electromagnetic active suspension execution unit executes the second load impedance control mode, the camera electromagnetic active suspension actuator is integrated by a rotating motor and a ball screw, and the camera electromagnetic active suspension output damping force expression is as follows:

[0145]

[0146] wherein R C0 is the internal resistance of the rotating motor, R L2 is the load resistance in the second load impedance control mode, K E2 is the electromotive force constant of the rotating motor in the second load impedance control mode, T M2 is the torque generated by the rotating motor in the second load impedance control mode, and n M2N0 is the rated speed of the rotary motor, v2 is the relative speed between the suspension spring and the unsprung in the secondary load impedance control mode, I E2 N0 is the rated speed of the rotary motor, v2 is the relative speed between the suspension spring and the unsprung in the secondary load impedance control mode, I

[0147] N0 is the rated speed of the rotary motor, v2 is the relative speed between the suspension spring and the unsprung in the secondary load impedance control mode, I

[0148]

[0149] T2 is the execution time of the secondary load impedance control mode, V E2 is the electromotive force generated by the rotary motor in the secondary load impedance control mode;

[0150] 2min <λ2<λ 2max , λ 2min is the lower threshold of the secondary load impedance control judgment factor, λ 2max is the upper threshold of the secondary load impedance control judgment factor, and the vehicle is adjusted according to the size of the secondary load impedance control evaluation factor η2, and the adjustment rule is as follows:

[0151] When the secondary load impedance control evaluation factor satisfies λ2≤η2≤λ 2max , it is judged that the camera electromagnetic active suspension execution unit executes the secondary load impedance control mode well, and the camera electromagnetic active suspension control is still normally executed, and the damping force is still normally output; when the secondary load impedance control evaluation factor satisfies η2>λ 2max or λ 2min ≤η2<λ2, it is judged that the camera electromagnetic active suspension execution unit executes the secondary load impedance control mode poorly, and the camera electromagnetic active suspension control is temporarily normally executed, and the control system continues to judge whether η2 satisfies λ2≤η2≤λ 2max after t2 s, if it is judged again that λ2≤η2≤λ 2max , the camera electromagnetic active suspension control is still normally executed, and the damping force is still normally output, if it is judged again that η2>λ 2max or λ 2min ≤η2<λ2, the control of the camera electromagnetic active suspension and the output of the damping force need to be adjusted again.

[0152] ​When the camera perception evaluation index J satisfies γ3≤J<γ2, the camera electromagnetic active suspension execution unit executes a three-level load impedance control mode, the camera electromagnetic active suspension actuator is integrated by a rotary motor and a ball screw, and the camera electromagnetic active suspension output damping force expression is as follows:

[0153]

[0154] Wherein, R C0 is the internal resistance of the rotary motor, R L3 is the load resistance in the three-level load impedance control mode, K E3 is the electromotive force constant of the rotary motor in the three-level load impedance control mode, T M3 is the torque generated by the rotary motor in the three-level load impedance control mode, n M3 is the rotary motor speed in the three-level load impedance control mode, N0 is the rated speed of the rotary motor, v3 is the relative speed between the suspension spring and the spring in the three-level load impedance control mode, I E3 is the external loop current of the rotary motor in the three-level load impedance control mode, L0 is the lead of the ball screw, β5 is the rotary motor influence coefficient in the three-level load impedance control mode, and β6 is the ball screw influence coefficient in the three-level load impedance control mode.

[0155] A three-level load impedance control evaluation factor η3 is designed to evaluate the degree of camera electromagnetic active suspension control in the three-level load impedance control mode, and its expression is as follows:

[0156]

[0157] Wherein, T3 is the execution time of the three-level load impedance control mode, V E3 is the electromotive force generated by the rotary motor in the three-level load impedance control mode.

[0158] A three-level load impedance control judgment factor λ3 and a three-level load impedance control re-judgment time t3 are designed, and λ 3min <λ3<λ 3max , wherein λ 3min is the lower threshold of the three-level load impedance control judgment factor, and λ 3max is the upper threshold of the three-level load impedance control judgment factor. According to the size of the three-level load impedance control evaluation factor η3, the vehicle is adjusted accordingly, and the adjustment rules are as follows:

[0159] When the three-level load impedance control evaluation factor satisfies λ3≤η3≤λ 3max , it is judged that the effect of the camera electromagnetic active suspension execution unit executing the three-level load impedance control mode is good, the camera electromagnetic active suspension control is still normally executed, and the damping force is still normally output; when the three-level load impedance control evaluation factor satisfies η3>λ3max or λ 3min ≤η3<λ3, it is judged that the camera type electromagnetic active suspension execution unit executes the third level load impedance control mode with poor effect, the camera type electromagnetic active suspension control is temporarily normally executed, and whether η3 satisfies λ3≤η3≤λ3 is judged again after the control system continues for t3 s 3max , if λ3≤η3≤λ3 is judged again 3max , the camera type electromagnetic active suspension control is still normally executed, and the damping force is still normally output, if η3>λ3 or λ3≤η3<λ3 is judged again 3max or λ 3min ≤η3<λ3, it is necessary to re-adjust the control of the camera type electromagnetic active suspension and the output of the damping force.

[0160] When the camera sensing evaluation index J satisfies 0≤J<γ3, the camera type electromagnetic active suspension execution unit does not execute work.

Claims

1. A camera-based electromagnetic active suspension control system, characterized by, Includes the following: It includes a driving information detection unit, a camera perception evaluation index calculation unit, a camera-type electromagnetic active suspension control mode selection unit, and a camera-type electromagnetic active suspension execution unit. The driving information detection unit is used to obtain the number of noise points detected by the camera n0, the execution time T1 of the first-level load impedance control mode, the execution time T2 of the second-level load impedance control mode, and the execution time T3 of the third-level load impedance control mode. The camera perception evaluation index calculation unit is used to calculate the target coordinate detection evaluation factor J1, motion detection distance and color analysis evaluation factor J2, and road noise detection evaluation factor J3, thereby obtaining the camera perception evaluation index J. The target coordinate detection evaluation factor J1 depends on the number of front cameras n1, the number of side front-view cameras n2, the number of side rear-view cameras n3, the number of rear cameras n4, and the coordinate transformation evaluation factor K. 00 Among them, the coordinate transformation evaluation factor K 00 Depending on the coordinates (X, Y) of the target center detected by the front-facing camera in the vehicle coordinate system. 01 ,Y 01 Z 01 ), the center coordinates of the target object detected by the side-view camera in the vehicle coordinate system (X) 02 ,Y 02 Z 02 ), the center coordinates of the target object detected by the side rearview camera in the vehicle coordinate system (X) 03 ,Y 03 Z 03 ), the center coordinates of the target object detected by the rear camera in the vehicle coordinate system (X) 04 ,Y 04 Z 04 The motion detection distance and color analysis evaluation factor J2 depend on the comprehensive coefficient K of the detection distance. L Color conversion coefficient K RGB Among them, the comprehensive coefficient of detection distance K L Depends on the maximum detection distance L of the front-facing camera x0max The actual detection distance L of the front-facing camera x0act The maximum detection range L of the side-view camera y0max The actual detection distance L of the side-view camera y0act The maximum detection range L of the side rearview camera y1max The actual detection distance L of the side rearview camera y1act The maximum detection distance L of the rear camera x1max The actual detection distance L of the rear camera x1act Color conversion coefficient K RGB The color of the target object detected by the front-facing camera depends on the human eye's perception. 11 G 11 B 11 ), the human eye-sensing side-view camera detects the three primary colors of the target object (R). 22 G 22 B 22 The human eye-sensing side-view rearview camera detects the three primary colors of the target object (R). 33 G 33 ,B 33 ), the color three primary colors (R 44 ,G 44 ,B 44 ) of the target object detected by the human eye after the rear camera; the road noise point detection evaluation factor J3 depends on the road detection anti-interference factor K l , the noise point value τ of the camera detecting the target object, the number n0 of camera detection noise points, the road condition classification index K L0 , the noise point detection coefficient K τ ; The camera-based electromagnetic active suspension control mode selection unit includes a first-level load impedance control mode, a second-level load impedance control mode, and a third-level load impedance control mode. The control strength of the third-level load impedance control mode is higher than that of the second-level load impedance control mode, and the control strength of the second-level load impedance control mode is higher than that of the first-level load impedance control mode. The control strength of the control mode is described by designing a first-level load impedance control factor threshold γ1, a second-level load impedance control factor threshold γ2, and a third-level load impedance control factor threshold γ3, where 0 < γ3 < γ2 < γ1 < 1. When the camera perception evaluation index J satisfies γ1 ≤ J < 1, the camera-based electromagnetic active suspension execution unit executes the first-level load impedance control mode; when the camera perception evaluation index J satisfies γ2 ≤ J < γ1, the camera-based electromagnetic active suspension execution unit executes the second-level load impedance control mode; when the camera perception evaluation index J satisfies γ3 ≤ J < γ2, the camera-based electromagnetic active suspension execution unit executes the third-level load impedance control mode; and when the camera perception evaluation index J satisfies 0 ≤ J < γ3, the camera-based electromagnetic active suspension execution unit does not perform any operation. The value of the output damping force F1 of the camera electromagnetic active suspension depends on the internal resistance R of the rotating motor when the camera electromagnetic active suspension executes the primary load impedance control mode C0 The load resistance R in the primary load impedance control mode L1 The rotating motor electromotive force constant K in the primary load impedance control mode E1 The torque T generated by the rotating motor in the primary load impedance control mode M1 The rotating motor speed n in the primary load impedance control mode M1 The rotating motor rated speed N0, the relative speed v1 between the suspension spring and the spring in the primary load impedance control mode, and the rotating motor external loop current I in the primary load impedance control mode E1 The ball screw lead L0, the rotating motor influence coefficient β1 in the primary load impedance control mode, the ball screw influence coefficient β2 in the primary load impedance control mode; the primary load impedance control evaluation factor η1 is designed to evaluate the degree of camera electromagnetic active suspension control in the primary load impedance control mode, and the value depends on the execution time T1 of the primary load impedance control mode, the rotating motor generated electromotive force V in the primary load impedance control mode E1 The primary load impedance control judgment factor λ1 and the primary load impedance control re-judgment time t1 are designed, and λ 1min <λ1<λ 1max , wherein λ 1min is the lower threshold of the primary load impedance control judgment factor, λ 1max is the upper threshold of the primary load impedance control judgment factor, and the vehicle is adjusted according to the size of the primary load impedance control evaluation factor η1 The value of the output damping force F2 of the camera electromagnetic active suspension depends on the internal resistance R of the rotating motor when the camera electromagnetic active suspension executes the secondary load impedance control mode C0 The load resistance R in the secondary load impedance control mode L2 The rotating motor electromotive force constant K in the secondary load impedance control mode E2 The torque T generated by the rotating motor in the secondary load impedance control mode M2 The rotating motor speed n in the secondary load impedance control mode M2 The rotating motor rated speed N0, the relative speed v2 between the suspension spring and the spring in the secondary load impedance control mode, and the rotating motor external loop current I in the secondary load impedance control mode E2 The ball screw lead L0, the rotating motor influence coefficient β3 in the secondary load impedance control mode, the ball screw influence coefficient β4 in the secondary load impedance control mode; the secondary load impedance control evaluation factor η2 is designed to evaluate the degree of camera electromagnetic active suspension control in the secondary load impedance control mode, and the value depends on the execution time T2 of the secondary load impedance control mode, the rotating motor electromotive force V generated in the secondary load impedance control mode E2 The secondary load impedance control judgment factor λ2 and the secondary load impedance control re-judgment time t2 are designed, and λ 2min < λ2 < λ 2max , wherein λ 2min is the lower threshold of the secondary load impedance control judgment factor, λ 2max is the upper threshold of the secondary load impedance control judgment factor, and the vehicle is adjusted according to the size of the secondary load impedance control evaluation factor η2 The value of the output damping force F3 of the camera electromagnetic active suspension depends on the internal resistance R of the rotating motor when the camera electromagnetic active suspension executes the three-stage load impedance control mode C0 The load resistance R in the three-stage load impedance control mode L3 The rotating motor electromotive force constant K in the three-stage load impedance control mode E3 The torque T generated by the rotating motor in the three-stage load impedance control mode M3 The rotating motor speed n in the three-stage load impedance control mode M3 The rotating motor rated speed N0, the relative speed v3 between the suspension spring and the spring in the three-stage load impedance control mode, and the rotating motor external loop current I in the three-stage load impedance control mode E3 The ball screw lead L0, the rotating motor influence coefficient β5 in the three-stage load impedance control mode, and the ball screw influence coefficient β6 in the three-stage load impedance control mode; a three-stage load impedance control evaluation factor η3 is designed to evaluate the degree of control of the camera electromagnetic active suspension in the three-stage load impedance control mode, and the value depends on the execution time T3 of the three-stage load impedance control mode, the rotating motor electromotive force V generated in the three-stage load impedance control mode E3 A three-stage load impedance control judgment factor λ3 and a three-stage load impedance control re-judgment time t3 are designed, and λ 3min < λ3 < λ 3max , where λ 3min is the lower threshold of the three-stage load impedance control judgment factor, λ 3max is the upper threshold of the three-stage load impedance control judgment factor, and the vehicle is adjusted according to the size of the three-stage load impedance control evaluation factor η3.

2. The camera-based electromagnetic active suspension control system according to claim 1, wherein: The camera perception evaluation index calculation unit can calculate the target coordinate detection evaluation factor according to the following formula: wherein w1, w2 are weighting coefficients, n1 is the number of front-facing cameras mounted on the whole vehicle, n2 is the number of side-view front-facing cameras mounted on the whole vehicle, n3 is the number of side-view rear-facing cameras mounted on the whole vehicle, n4 is the number of rear-facing cameras mounted on the whole vehicle, K 00 is a coordinate conversion evaluation factor, the value of which depends on the target object center coordinates (X 01 , Y 01 , Z 01 ) detected by the front-facing camera in the vehicle coordinate system, the target object center coordinates (X 02 , Y 02 , Z 02 ) detected by the side-view front-facing camera in the vehicle coordinate system, the target object center coordinates (X 03 , Y 03 , Z 03 ) detected by the side-view rear-facing camera in the vehicle coordinate system, and the target object center coordinates (X 04 , Y 04 , Z 04 ) detected by the rear-facing camera in the vehicle coordinate system, and its expression is as follows: Wherein, w3, w4, w5, w6 are weighting coefficients, the front camera detected target center coordinates (X 01 ,Y 01 ,Z 01 ) in the vehicle coordinate system can be converted from the front camera detected target center coordinates (X1, Y1, Z1) in the front camera coordinate system, and the conversion expression is as follows: wherein K 1x is a front camera longitudinal coordinate conversion coefficient, K 1y is a front camera transverse coordinate conversion coefficient, K 1z is a front camera vertical coordinate conversion coefficient; The side-view camera in the vehicle coordinate system detects the center coordinates (X) of the target object. 02 ,Y 02 Z 02 The coordinates (X2, Y2, Z2) of the target object's center can be transformed from the coordinates of the side-view camera's center in the coordinate system. The transformation expression is as follows: wherein K 2x is a longitudinal coordinate conversion coefficient of the side-view front camera, K 2y is a lateral coordinate conversion coefficient of the side-view front camera, K 2z is a vertical coordinate conversion coefficient of the side-view front camera; The side-view camera in the vehicle coordinate system detects the center coordinates (X) of the target object. 03 ,Y 03 Z 03 The coordinates of the target object's center (X3, Y3, Z3) can be transformed from the coordinates of the side-view rear-view camera's center in the coordinate system. The transformation expression is as follows: wherein K 3x is a lateral rear-view camera longitudinal coordinate conversion coefficient, K 3y is a lateral rear-view camera lateral coordinate conversion coefficient, K 3z is a lateral rear-view camera vertical coordinate conversion coefficient; The target object center coordinate (X 04 ,Y 04 ,Z 04 ) in the vehicle coordinate system can be converted from the target object center coordinate (X4, Y4, Z4) in the rear camera coordinate system, and the conversion expression is as follows: wherein K 4x is a rear camera longitudinal coordinate conversion coefficient, K 4y is a rear camera lateral coordinate conversion coefficient, K 4z is a rear camera vertical coordinate conversion coefficient.

3. The camera-based electromagnetic active suspension control system of claim 1, wherein: The camera perception evaluation index calculation unit can calculate the motion detection distance and color analysis evaluation factor according to the following formula: wherein w7, w8 are weighting coefficients, K L is the detection range integration coefficient, whose expression is: wherein w9, w 10 , w 11 , w 12 are weighting coefficients, L x0max is the maximum detection distance of the front camera, L x0act is the actual detection distance of the front camera, L y0max is the maximum detection distance of the side front camera, L y0act is the actual detection distance of the side front camera, L y1max is the maximum detection distance of the side rear camera, L y1act is the actual detection distance of the side rear camera, L x1max is the maximum detection distance of the rear camera, L x1act is the actual detection distance of the rear camera; K RGB is a color conversion synthesis coefficient, the expression of which is: wherein (R 11 ,G 11 ,B 11 ) are the color three primary colors of the front camera for detecting the target object by the human eye, (R 22 ,G 22 ,B 22 ) are the color three primary colors of the side front camera for detecting the target object by the human eye, (R 33 ,G 33 ,B 33 ) are the color three primary colors of the side rear camera for detecting the target object by the human eye, and (R 44 ,G 44 ,B 44 ) are the color three primary colors of the rear camera for detecting the target object by the human eye, and the color three primary colors (R 11 ,G 11 ,B 11 ) of the front camera for detecting the target object by the human eye can be obtained according to the following formula: (R 11 ,G 11 ,B 11 ) T =Q1(R1,G1,B1) T , Wherein, (R1,G1,B1) are the three primary colors of the target object sensed by the front camera, and Q1 is the color conversion matrix of the front camera; The color three primary colors (R, G, B) of the target object detected by the human eye can be obtained according to the following formula: 22 , 22 , 22 ) = (R, G, B) * (0.299, 0.587, 0.114) (R 22 ,G 22 ,B 22 ) T = Q2(R2, G2, B2) T , Wherein, (R2,G2,B2) are the three primary colors of the target object sensed by the side-view camera, and Q2 is the color conversion matrix of the side-view camera; The color three primary colors (R, G, B) of the target object detected by the human eye from the side rear view camera can be obtained according to the following formula: 33 , 33 , 33 ) = (R, G, B) * (0.299, 0.587, 0.114) (R 33 ,G 33 ,B 33 ) T = Q3(R3, G3, B3) T , Wherein, (R3,G3,B3) are the three primary colors of the target object sensed by the side rearview camera, and Q3 is the color conversion matrix of the side rearview camera; According to the following formula, the color three primary colors (R 44 ,G 44 ,B 44 ) of the target object detected by the human eye after the rear camera can be obtained: (R 44 ,G 44 ,B 44 ) T = Q4(R4, G4, B4) T , Wherein, (R4,G4,B4) are the three primary colors of the target object sensed by the rear camera, and Q4 is the color conversion matrix of the rear camera.

4. The camera-based electromagnetic active suspension control system of claim 1, wherein: The camera perception evaluation index calculation unit can calculate the road noise detection evaluation factor according to the following formula: wherein w 13 , w 14 are weighting coefficients, K l is a road surface detection anti-interference factor, τ is a noise value of a camera detecting a target object, n0 is a number of noise points of the camera detection, K L0 is a road condition classification index, the value of which depends on road noise point evaluation thresholds [n 00 , n 01 ], if n0≤n 00 , it is judged that the road surface has a depression, K L0 =0.3 is taken, if n 00 <n0<n 01 , it is judged that the road surface is relatively flat, K L0 =0.55 is taken, if n0≥n 01 , it is judged that the road surface has a protrusion, K L0 =0.8 is taken, and K τ is a noise point detection coefficient, the value of which depends on a detection noise point judgment threshold [τ1,τ2], and the expression is as follows:

5. The camera-based electromagnetic active suspension control system of claim 1, wherein: The camera perception evaluation index calculation unit can calculate the camera perception evaluation index according to the following formula: Among them, Q1, Q2, and Q3 are the weighted values ​​calculated for individual indicators.

6. The camera-based electromagnetic active suspension control system of claim 1, wherein: The camera electromagnetic active suspension control mode selection unit comprises a first load impedance control mode, a second load impedance control mode and a third load impedance control mode, the control strength of the third load impedance control mode is higher than that of the second load impedance control mode, the control strength of the second load impedance control mode is higher than that of the first load impedance control mode, the control strength of the control mode is described by designing a first load impedance control factor threshold γ1, a second load impedance control factor threshold γ2 and a third load impedance control factor threshold γ3, wherein 0<γ3<γ2<γ1<1.

7. The camera-based electromagnetic active suspension control system of claim 1, wherein: When the camera perception evaluation index J satisfies γ1≤J<1, the camera electromagnetic active suspension executing unit executes the first load impedance control mode, the camera electromagnetic active suspension actuator is integrated by a rotary motor and a ball screw, and the camera electromagnetic active suspension output damping force expression is as follows: wherein R C0 is the internal resistance of the rotating electric machine, R L1 is the load resistance in the primary load impedance control mode, K E1 is the electromotive force constant of the rotating electric machine in the primary load impedance control mode, T M1 is the torque generated by the rotating electric machine in the primary load impedance control mode, n M1 is the rotating speed of the rotating electric machine in the primary load impedance control mode, N0 is the rated rotating speed of the rotating electric machine, v1 is the relative speed between the suspension spring and the unsprung in the primary load impedance control mode, I E1 is the external circuit current of the rotating electric machine in the primary load impedance control mode, L0 is the lead of the ball screw, β1 is the influence coefficient of the rotating electric machine in the primary load impedance control mode, and β2 is the influence coefficient of the ball screw in the primary load impedance control mode. A first load impedance control evaluation factor η1 is designed to evaluate the degree of camera electromagnetic active suspension control in the first load impedance control mode, and its expression is as follows: wherein T1 is the execution time of the first load impedance control mode, V E1 is the electromotive force generated by the rotating electric machine in the first load impedance control mode. The first level load impedance control judgment factor λ1 and the first level load impedance control re-judgment time t1 are designed, and λ 1min λ1 < λ 1max wherein λ 1min is a first level load impedance control judgment factor lower threshold value, λ 1max is a first level load impedance control judgment factor upper threshold value, and the vehicle is adjusted according to the size of the first level load impedance control evaluation factor η1, and the adjustment rule is as follows: When the first level load impedance control evaluation factor satisfies λ1≤η1≤λ 1max , it is determined that the camera-type electromagnetic active suspension execution unit executes the first level load impedance control mode well, and the camera-type electromagnetic active suspension control is still normally executed, and the damping force is still normally output. When the first level load impedance control evaluation factor satisfies η1>λ 1max or λ 1min ≤η1<λ1, it is determined that the camera-type electromagnetic active suspension execution unit executes the first level load impedance control mode poorly, and the camera-type electromagnetic active suspension control is temporarily normally executed. The control system continues to judge whether η1satisfies λ1≤η1≤λ 1max after t1s, if it is judged again that λ1≤η1≤λ 1max , the camera-type electromagnetic active suspension control is still normally executed, and the damping force is still normally output. If it is judged again that η1>λ 1max or λ 1min ≤η1<λ1, the camera-type electromagnetic active suspension control and the damping force output need to be adjusted again.

8. The camera-based electromagnetic active suspension control system of claim 1, wherein: When the camera perception evaluation index J satisfies γ2≤J<γ1, the camera electromagnetic active suspension executing unit executes the second load impedance control mode, the camera electromagnetic active suspension actuator is integrated by a rotary motor and a ball screw, and the camera electromagnetic active suspension output damping force expression is as follows: wherein R C0 is the internal resistance of the rotating electrical machine, R L2 is the load resistance in the secondary load impedance control mode, K E2 is the electromotive force constant of the rotating electrical machine in the secondary load impedance control mode, T M2 is the torque generated by the rotating electrical machine in the secondary load impedance control mode, n M2 is the rotational speed of the rotating electrical machine in the secondary load impedance control mode, N0is the rated rotational speed of the rotating electrical machine, v2is the relative speed between the suspension spring and the unsprung in the secondary load impedance control mode, I E2 is the external circuit current of the rotating electrical machine in the secondary load impedance control mode, L0is the lead of the ball screw, β3is the influence coefficient of the rotating electrical machine in the secondary load impedance control mode, and β4is the influence coefficient of the ball screw in the secondary load impedance control mode. A second load impedance control evaluation factor η2 is designed to evaluate the degree of camera electromagnetic active suspension control in the second load impedance control mode, and its expression is as follows: wherein T2 is the execution time of the secondary load impedance control mode, V E2 is the electromotive force generated by the rotating electric machine in the secondary load impedance control mode. The secondary load impedance control judgment factor λ2 and the secondary load impedance control re-judgment time t2 are designed, and λ 2min λ2 < λ 2max wherein λ 2min is a lower threshold of the secondary load impedance control judgment factor, λ 2max is an upper threshold of the secondary load impedance control judgment factor, and the vehicle is adjusted according to the size of the secondary load impedance control evaluation factor η2, and the adjustment rule is as follows: When the secondary load impedance control evaluation factor satisfies λ2≤η2≤λ 2max , it is determined that the camera-type electromagnetic active suspension execution unit executes the secondary load impedance control mode well, and the camera-type electromagnetic active suspension control is still normally executed, and the damping force is still normally output. When the secondary load impedance control evaluation factor satisfies η2>λ 2max or λ 2min ≤η2<λ2, it is determined that the camera-type electromagnetic active suspension execution unit executes the secondary load impedance control mode poorly, and the camera-type electromagnetic active suspension control is temporarily normally executed. The control system continues to judge whether η2satisfies λ2≤η2≤λ 2max after t2 s, if it is judged again that λ2≤η2≤λ 2max , the camera-type electromagnetic active suspension control is still normally executed, and the damping force is still normally output. If it is judged again that η2>λ 2max or λ 2min ≤η2<λ2, the camera-type electromagnetic active suspension control and the damping force output need to be adjusted again.

9. The camera-based electromagnetic active suspension control system of claim 1, wherein: When the camera perception evaluation index J satisfies γ3≤J<γ2, the camera electromagnetic active suspension executing unit executes the third load impedance control mode, the camera electromagnetic active suspension actuator is integrated by a rotary motor and a ball screw, and the camera electromagnetic active suspension output damping force expression is as follows: wherein R C0 is the internal resistance of the rotating electrical machine, R L3 is the load resistance in the three-stage load impedance control mode, K E3 is the electromotive force constant of the rotating electrical machine in the three-stage load impedance control mode, T M3 is the torque generated by the rotating electrical machine in the three-stage load impedance control mode, n M3 is the rotating speed of the rotating electrical machine in the three-stage load impedance control mode, N0 is the rated rotating speed of the rotating electrical machine, v3 is the relative speed between the suspension spring and the unsprung in the three-stage load impedance control mode, I E3 is the external circuit current of the rotating electrical machine in the three-stage load impedance control mode, L0 is the lead of the ball screw, β5 is the influence coefficient of the rotating electrical machine in the three-stage load impedance control mode, and β6 is the influence coefficient of the ball screw in the three-stage load impedance control mode. A third load impedance control evaluation factor η3 is designed to evaluate the degree of camera electromagnetic active suspension control in the third load impedance control mode, and its expression is as follows: wherein T3 is the execution time of the tertiary load impedance control mode, V E3 is the induced voltage of the rotating electrical machine in the tertiary load impedance control mode. The third level load impedance control judgment factor λ3 and the third level load impedance control re-judgment time t3 are designed, and λ 3min λ3 < λ 3max wherein λ 3min is the lower threshold of the third level load impedance control judgment factor, λ 3max is the upper threshold of the third level load impedance control judgment factor, and the vehicle is adjusted according to the size of the third level load impedance control evaluation factor η3, and the adjustment rule is as follows: When the three-stage load impedance control evaluation factor satisfies λ3≤η3≤λ 3max , it is determined that the camera-type electromagnetic active suspension execution unit executes the three-stage load impedance control mode well, and the camera-type electromagnetic active suspension control is still normally executed, and the damping force is still normally output. When the three-stage load impedance control evaluation factor satisfies η3> λ 3max or λ 3min ≤η3< λ3, it is determined that the camera-type electromagnetic active suspension execution unit executes the three-stage load impedance control mode poorly, and the camera-type electromagnetic active suspension control is temporarily normally executed. The control system continues to judge whether η3 satisfies λ3≤η3≤λ 3max after t3s, if it is judged again that λ3≤η3≤λ 3max , the camera-type electromagnetic active suspension control is still normally executed, and the damping force is still normally output. If it is judged again that η3> λ 3max or λ 3min ≤η3< λ3, the camera-type electromagnetic active suspension control and the damping force output need to be adjusted again.

10. The camera-based electromagnetic active suspension control system of claim 1, wherein: When the camera perception evaluation index J satisfies 0≤J<γ3, the camera electromagnetic active suspension executing unit does not execute work.

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