A commercial vehicle chassis height self-adaptive method, storage medium and device

Abstract

The application discloses a commercial vehicle chassis height self-adaptive method, a storage medium and a device, relates to the technical field of vehicles, and the method comprises the following steps: calculating a minimum chassis ground clearance based on obtained front chassis ground clearance and rear chassis ground clearance, a vehicle wheelbase and a chassis accessory height; calculating an obstacle height in front of a vehicle driving direction based on obtained obstacle images in front of the vehicle driving direction and a distance between the vehicle and the obstacle; and adjusting a vehicle air suspension system according to the calculated obstacle height and the minimum chassis ground clearance, so as to realize the adjustment of the vehicle chassis height. The application can accurately control the chassis height based on the vehicle operation environment, and realize the automatic dynamic adjustment of the vehicle chassis.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and specifically to a method, storage medium, and device for adaptive chassis height of commercial vehicles. Background Technology

[0002] Currently, commercial vehicles used for cargo transport typically employ either leaf spring suspension or air suspension. Vehicles with leaf spring suspension lack the ability to adjust chassis height, while vehicles with air suspension require manual adjustment of chassis height, and this adjustment is limited to the rear chassis.

[0003] It is evident that existing commercial cargo vehicles cannot adjust the chassis height or can only partially adjust it, and require manual operation. They cannot adaptively adjust and have poor adaptability to working conditions. Summary of the Invention

[0004] In view of the deficiencies in the existing technology, the purpose of this invention is to provide a method, storage medium and device for adaptive chassis height of commercial vehicles, which can accurately control the chassis height based on the vehicle operating environment and realize the automatic dynamic adjustment of the vehicle chassis.

[0005] To achieve the above objectives, the present invention provides a method for adaptive chassis height of commercial vehicles, specifically including the following steps:

[0006] Based on the obtained ground clearance of the front and rear of the chassis, as well as the vehicle wheelbase and chassis accessory height, the minimum ground clearance of the chassis is calculated.

[0007] Based on the acquired image of obstacles in front of the vehicle's direction of travel and the distance between the vehicle and the obstacles, the height of the obstacles in front of the vehicle's direction of travel is calculated.

[0008] Based on the calculated obstacle height and minimum ground clearance of the chassis, the vehicle's air suspension system is adjusted to achieve the adjustment of the vehicle's chassis height.

[0009] Based on the above technical solution, the minimum ground clearance of the chassis is calculated based on the obtained ground clearance of the front and rear of the chassis, as well as the vehicle wheelbase and chassis accessory height. The specific steps include:

[0010] The ground clearance of the front and rear of the chassis is detected, and the height difference between the front and rear of the chassis is calculated.

[0011] The vehicle's tilt angle is calculated based on the height difference between the front and rear of the chassis and the wheelbase of the vehicle.

[0012] Based on the calculated vehicle tilt angle and the height of the accessories on the chassis, the minimum ground clearance of the chassis is calculated.

[0013] Based on the above technical solution, the step of calculating the height of the obstacle in front of the vehicle's direction of travel based on the acquired image of the obstacle in front of the vehicle's direction of travel and the distance between the vehicle and the obstacle includes the following specific steps:

[0014] The vehicle detects obstacles ahead in the direction of travel according to the calibrated time step, obtains images of the obstacles ahead based on the image sensor, and measures the distance between the vehicle and the obstacles ahead based on radar.

[0015] Calculate the pixel height of the obstacle in the obstacle image, and based on the ratio between the image pixel height and the actual height, as well as the distance between the vehicle and the obstacle in front, calculate the actual height of the obstacle;

[0016] The actual height of obstacles within a preset range in front of the vehicle's direction of travel is calculated multiple times, and the maximum value is taken as the height of the obstacle in front of the vehicle's direction of travel.

[0017] Based on the above technical solution, the vehicle air suspension system is adjusted according to the calculated obstacle height and minimum ground clearance of the chassis to achieve chassis height adjustment. Specifically, when the vehicle is in a forward-moving state, the chassis height adjustment steps include:

[0018] Determine whether the height of an obstacle in front of the vehicle in the direction of travel is higher than the minimum ground clearance of the chassis:

[0019] If so, the current vehicle speed is obtained, and the vehicle is braked based on the current vehicle speed. When the vehicle speed drops to the set speed, the chassis lift height is obtained by searching the height database based on the height difference between the obstacle height and the minimum ground clearance of the chassis. The lift command is then sent to the front and rear air suspension systems of the vehicle to lift the chassis to the target height.

[0020] If not, no action will be taken.

[0021] Based on the above technical solution, the specific steps of obtaining the vehicle's current speed and performing braking control based on the vehicle's current speed include:

[0022] Obtain the vehicle's current speed and perform a speed determination:

[0023] If the vehicle's current speed is greater than the set speed, a warning signal is sent to the instrument panel, which provides an audible and visual warning and sends a speed reduction command to the braking system, illuminating the brake lights to control the vehicle's braking until the vehicle speed drops to the set speed, and then the chassis height is adjusted.

[0024] If the vehicle's current speed is not greater than the set speed, the chassis height will be adjusted directly.

[0025] Based on the above technical solution, when the vehicle is in a forward-moving state, after raising the chassis to the target height, the following steps are included:

[0026] Continue to determine whether the height of the obstacle in front of the vehicle's direction of travel is higher than the minimum ground clearance of the chassis:

[0027] If so, based on the height difference between the obstacle height and the minimum ground clearance of the chassis, the height database is searched to obtain the chassis lift height, and a lift command is sent to the front and rear air suspension systems of the vehicle to lift the chassis to the target height;

[0028] If not, a lowering command is sent to the vehicle's front and rear air suspension systems to lower the chassis to the default height.

[0029] Based on the above technical solution, when the vehicle is in a forward-moving state, it also includes:

[0030] Based on map information, as well as the vehicle's positioning and speed signals, if the road within a set distance ahead of the vehicle is in good condition and the vehicle's speed change value within the historical statistical time is less than the set value, a lowering command is sent to the vehicle's front and rear air suspension systems to lower the chassis to the set height.

[0031] When the chassis is lowered to the specified height, if the brake pedal is depressed, if a traffic jam is detected ahead based on map information and the starting point of the congestion is less than the specified distance, or if an obstacle is detected in the lane where the vehicle ahead is traveling, the chassis will be restored to the default height.

[0032] Based on the above technical solution, the vehicle air suspension system is adjusted according to the calculated obstacle height and minimum ground clearance of the chassis to achieve chassis height adjustment. Specifically, when the vehicle is in reverse, the chassis height adjustment steps include:

[0033] When the height difference between the chassis height and the height of the obstacle in front of the vehicle in the direction of travel is less than the lower limit of the set height range, the height database is searched to obtain the chassis lifting height, a lifting command is sent to the front and rear air suspension systems of the vehicle to lift the chassis height, and the chassis is restored to the default height when the vehicle is shifted to forward gear.

[0034] When the height difference between the chassis height and the height of the obstacle in front of the vehicle's direction of travel is greater than the upper limit of the set height range, the height database is searched to obtain the chassis lowering height, a lowering command is sent to the front and rear air suspension systems of the vehicle to lower the chassis height, and the chassis is restored to the default height when the vehicle is shifted into a forward gear.

[0035] When the height difference between the chassis height and the height of the obstacle in front of the vehicle's direction of travel is within the set height range, the current chassis height is maintained, and the chassis is restored to the default height when the vehicle is shifted into forward gear.

[0036] The present invention provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the commercial vehicle chassis height adaptive method described above.

[0037] The present invention provides a commercial vehicle chassis height adaptive device, comprising:

[0038] The front height detection unit is located at the front of the vehicle and is used to obtain the ground clearance of the front of the chassis and to obtain images of obstacles in front of the vehicle. Based on the images of obstacles in front of the vehicle and the distance between the vehicle and the obstacles, the height of the obstacles in front of the vehicle is calculated.

[0039] The rear height detection unit is located at the rear of the vehicle. It is used to obtain the ground clearance of the rear of the chassis and to obtain images of obstacles behind the vehicle. Based on the images of obstacles behind the vehicle and the distance between the vehicle and the obstacles, the height of the obstacles behind the vehicle is calculated.

[0040] The height adaptive control unit is used to calculate the minimum ground clearance of the chassis based on the ground clearance of the front and rear of the chassis, as well as the vehicle wheelbase and chassis accessory height. It also adjusts the vehicle's air suspension system based on the minimum ground clearance of the chassis and the height of obstacles in front of the vehicle's direction of travel, thereby adjusting the vehicle's chassis height.

[0041] Compared with the prior art, the advantages of the present invention are as follows: the minimum ground clearance of the chassis is calculated based on the acquired ground clearance of the front and rear of the chassis, as well as the vehicle wheelbase and chassis accessory height. The height of the obstacle in front of the vehicle in the driving direction is calculated based on the acquired image of the obstacle in front of the vehicle and the distance between the vehicle and the obstacle. Then, the vehicle's air suspension system is adjusted according to the calculated obstacle height and the minimum ground clearance of the chassis to achieve the adjustment of the vehicle chassis height. That is, the chassis height is precisely controlled based on the vehicle's operating environment, realizing the automatic dynamic adjustment of the vehicle chassis so that the vehicle operates at an optimal height. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a flowchart of a commercial vehicle chassis height adaptive method according to an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of the structure of a commercial vehicle chassis height adaptive device according to the present invention. Detailed Implementation

[0045] This invention provides a method for adaptive chassis height in commercial vehicles. Based on acquired ground clearance of the front and rear of the chassis, as well as the vehicle wheelbase and chassis accessory heights, the minimum ground clearance of the chassis is calculated. Based on an acquired image of obstacles ahead of the vehicle's travel direction and the distance between the vehicle and the obstacles, the height of the obstacles ahead of the vehicle's travel direction is calculated. Then, based on the calculated obstacle height and the minimum ground clearance of the chassis, the vehicle's air suspension system is adjusted to achieve chassis height regulation. In other words, the chassis height is precisely controlled based on the vehicle's operating environment, enabling automatic dynamic adjustment of the chassis to ensure the vehicle operates at an optimal height. This invention also provides a non-transitory computer-readable storage medium and a device for adaptive chassis height in commercial vehicles.

[0046] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0047] See Figure 1 As shown in the figure, the present invention provides a commercial vehicle chassis height adaptive method, applicable to cargo vehicles that require chassis height adjustment. The method specifically includes the following steps:

[0048] S1: Based on the obtained ground clearance of the front and rear of the chassis, as well as the vehicle wheelbase and chassis accessory height, the minimum ground clearance of the chassis is calculated.

[0049] In this invention, the minimum ground clearance of the chassis is calculated based on the obtained ground clearance of the front and rear of the chassis, as well as the vehicle wheelbase and chassis accessory height. Specific steps include:

[0050] S101: Detect the ground clearance of the front and rear of the chassis, and calculate the height difference between the front and rear of the chassis;

[0051] S102: Calculate the vehicle's tilt angle based on the height difference between the front and rear of the chassis and the wheelbase of the vehicle.

[0052] S103: Based on the calculated vehicle tilt angle and the height of the accessories on the chassis, the minimum ground clearance of the chassis is calculated. Accessories on the chassis refer to components located beneath the chassis.

[0053] For a vehicle, the chassis is not perfectly level during driving; it has a certain angle of inclination relative to the road (assuming the road is level in this invention). Furthermore, multiple components are located beneath the chassis, and these components vary in height. Therefore, the distance between different parts of the chassis and the road will differ. Thus, the minimum ground clearance of the chassis is determined based on the ground clearance of the part of the chassis closest to the road. To ensure vehicle safety, in this invention, the minimum ground clearance of the chassis is less than the ground clearance of the part of the chassis closest to the road. For example, the ground clearance of the part of the chassis closest to the road can be reduced by 3cm to obtain the minimum ground clearance of the chassis.

[0054] S2: Based on the acquired image of obstacles in front of the vehicle's driving direction and the distance between the vehicle and the obstacles, the height of the obstacles in front of the vehicle's driving direction is calculated.

[0055] In this invention, the height of the obstacle in front of the vehicle's direction of travel is calculated based on the acquired image of the obstacle and the distance between the vehicle and the obstacle. Specific steps include:

[0056] S201: Detect obstacles ahead of the vehicle in the direction of travel according to the calibrated time step, obtain images of obstacles ahead based on image sensors, and measure the distance between the vehicle and obstacles ahead based on radar.

[0057] S202: Calculate the pixel height of the obstacle in the obstacle image, and based on the ratio between the image pixel height and the actual height, as well as the distance between the vehicle and the obstacle in front, calculate the actual height of the obstacle; that is, determine the actual height of the obstacle in the obstacle image according to the corresponding ratio between the image pixel height and the actual height, and the distance between the vehicle and the obstacle in front. Considering the distance factor, and referring to the size ratio between the object in the image and the object in reality, determine the actual height of the obstacle.

[0058] S203: Calculate the actual height of obstacles within a preset range in front of the vehicle's direction of travel multiple times, and take the maximum value as the height of the obstacle in front of the vehicle's direction of travel.

[0059] For the same obstacle in front of the vehicle's direction of travel, images of the obstacle are acquired multiple times during the vehicle's journey. Based on the distance between the vehicle and the obstacle, the actual height of the obstacle is calculated multiple times. Then, the maximum value among the multiple calculated heights is taken as the actual height of the obstacle. The number of calculations can be set as needed.

[0060] S3: Based on the calculated obstacle height and minimum ground clearance of the chassis, adjust the vehicle's air suspension system to achieve the adjustment of the vehicle's chassis height.

[0061] In this invention, the vehicle's air suspension system is adjusted based on the calculated obstacle height and the minimum ground clearance of the chassis to achieve chassis height adjustment. Specifically, when the vehicle is in a forward-moving state, the chassis height adjustment steps include:

[0062] Determine whether the height of an obstacle in front of the vehicle in the direction of travel is higher than the minimum ground clearance of the chassis:

[0063] If so, the current vehicle speed is obtained, and braking control is applied to the vehicle based on the current vehicle speed. When the vehicle speed drops to the set speed, the chassis lift height is obtained by searching the height database based on the height difference between the obstacle height and the minimum ground clearance of the chassis. Lifting commands are then sent to the front and rear air suspension systems of the vehicle to lift the chassis to the target height. The height database records the chassis adjustment amount corresponding to each height difference state.

[0064] If not, no action will be taken.

[0065] That is, when the vehicle is moving forward, if the height of the obstacle in front of the vehicle is higher than the minimum ground clearance of the chassis, the vehicle chassis height will be adjusted to be raised if the vehicle speed is not higher than the set speed.

[0066] In this invention, the current vehicle speed is obtained, and braking control is performed on the vehicle based on the current vehicle speed. Specific steps include:

[0067] Obtain the vehicle's current speed and perform a speed determination:

[0068] If the vehicle's current speed is greater than the set speed, a warning signal is sent to the instrument panel, which provides an audible and visual warning. The instrument panel also sends a deceleration command to the braking system and illuminates the brake lights to control the vehicle's braking until the vehicle speed drops to the set speed. Then, the chassis height is adjusted. Based on the height difference between the obstacle height and the minimum ground clearance of the chassis, the chassis lift height is obtained from the height database. A lift command is then sent to the vehicle's front and rear air suspension systems to raise the chassis to the target height.

[0069] If the vehicle's current speed is not greater than the set speed, the chassis height will be adjusted directly. That is, based on the height difference between the obstacle height and the minimum ground clearance of the chassis, the chassis lift height will be obtained from the height database, and a lift command will be sent to the front and rear air suspension systems of the vehicle to raise the chassis to the target height.

[0070] In this invention, when the vehicle is in a forward-moving state, after raising the chassis to the target height, the following steps are included:

[0071] Next, determine whether the height of the obstacle in front of the vehicle's direction of travel is higher than the minimum ground clearance of the chassis, and the height difference is:

[0072] If so, based on the height difference between the obstacle height and the minimum ground clearance of the chassis, the chassis lifting height is obtained by searching the height database, and a lifting command is sent to the front and rear air suspension systems of the vehicle to lift the chassis to the target height;

[0073] If not, a lowering command is sent to the vehicle's front and rear air suspension systems to lower the chassis to the default height.

[0074] When the vehicle is moving forward and the chassis height has been raised, if it is determined that the height of an obstacle in front of the vehicle's direction of travel is not higher than the minimum ground clearance of the chassis, the chassis will be restored to the default height.

[0075] In this invention, when the vehicle is in a forward-moving state, it further includes:

[0076] Based on map information, as well as the vehicle's positioning and speed signals, if the road within a set distance ahead of the vehicle is in good condition (flat and free of obstacles, which can be obtained through map information collection or sharing by other drivers), and the vehicle's speed change value within the historical statistical time is less than the set value, a lowering command is sent to the vehicle's front and rear air suspension systems to lower the chassis to the set height, thereby lowering the chassis center of gravity and improving the vehicle's stability.

[0077] When the chassis is lowered to the specified height, if the brake pedal is depressed, if a traffic jam is detected ahead based on map information and the starting point of the congestion is less than the specified distance, or if an obstacle is detected in the lane in front of the vehicle, the chassis will be restored to the default height.

[0078] If the road ahead of the vehicle is in good condition within a set distance and the vehicle speed has been stable over a period of time, the chassis height can be lowered to improve vehicle stability. Then, if the driver presses the brake pedal, or if the map information indicates that there is congestion ahead and the distance between the congestion start point and the vehicle is less than the set distance, or if an obstacle is detected in the lane ahead, the chassis height will be restored to the default height.

[0079] In this invention, the vehicle's air suspension system is adjusted based on the calculated obstacle height and the minimum ground clearance of the chassis to achieve chassis height adjustment. Specifically, when the vehicle is in reverse, the chassis height adjustment steps include:

[0080] When the height difference between the chassis height and the height of the obstacle in front of the vehicle in the direction of travel is less than the lower limit of the set height range, the height database is searched to obtain the chassis lifting height, a lifting command is sent to the front and rear air suspension systems of the vehicle to lift the chassis height, and the chassis is restored to the default height when the vehicle is shifted to forward gear.

[0081] When the height difference between the chassis height and the height of the obstacle in front of the vehicle's direction of travel is greater than the upper limit of the set height range, the height database is searched to obtain the chassis lowering height, a lowering command is sent to the front and rear air suspension systems of the vehicle to lower the chassis height, and the chassis is restored to the default height when the vehicle is shifted into a forward gear.

[0082] When the height difference between the chassis height and the height of the obstacle in front of the vehicle's direction of travel is within the set height range, the current chassis height is maintained, and the chassis is restored to the default height when the vehicle is shifted into forward gear.

[0083] In this invention, when the vehicle is in a reverse position and the chassis height is being adjusted, this condition corresponds to the vehicle reversing to adjust its position for unloading or loading operations. In this case, the obstacle refers to the loading platform.

[0084] Therefore, when the vehicle is in reverse, if the height difference between the chassis height and the height of the obstacle in front of the vehicle's direction of travel is less than the lower limit of the set height range, it means the chassis height is lower than the loading platform height and is too low, in which case the chassis height will be adjusted to be raised; if the height difference between the chassis height and the obstacle in front of the vehicle's direction of travel is greater than the upper limit of the set height range, it means the chassis height is higher than the loading platform height and is too high, in which case the chassis height will be adjusted to be lowered; if the height difference between the chassis height and the obstacle in front of the vehicle's direction of travel is within the set height range, it means the chassis height and the loading platform height are not significantly different and do not affect unloading or loading, in which case no chassis height adjustment will be performed.

[0085] The commercial vehicle chassis height adaptive method of this invention calculates the minimum ground clearance of the chassis based on the acquired ground clearance of the front and rear of the chassis, as well as the vehicle wheelbase and chassis accessory heights. It also calculates the height of the obstacle in front of the vehicle based on an acquired image of the obstacle in the vehicle's direction of travel and the distance between the vehicle and the obstacle. Then, based on the calculated obstacle height and the minimum ground clearance of the chassis, the vehicle's air suspension system is adjusted to achieve chassis height adjustment. In other words, it precisely controls the chassis height based on the vehicle's operating environment, enabling automatic dynamic adjustment of the vehicle chassis and ensuring the vehicle operates at an optimal height.

[0086] In one possible implementation, the present invention also provides a non-transitory computer-readable storage medium located in a PLC (Programmable Logic Controller) controller. The storage medium stores a computer program that, when executed by a processor, implements the steps of the commercial vehicle chassis height adaptive method described below:

[0087] Based on the obtained ground clearance of the front and rear of the chassis, as well as the vehicle wheelbase and chassis accessory height, the minimum ground clearance of the chassis is calculated.

[0088] Based on the acquired image of obstacles in front of the vehicle's direction of travel and the distance between the vehicle and the obstacles, the height of the obstacles in front of the vehicle's direction of travel is calculated.

[0089] Based on the calculated obstacle height and minimum ground clearance of the chassis, the vehicle's air suspension system is adjusted to achieve the adjustment of the vehicle's chassis height.

[0090] Storage media may be any combination of one or more computer-readable media. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. Computer-readable storage media may be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0091] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wireline, optical fiber, RF, etc., or any suitable combination thereof.

[0092] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0093] See Figure 2 As shown in the figure, an embodiment of the present invention provides a commercial vehicle chassis height adaptive device, including a front height detection unit, a rear height detection unit, and a height adaptive control unit.

[0094] The front height detection unit is located at the front of the vehicle and is used to obtain the ground clearance of the front of the chassis and to obtain images of obstacles in front of the vehicle. Based on the images of obstacles in front of the vehicle and the distance between the vehicle and the obstacles, the height of the obstacles in front of the vehicle is calculated.

[0095] The rear height detection unit is located at the rear of the vehicle and is used to obtain the ground clearance of the rear of the chassis and to obtain images of obstacles behind the vehicle. Based on the images of obstacles behind the vehicle and the distance between the vehicle and the obstacles, the height of the obstacles behind the vehicle is calculated.

[0096] The height adaptive control unit is used to calculate the minimum ground clearance of the chassis based on the ground clearance of the front and rear of the chassis, as well as the vehicle wheelbase and chassis accessory height. It also adjusts the vehicle's air suspension system based on the minimum ground clearance of the chassis and the height of obstacles in front of the vehicle's direction of travel, thereby adjusting the vehicle's chassis height.

[0097] Furthermore, it also includes vehicle speed signals, braking signals, map positioning information, front air suspension, rear air suspension, instrument panel, and brake lights.

[0098] The front height detection unit is located at the front of the vehicle and consists of an image sensor and radar. It can detect the height of the front of the chassis and the height of obstacles within a corresponding distance in front of the vehicle. The rear height detection unit is located at the rear of the vehicle and consists of an image sensor and radar. It can detect the height of the rear of the chassis and the height of obstacles within a corresponding distance behind the vehicle.

[0099] The height adaptive control unit processes the input signals from the front and rear height detection units, as well as vehicle speed signals, braking signals, vehicle positioning information, and map positioning information, and provides chassis height adjustment strategies. It controls the front and rear air suspensions to adjust the chassis height and sends indication signals to the instrument panel and brake lights.

[0100] The chassis height adjustment function in this invention can be actively turned off or on, and the on / off status of the function is displayed on the instrument panel.

[0101] The commercial vehicle chassis height adaptive device of this invention, by being equipped with a height adaptive control unit, a front height detection unit, a front air suspension, a rear height detection unit, and a rear air suspension, has the function of connecting to the vehicle's satellite positioning system and map navigation system, and can accurately control the chassis height based on the vehicle's operating environment, so that the vehicle operates in an optimal height state.

[0102] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

[0103] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

Claims

1. A method for adaptive chassis height of a commercial vehicle, characterized in that, Specifically, the following steps are included: Based on the obtained ground clearance of the front and rear of the chassis, as well as the vehicle wheelbase and chassis accessory height, the minimum ground clearance of the chassis is calculated. Based on the acquired image of obstacles in front of the vehicle's direction of travel and the distance between the vehicle and the obstacles, the height of the obstacles in front of the vehicle's direction of travel is calculated. Based on the calculated obstacle height and minimum ground clearance of the chassis, the vehicle's air suspension system is adjusted to achieve the adjustment of the vehicle's chassis height; The step of adjusting the vehicle's air suspension system based on the calculated obstacle height and minimum ground clearance of the chassis to adjust the vehicle's chassis height includes, specifically, the following steps when the vehicle is in a forward-moving state: Determine whether the height of an obstacle in front of the vehicle in the direction of travel is higher than the minimum ground clearance of the chassis: If so, the current vehicle speed is obtained, and the vehicle is braked based on the current vehicle speed. When the vehicle speed drops to the set speed, the chassis lift height is obtained by searching the height database based on the height difference between the obstacle height and the minimum ground clearance of the chassis. The lift command is then sent to the front and rear air suspension systems of the vehicle to lift the chassis to the target height. If not, no action will be taken; When the vehicle is moving forward, it also includes: Based on map information, as well as the vehicle's positioning and speed signals, if the road within a set distance ahead of the vehicle is in good condition and the vehicle's speed change value within the historical statistical time is less than the set value, a lowering command is sent to the vehicle's front and rear air suspension systems to lower the chassis to the set height. When the chassis is lowered to the specified height, if the brake pedal is depressed, if a traffic jam is detected ahead based on map information and the starting point of the congestion is less than the specified distance, or if an obstacle is detected in the lane where the vehicle ahead is traveling, the chassis will be restored to the default height.

2. The commercial vehicle chassis height adaptive method as described in claim 1, characterized in that, The minimum ground clearance of the chassis is calculated based on the obtained front and rear ground clearance of the chassis, as well as the vehicle wheelbase and chassis accessory height. The specific steps include: The ground clearance of the front and rear of the chassis is detected, and the height difference between the front and rear of the chassis is calculated. The vehicle's tilt angle is calculated based on the height difference between the front and rear of the chassis and the wheelbase of the vehicle. Based on the calculated vehicle tilt angle and the height of the accessories on the chassis, the minimum ground clearance of the chassis is calculated.

3. The commercial vehicle chassis height adaptive method as described in claim 1, characterized in that, The height of the obstacle in front of the vehicle's direction of travel is calculated based on the acquired image of the obstacle and the distance between the vehicle and the obstacle. Specific steps include: The vehicle detects obstacles ahead in the direction of travel according to the calibrated time step, obtains images of the obstacles ahead based on the image sensor, and measures the distance between the vehicle and the obstacles ahead based on radar. Calculate the pixel height of the obstacle in the obstacle image, and based on the ratio between the image pixel height and the actual height, as well as the distance between the vehicle and the obstacle in front, calculate the actual height of the obstacle; The actual height of obstacles within a preset range in front of the vehicle's direction of travel is calculated multiple times, and the maximum value is taken as the height of the obstacle in front of the vehicle's direction of travel.

4. The commercial vehicle chassis height adaptive method as described in claim 1, characterized in that, The steps for obtaining the vehicle's current speed and controlling braking based on that speed include: Obtain the vehicle's current speed and perform a speed determination: If the vehicle's current speed is greater than the set speed, a warning signal is sent to the instrument panel, which provides an audible and visual warning and sends a speed reduction command to the braking system, illuminating the brake lights to control the vehicle's braking until the vehicle speed drops to the set speed, and then the chassis height is adjusted. If the vehicle's current speed is not greater than the set speed, the chassis height will be adjusted directly.

5. The commercial vehicle chassis height adaptive method as described in claim 1, characterized in that, With the vehicle in a forward-moving state, after raising the chassis to the target height, the process includes: Continue to determine whether the height of the obstacle in front of the vehicle's direction of travel is higher than the minimum ground clearance of the chassis: If so, based on the height difference between the obstacle height and the minimum ground clearance of the chassis, the height database is searched to obtain the chassis lift height, and a lift command is sent to the front and rear air suspension systems of the vehicle to lift the chassis to the target height; If not, a lowering command is sent to the vehicle's front and rear air suspension systems to lower the chassis to the default height.

6. The commercial vehicle chassis height adaptive method as described in claim 1, characterized in that, The process involves adjusting the vehicle's air suspension system based on the calculated obstacle height and minimum ground clearance of the chassis to adjust the vehicle's chassis height. Specifically, when the vehicle is in reverse, the chassis height adjustment steps include: When the height difference between the chassis height and the height of the obstacle in front of the vehicle in the direction of travel is less than the lower limit of the set height range, the height database is searched to obtain the chassis lifting height, a lifting command is sent to the front and rear air suspension systems of the vehicle to lift the chassis height, and the chassis is restored to the default height when the vehicle is shifted to forward gear. When the height difference between the chassis height and the height of the obstacle in front of the vehicle's direction of travel is greater than the upper limit of the set height range, the height database is searched to obtain the chassis lowering height, a lowering command is sent to the front and rear air suspension systems of the vehicle to lower the chassis height, and the chassis is restored to the default height when the vehicle is shifted into a forward gear. When the height difference between the chassis height and the height of the obstacle in front of the vehicle's direction of travel is within the set height range, the current chassis height is maintained, and the chassis is restored to the default height when the vehicle is shifted into forward gear.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the commercial vehicle chassis height adaptive method as described in any one of claims 1 to 6.

8. A commercial vehicle chassis height adaptive device, characterized in that, include: The front height detection unit is located at the front of the vehicle and is used to obtain the ground clearance of the front of the chassis and to obtain images of obstacles in front of the vehicle. Based on the images of obstacles in front of the vehicle and the distance between the vehicle and the obstacles, the height of the obstacles in front of the vehicle is calculated. The rear height detection unit is located at the rear of the vehicle. It is used to obtain the ground clearance of the rear of the chassis and to obtain images of obstacles behind the vehicle. Based on the images of obstacles behind the vehicle and the distance between the vehicle and the obstacles, the height of the obstacles behind the vehicle is calculated. The height adaptive control unit is used to calculate the minimum ground clearance of the chassis based on the ground clearance of the front and rear of the chassis, as well as the vehicle wheelbase and chassis accessory height. It also adjusts the vehicle's air suspension system based on the minimum ground clearance of the chassis and the height of obstacles in front of the vehicle's direction of travel, thereby adjusting the vehicle's chassis height. The process involves adjusting the vehicle's air suspension system based on the calculated obstacle height and minimum ground clearance to adjust the vehicle's chassis height. Specifically, when the vehicle is moving forward, the chassis height adjustment steps include: Determine whether the height of an obstacle in front of the vehicle in the direction of travel is higher than the minimum ground clearance of the chassis: If so, the current vehicle speed is obtained, and the vehicle is braked based on the current vehicle speed. When the vehicle speed drops to the set speed, the chassis lift height is obtained by searching the height database based on the height difference between the obstacle height and the minimum ground clearance of the chassis. The lift command is then sent to the front and rear air suspension systems of the vehicle to lift the chassis to the target height. If not, no action will be taken; When the vehicle is moving forward, it also includes: Based on map information, as well as the vehicle's positioning and speed signals, if the road within a set distance ahead of the vehicle is in good condition and the vehicle's speed change value within the historical statistical time is less than the set value, a lowering command is sent to the vehicle's front and rear air suspension systems to lower the chassis to the set height. When the chassis is lowered to the specified height, if the brake pedal is depressed, if a traffic jam is detected ahead based on map information and the starting point of the congestion is less than the specified distance, or if an obstacle is detected in the lane where the vehicle ahead is traveling, the chassis will be restored to the default height.

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