An active suspension control method, device, vehicle and medium

Abstract

The application provides an active suspension control method and device, a vehicle and a medium, comprising: acquiring a first image and a second image; acquiring a part of the first image that does not overlap with the second image as a first output image; acquiring the elevation of a preset number of sampling points in the first output image and generating a first elevation curve; and sending the first elevation curve to an active suspension controller so that the active suspension controller controls the action of the active suspension according to the first elevation curve. In this way, the camera controller performs a simplification process on the collected road surface image information, then samples and calculates the elevation of the simplified image, reduces the amount of data sent to the active suspension controller, and further reduces the bus load, so that the active suspension controller does not need to perform secondary processing, saving the computing power of the active suspension controller.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile control, in particular to an active suspension control method and device, a vehicle and a medium. BACKGROUND

[0002] Since the traditional passive suspension has been difficult to meet the needs of consumers for higher comfort and handling of the automobile, the development of active suspension has become an inevitable trend. Most active suspension control systems (Active Body Control, ABC) judge the road conditions through sensors arranged on the suspension or vehicle body, and can only start to respond when the vehicle drives over uneven road surfaces. Due to the time delay of the actuators of the active suspension due to physical structure limitations, the improvement of comfort is limited.

[0003] Therefore, many pre-foresight devices have appeared, which pre-identify road elevation information through camera pre-foresight and send it to the active suspension system for calculation, so that the actuators are ready in advance when the vehicle reaches the road impact (protrusion, pit), that is, the vehicle can drive through in the optimal state, and the comfort is maximized. However, under this method, the camera sends information of fixed interval sampling points to the active suspension controller, which increases the CAN bus load. At the same time, as the vehicle moves forward, the same point in different image frames will send multiple times and each time the information cannot be completely consistent, or the points of different image frames cannot be coincided, resulting in that the active suspension controller needs to process a large amount of road elevation data received, and a large amount of computing power is consumed.

[0004] Therefore, how to provide an active suspension control method for reducing the bus load and the computing power of the active suspension controller is a technical problem that those skilled in the art need to solve. SUMMARY

[0005] Therefore, the embodiments of the present application provide an active suspension control method and device, which aims to reduce the bus load and the computing power of the active suspension controller.

[0006] In a first aspect, the embodiments of the present application provide an active suspension control method, comprising:

[0007] obtaining a first image and a second image, the first image being a first-time detection area image collected by a camera, and the second image being a second-time detection area image collected by the camera, the second time being later than the first time by a preset time period;

[0008] obtaining a part of the first image that does not overlap with the second image as a first output image;

[0009] obtaining the elevations of a preset number of sampling points in the first output image, and generating a first elevation curve;

[0010] sending the first height curve to an active suspension controller, so that the active suspension controller controls active suspension action according to the first height curve.

[0011] Optionally, the method further comprises:

[0012] calculating a first path curvature according to a first vehicle speed and a first yaw rate, the first vehicle speed being a vehicle speed at the first time, and the first yaw rate being a vehicle yaw rate at the first time;

[0013] obtaining a first time detection area according to a preset path width, a preset path longitudinal length and the first path curvature.

[0014] Optionally, the obtaining of the height of the preset number of sampling points in the first output image and the generation of the first height curve comprises:

[0015] obtaining a preset sampling period and a preset number of sampling points;

[0016] in the first output image, obtaining a preset number of sampling points as a first sampling point set according to the first time detection area, a distance between adjacent sampling points in the first sampling point set being a product of the quotient of the preset sampling period and the preset number of sampling points and the first vehicle speed;

[0017] calculating the height of each sampling point in the first sampling point set;

[0018] generating a first height curve according to the height of each sampling point in the first sampling point set.

[0019] Optionally, the method further comprises:

[0020] performing weighted superposition on the overlapping area of the first image and the second image to obtain a superposition image;

[0021] obtaining a third image, the third image being a third time detection area image collected by the camera, the third time being later than the second time by the preset time period;

[0022] obtaining a part in the superposition image that does not overlap with the third image as a second output image;

[0023] obtaining the height of the preset number of sampling points in the second output image and generating a second height curve;

[0024] sending the second height curve to the active suspension controller, so that the active suspension controller controls the active suspension action according to the second height curve.

[0025] Optionally, the weighting and superimposing of the overlapping area of the first image and the second image obtains a superimposed image, and the superimposing comprises:

[0026] The weighting and superimposing of the overlapping area of the first image and the second image obtains a superimposed image by using a binocular algorithm.

[0027] Optionally, the obtaining of the elevations of the preset number of sampling points in the second output image and the generating of a second elevation curve comprises:

[0028] In the second output image, a preset number of sampling points are obtained as a second sampling point set; the distance between adjacent sampling points in the second sampling point set is the product of the quotient of the preset sampling period and the preset number of sampling points and a second vehicle speed, and the distance between two sampling points adjacent to the first sampling point set in the second sampling point set is the product of the quotient of the preset sampling period and the preset number of sampling points and a first vehicle speed;

[0029] The elevations of each sampling point in the second sampling point set are calculated;

[0030] A second elevation curve is generated according to the elevations of each sampling point in the second sampling point set.

[0031] In a second aspect, an embodiment of the present application provides an active suspension control device, comprising:

[0032] An acquisition module is configured to acquire a first image and a second image, the first image being a first-time detection area image collected by a camera, and the second image being a second-time detection area image collected by the camera, the second time being later than the first time by a preset time period;

[0033] A first output image module is configured to acquire a part of the first image that does not overlap with the second image as a first output image;

[0034] A first elevation module is configured to obtain the elevations of a preset number of sampling points in the first output image and generate a first elevation curve;

[0035] A first sending module is configured to send the first elevation curve to an active suspension controller, so that the active suspension controller controls the action of the active suspension according to the first elevation curve.

[0036] Optionally, the first elevation module comprises:

[0037] A first acquisition unit is configured to acquire a preset sampling period and a preset number of sampling points;

[0038] The first sampling unit is configured to obtain a preset number of sampling points in the first output image as a first sampling point set according to the first time detection area, wherein a distance between adjacent sampling points in the first sampling point set is a product of a quotient of the preset sampling period and the preset number of sampling points and a first vehicle speed, and the first vehicle speed is a vehicle speed at the first time;

[0039] The first calculation unit is configured to calculate an elevation of each sampling point in the first sampling point set.

[0040] The first curve unit is configured to generate a first elevation curve according to the elevation of each sampling point in the first sampling point set.

[0041] In a third aspect, an embodiment of the present application provides a vehicle, the vehicle comprising a camera controller, and the camera controller is configured to execute the active suspension control method in any one of the first aspect.

[0042] In a fourth aspect, an embodiment of the present application provides a computer storage medium, and the computer storage medium stores code, when the code is executed, a device executing the code implements the active suspension control method in any one of the first aspect.

[0043] An embodiment of the present application provides an active suspension control method and device, when the method is executed, first, a first image and a second image are obtained, the first image is a first time detection area image collected by a camera, the second image is a second time detection area image collected by the camera, and the second time is later than the first time by a preset time period; a part of the first image that does not overlap with the second image is obtained as a first output image; elevations of a preset number of sampling points in the first output image are obtained, and a first elevation curve is generated; and the first elevation curve is sent to an active suspension controller, so that the active suspension controller controls an active suspension to act according to the first elevation curve. In this way, the camera controller performs a simplified processing on collected road surface image information, and then samples and calculates elevations of the simplified image, thereby reducing the amount of data sent to the active suspension controller, and further reducing the bus load, so that the active suspension controller does not need to perform a secondary processing, and the computing power of the active suspension controller is saved. BRIEF DESCRIPTION OF DRAWINGS

[0044] To make the technical solutions in the embodiments or the prior art clearer, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without any creative effort based on these drawings.

[0045] Figure 1 A schematic diagram of active suspension control with / without preview provided for an embodiment of the present application;

[0046] Figure 2 A schematic diagram of active suspension system provided for an embodiment of the present application;

[0047] Figure 3 A method flow chart of active suspension control method provided for an embodiment of the present application;

[0048] Figure 4 A schematic diagram of image acquisition provided for an embodiment of the present application;

[0049] Figure 5 A schematic diagram of elevation curve provided for an embodiment of the present application;

[0050] Figure 6 Another method flow chart of active suspension control method provided for an embodiment of the present application;

[0051] Figure 7 A schematic diagram of specific area provided for an embodiment of the present application;

[0052] Figure 8 A schematic diagram of vehicle turning radius provided for an embodiment of the present application;

[0053] Figure 9 A schematic diagram of fixed interval sampling points provided for an embodiment of the present application;

[0054] Figure 10 A schematic diagram of sampling point set provided for an embodiment of the present application;

[0055] Figure 11 A schematic diagram of active suspension control device provided for an embodiment of the present application. DETAILED DESCRIPTION

[0056] A traditional suspension is composed of spring, shock absorber and guiding mechanism, without power source, and its function is to passively weaken the impact force from road to vehicle body; an active suspension system has a power source capable of generating force, which can apply a reverse force to the suspension to compensate for the vertical force of the spring when the vehicle is jolted, eliminate the transmission of vibration from the spring to the vehicle body, and eliminate the pitch and roll of the vehicle body during acceleration, braking and steering, thereby improving the comfort and handling stability of the vehicle. Since the traditional passive suspension has been difficult to meet the needs of consumers for higher comfort and handling of the vehicle, the development of active suspension has become an inevitable trend.

[0057] Most active body control systems (ABC) detect road impact through passive sensors of the vehicle, such as body vertical acceleration sensors or height displacement sensors. However, these sensors can only detect the impact when the vehicle has reached the impact point, which limits the improvement of comfort and even has a negative effect due to the relatively large delay (about 200 ms) of the active suspension actuators.

[0058] If the vehicle can detect the road impact in advance, the active suspension actuators can be pre-adjusted before the vehicle reaches the impact point, and then act when the corresponding wheel reaches the convex point. This will compensate for the delay of the system and greatly improve the performance of the active suspension. Therefore, many pre-look devices have emerged, which identify road elevation information in advance through camera pre-look and send it to the active suspension system for calculation, so that the active suspension actuators are ready in advance when the vehicle reaches the road impact (convex, pit), that is, the vehicle can travel through the road impact in the best state, maximizing the comfort.

[0059] The influence of pre-look on detection can be seen in Figure 1 , Figure 1 The active suspension control schematic diagram with / without pre-look. As can be seen from the figure, the active suspension control without pre-look can only detect the road impact through the acceleration sensor after the vehicle passes through the road impact; and the active suspension control with pre-look can detect the road impact through the camera pre-look before the vehicle reaches the road impact.

[0060] However, this active suspension control method with pre-look needs the camera to send the information of fixed interval sampling points to the active suspension controller, which causes high load of the controller area network (CAN) bus. At the same time, as the vehicle moves forward, the same point will be sent multiple times in different image frames, and each time the information may not be completely consistent, and the points in different image frames cannot be overlapped, which will cause the active suspension controller to need to process a large amount of road elevation data received, consuming a large amount of computing power.

[0061] To solve the above technical problems, the embodiment of the present application provides an active suspension control method, which performs simplified processing on the collected road image information through a camera controller, and then samples and calculates the elevation of the simplified image, reduces the amount of data sent to the active suspension controller, and further reduces the load of the CAN bus, so that the active suspension controller does not need to perform secondary processing, saving the computing power of the active suspension controller.

[0062] Next, the system architecture of the active suspension control method will be introduced. Referring to Figure 2 shown, Figure 2An active suspension system schematic diagram provided by the embodiment of the present application. The system architecture includes a camera, a camera controller, an active suspension controller and an active suspension.

[0063] The camera is arranged outside the vehicle and is used to acquire images of a detection area in front of the vehicle. As a possible implementation, a visual perception sensor such as a laser radar can be used to replace the camera to acquire images.

[0064] The camera controller is used to first acquire a first image and a second image; then acquire a part of the first image that does not overlap with the second image as a first output image; then acquire the elevations of a preset number of sampling points in the first output image and generate a first elevation curve; finally, send the first elevation curve to the active suspension controller so that the active suspension controller controls the active suspension according to the first elevation curve. The camera controller performs a simplification process on the collected road surface image information, and then samples and calculates the elevation of the simplified image, thereby reducing the amount of data sent to the active suspension controller, reducing the CAN bus load, and saving the computing power of the active suspension controller.

[0065] The active suspension controller only needs to control the active suspension according to the elevation information sent by the camera controller, and does not need to perform superimposed calculation on the road surface profile and other processes, thereby reducing the system time delay and the computing power requirement.

[0066] The active suspension can be pre-adjusted before the vehicle reaches the impact point, and then act when the corresponding wheel reaches the convex point.

[0067] Next, the active suspension control method provided by the embodiment of the present application will be described in detail with the camera controller executing the method provided by the embodiment of the present application as an example and in conjunction with the accompanying drawings. Referring to Figure 3 , Figure 3 A flowchart of an active suspension control method is shown, and the method comprises:

[0068] Step S301: Acquire a first image and a second image.

[0069] The first image is a first-time detection area image collected by the camera, and the second image is a second-time detection area image collected by the camera. The second time is later than the first time by a preset time period. For example, the preset time period is 1s, the first time is 7:10:1 (7:10:1), and the second time is 7:10:1 (7:10:2). The following will be described by taking Figure 4 as an example, Figure 4 An image acquisition schematic diagram provided by the embodiment of the present application. Figure 4 In the above embodiment, the first image is Figure 4The image in the upper half of the figure, the second image is Figure 4 The image in the lower half of the figure. From the first time to the second time, the vehicle travels from left to right, and the second image and the overlapped location information in the first image have overlapping and non-overlapping parts. The time interval between the first time and the second time is a preset time period, which is also the image acquisition period. That is, the camera will collect the detection area image of the current time once every preset time period.

[0070] Step S302: Obtain the part of the first image that does not overlap with the second image as a first output image.

[0071] During vehicle travel, the detection range moves with the vehicle. The part of the first image that does not overlap with the second image will not overlap with subsequent images (such as the third image, the fourth image, etc.), so this part of the image can be used as the first output image. Such an image output method can ensure that the continuously output images are connected, and there is no repeated sampling of the same location information, which can reduce the situation that the distance and elevation information of the road surface information in each frame of data is not completely consistent due to error calculation.

[0072] The following will be described with reference to Figure 4 as an example, Figure 4 If the vehicle travels to the right, the non-overlapping part on the left side of the figure does not overlap with the second image and will not overlap with subsequent images, so this part of the image is used as the first output image. As a possible implementation, the image of the overlapping part can be directly filtered or further superimposed to increase data accuracy.

[0073] Step S303: Obtain the elevations of a preset number of sampling points in the first output image and generate a first elevation curve.

[0074] After obtaining the first output image, sampling points can be obtained in the first output image to calculate the elevation information. The number of sampling points can be set in advance according to requirements and is not limited herein. In the same image, the more the number of sampling points, the higher the sampling accuracy and the greater the calculation amount; the fewer the number of sampling points, the lower the sampling accuracy. At the same time, the distance between adjacent sampling points needs to be set reasonably according to the situation of various road obstacles to ensure that obstacles are not missed and the data volume does not exceed the load and increase the cost. As a possible implementation, the distance between adjacent sampling points can be a fixed preset distance or a variable distance that changes with other parameters.

[0075] After the sampling points are acquired, the height of the road profile detected by the longitudinal scanning sequence at each sampling point can be calculated as the elevation thereof. The elevations corresponding to the preset number of sampling points are acquired respectively, and the elevations are connected together in sequence to generate a corresponding elevation curve, i.e., a first elevation curve.

[0076] As a possible implementation, the preset number of sampling points can be divided into left wheel sampling points and right wheel sampling points. Correspondingly, each type of sampling points can correspond to generate an elevation curve, and the first elevation curve is divided into a left wheel first elevation curve and a right wheel first elevation curve. See Figure 5 , Figure 5 The elevation curve provided by the embodiment of the present application is shown in the following figure. Figure 5 The left side is the first output image, and the right side corresponds to the left wheel first elevation curve and the right wheel first elevation curve respectively.

[0077] Step S304: The first elevation curve is sent to the active suspension controller, so that the active suspension controller controls the active suspension according to the first elevation curve.

[0078] Since the camera controller cannot directly control the active suspension, the first elevation curve needs to be sent to the active suspension controller through the CAN bus, so that the active suspension controller controls the active suspension according to the first elevation curve, identifies the obstacle, and adjusts in advance, and then buffers when the wheel reaches the obstacle.

[0079] Because the continuity and simplicity of the data are ensured when the first output image is output, the data transmitted through the CAN bus is the simplified data, and the data amount is relatively small, which can reduce the load of the CAN bus. After receiving the first elevation curve, the active suspension also does not need to process the data twice, which can fully save the computing power and reduce the time delay of the suspension control system.

[0080] In summary, the embodiment of the present application performs simplification processing on the collected road image information through the camera controller, and then samples and calculates the elevation of the simplified image, reduces the amount of data sent to the active suspension controller, and further reduces the bus load, so that the active suspension controller does not need to be processed twice, and the computing power of the active suspension controller is saved.

[0081] In the embodiment of the present application, the above Figure 3 The steps described above have a variety of possible implementation manners, which will be introduced below. It should be noted that the implementation manners given in the following introduction are only exemplary and do not represent all implementation manners of the embodiment of the present application.

[0082] See Figure 6Fig. 6 is another flowchart of the method for active suspension control according to an embodiment of the present application, comprising the steps of:

[0083] Step S601: Obtain a detection area at a first time and a detection area at a second time.

[0084] The detection area includes a specific area of the road in front of the vehicle and is distributed on the left and right sides of the vehicle and can cover at least the area through which the wheels will pass. See Figure 7 , Figure 7 Fig. 3 is a schematic diagram of the specific area according to an embodiment of the present application. Since the faster the vehicle speed, the more location information the picture contains, the coverage of the detection area is related to the vehicle speed, the higher the vehicle speed, the larger the coverage of the detection area; the smaller the vehicle speed, the smaller the coverage of the detection area.

[0085] Specifically, see Figure 8 , Figure 8 Fig. 4 is a schematic diagram of the turning radius of the vehicle according to an embodiment of the present application, which shows the relationship between the vehicle speed, the yaw rate and the path curvature. The path curvature corresponds to the turning radius of the vehicle, and the yaw rate is determined by the yaw angular velocity of the vehicle. Therefore, the first path curvature can be calculated according to the first vehicle speed and the first yaw rate, wherein the first vehicle speed is the vehicle speed at the first time, and the first yaw rate is the yaw rate of the vehicle at the first time.

[0086] As a possible implementation, the first path curvature = the first vehicle speed ÷ the first yaw rate.

[0087] Thereafter, the detection area at the first time is obtained according to the preset path width, the preset path longitudinal length and the first path curvature. The preset path width and the preset path longitudinal length can form a rectangular area, and the first path curvature is used to bend the rectangular area to obtain the detection area at the first time.

[0088] Similarly, the second path curvature can be calculated according to the second vehicle speed and the second yaw rate, wherein the second vehicle speed is the vehicle speed at the second time, and the second yaw rate is the yaw rate of the vehicle at the second time; and the detection area at the second time is obtained according to the preset path width, the preset path longitudinal length and the second path curvature. The specific process is similar to that of the detection area at the first time, which will not be described here.

[0089] As a possible implementation, the preset path width can be set according to the initial tire width, and the preset path longitudinal length can be set according to the requirement, which are not limited herein. Preferably, the preset path width can be 25 cm, and the preset path longitudinal length can be greater than 15 m.

[0090] Step S602: Obtain a first image and a second image.

[0091] As a possible implementation, the first-time detection area and the second-time detection area can be marked in the point cloud of the first image and the second image captured by the camera, so as to obtain the sampling points later.

[0092] Step S603: Obtain the part of the first image that does not overlap with the second image as a first output image.

[0093] Step S604: Obtain a preset sampling period and a preset number of sampling points.

[0094] The sampling period is the same as the value of the preset time period between the first time and the second time. The preset number of sampling points can be set as required, which is not limited herein. As a preferred, the preset number of sampling points can be set to 20.

[0095] Step S605: In the first output image, obtain a preset number of sampling points as a first sampling point set according to the first-time detection area.

[0096] The sampling point set is selected according to the first-time detection area, that is, the points in the range to be traveled by the left wheel and the right wheel are selected as the sampling points.

[0097] As a possible implementation, fixed equidistant sampling points can be set. See Figure 9 , Figure 9 The fixed interval sampling point diagram provided by the embodiment of the present application. However, this method has some problems. First, setting fixed equidistant sampling points will cause the sampling points of two consecutive images not to coincide (for example Figure 9 The first sampling point S1' of the second frame image does not coincide with all the sampling points of the first frame image). Second, as the vehicle travels, the same point on the road will be sampled multiple times in different images (for example Figure 9 The road point O will appear in two consecutive frames), because the calculation error can cause the distance and elevation information of the road point O in different images not to be completely consistent, and after the camera controller sends this information to the active suspension controller without processing, the active suspension controller still needs to perform a large amount of data processing before it can be used, which will increase the time delay and computing power requirement of the suspension control system. Third, for this method of setting fixed equidistant sampling points, it is difficult to set the interval between adjacent sampling points. If the sampling point interval is too large, it will cause missed detection, but if the sampling point interval is set to be small, the number of sampling points in the detection range will be too large, and the amount of sampling data will be too large, which will exceed the CAN bus load, and even need to connect a private CAN, which will increase the cost.

[0098] Therefore, as another possible implementation, the distance between adjacent sampling points in the first sampling point set can be set as the product of the quotient of the preset sampling period and the preset sampling point number and the first vehicle speed, the first vehicle speed being the vehicle speed at the first time. Referring to Figure 10 , Figure 10 A sampling point set diagram provided by the embodiment of the present application is shown in the following figure, Figure 10 The points between Dt1 above are the first sampling point set. For example, when the preset sampling period is 50 ms and the preset sampling point number is 20, the distance Ds1 between every two adjacent sampling points is 2.5 ms*first vehicle speed, and the distance range Dt1 of the first sampling point set is (50 ms-2.5 ms)*first vehicle speed.

[0099] Step S606: calculating the elevation of each sampling point in the first sampling point set.

[0100] Step S607: generating a first elevation curve according to the elevation of each sampling point in the first sampling point set.

[0101] Step S608: sending the first elevation curve to the active suspension controller, so that the active suspension controller controls the active suspension action according to the first elevation curve.

[0102] The above steps are the same as those in the previous embodiment, and will not be described here again.

[0103] Step S609: performing weighted superposition on the overlapping area of the first image and the second image to obtain a superposition image.

[0104] By performing weighted superposition on the overlapping area of the first image and the second image, the accuracy of road surface detection can be improved. As one possible implementation, a binocular algorithm can be used to perform weighted superposition on the overlapping area of the first image and the second image to obtain a superposition image. By using the binocular algorithm, the human visual principle is simulated, and the method of passive distance sensing by computer is used to observe an object from two or more points to obtain images at different angles, and the three-dimensional information of the object is obtained by calculating the offset between pixels according to the matching relationship between the pixels in the images.

[0105] Step S610: obtaining a third image.

[0106] The third image is a third-time detection area image collected by the camera, and the third time is later than the second time by the preset time period. For example, when the preset time period is 1 s, the first time is 7:10:1 (7:10:1), the second time is 7:10:2 (7:10:2), and the third time is 7:10:3 (7:10:3).

[0107] Step S611: Obtain the part of the superimposed image that does not overlap with the third image as a second output image.

[0108] Similar to step S302, the part of the superimposed image that does not overlap with the third image is obtained, and the second output image is part of the superimposed image, that is, the part whose accuracy is improved through superimposition processing, and the accuracy of the second output image is improved.

[0109] Step S612: Obtain the elevations of the preset number of sampling points in the second output image and generate a second elevation curve.

[0110] In the second output image, a preset number of sampling points are first obtained as a second sampling point set, the distance between adjacent sampling points in the second sampling point set is the product of the quotient of the preset sampling period and the preset number of sampling points and the second vehicle speed, the second vehicle speed is the vehicle speed at the second time, the distance between two adjacent sampling points of the second sampling point set and the first sampling point set is the product of the quotient of the preset sampling period and the preset number of sampling points and the first vehicle speed; then the elevation of each sampling point in the second sampling point set is calculated; finally, a second elevation curve is generated according to the elevation of each sampling point in the second sampling point set.

[0111] For example Figure 10 The points between Dt2 below are the second sampling point set. When the preset sampling period is 50ms and the preset number of sampling points is 20, the distance Ds2 between every two adjacent sampling points of the second sampling point set is 2.5ms*second vehicle speed, the distance range Dt2 of the second sampling point set is (50ms-2.5ms)*first vehicle speed, the distance Di1 between two adjacent sampling points of the second sampling point set and the first sampling point set is 2.5ms*first vehicle speed, and the distance Dv2 of vehicle travel is Dp1=50ms*first vehicle speed.

[0112] Step S613: Send the second elevation curve to the active suspension controller so that the active suspension controller controls the active suspension according to the second elevation curve.

[0113] Since the camera controller cannot directly control the active suspension, the second elevation curve needs to be sent to the active suspension controller through the CAN bus to control the active suspension according to the second elevation curve, identify the obstacle, and adjust in advance, and then buffer when the wheel reaches the obstacle.

[0114] In summary, the embodiment improves the accuracy of height detection through weighted superposition processing; sets the sampling point gap through time and vehicle speed, so that the signal coverage area changes with vehicle speed, reducing errors caused by repeated sampling or non-coincidence sampling; the camera controller performs simplification processing on the collected road image information, then samples and calculates the height of the simplified image, reduces the amount of data sent to the active suspension controller, and further reduces the CAN bus load, so that the active suspension controller does not need to be processed twice, saving the computing power of the active suspension controller.

[0115] Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0116] The above provides some specific implementation modes of the active suspension control method of the embodiments of the present application. Based on this, the present application also provides a corresponding device. The device provided by the embodiments of the present application will be introduced from the perspective of functional modularization.

[0117] Referring to Figure 11 The device includes an acquisition module 1101, a first output image module 1102, a first height module 1103, and a first sending module 1104.

[0118] The acquisition module 1101 is configured to acquire a first image and a second image, the first image being a first-time detection area image collected by a camera, and the second image being a second-time detection area image collected by the camera, the second time being later than the first time by a preset time period;

[0119] The first output image module 1102 is configured to acquire a part of the first image that does not overlap with the second image as a first output image.

[0120] The first height module 1103 is configured to acquire the height of a preset number of sampling points in the first output image and generate a first height curve.

[0121] The first sending module 1104 is configured to send the first height curve to an active suspension controller, so that the active suspension controller controls the active suspension action according to the first height curve.

[0122] As a possible implementation, the device further includes:

[0123] The first curvature calculation module is configured to calculate a first path curvature according to a first vehicle speed and a first yaw rate, the first vehicle speed being a vehicle speed at the first time point, and the first yaw rate being a vehicle yaw rate at the first time point.

[0124] The first area acquisition module is configured to acquire a detection area at the first time point according to a preset path width, a preset path longitudinal length, and the first path curvature.

[0125] As a possible implementation, the first elevation module 1103 comprises:

[0126] The first acquisition unit is configured to acquire a preset sampling period and a preset number of sampling points.

[0127] The first sampling unit is configured to acquire, in the first output image, a preset number of sampling points as a first sampling point set according to the detection area at the first time point, a distance between adjacent sampling points in the first sampling point set being a product of a quotient of the preset sampling period and the preset number of sampling points and the first vehicle speed.

[0128] The first calculation unit is configured to calculate an elevation of each sampling point in the first sampling point set.

[0129] The first curve unit is configured to generate a first elevation curve according to the elevation of each sampling point in the first sampling point set.

[0130] As a possible implementation, the device further comprises:

[0131] The superimposition module is configured to perform weighted superimposition on an overlapping area of the first image and the second image to obtain a superimposed image.

[0132] The third acquisition module is configured to acquire a third image, the third image being a third detection area image of a third time point acquired by the camera, the third time point being later than the second time point by the preset time period.

[0133] The second output image module is configured to acquire a part of the superimposed image that does not overlap with the third image as a second output image.

[0134] The second elevation module is configured to acquire elevations of the preset number of sampling points in the second output image and generate a second elevation curve.

[0135] The second sending module is configured to send the second elevation curve to the active suspension controller, so that the active suspension controller controls the active suspension to act according to the second elevation curve.

[0136] As a possible implementation, the superimposition module comprises:

[0137] A binocular algorithm unit is configured to utilize a binocular algorithm to perform weighted superposition on the overlapping area of the first image and the second image to obtain a superposition image.

[0138] As a possible implementation, the second elevation module comprises:

[0139] A second sampling unit is configured to obtain a preset number of sampling points in the second output image as a second sampling point set; the distance between adjacent sampling points in the second sampling point set is a product of the quotient of the preset sampling period and the preset number of sampling points and the second vehicle speed; the distance between two sampling points adjacent to the first sampling point set in the second sampling point set is a product of the quotient of the preset sampling period and the preset number of sampling points and the first vehicle speed.

[0140] A second calculation unit is configured to calculate the elevation of each sampling point in the second sampling point set.

[0141] A second curve unit is configured to generate a second elevation curve according to the elevation of each sampling point in the second sampling point set.

[0142] The embodiments of the present application also provide a corresponding vehicle and a computer storage medium for implementing the scheme provided by the embodiments of the present application.

[0143] The vehicle comprises a camera controller, and the camera controller is configured to implement the active suspension control method according to any of the embodiments of the present application.

[0144] The computer storage medium stores codes, and when the codes are executed, a device executing the codes implements the active suspension control method according to any of the embodiments of the present application.

[0145] The terms "first" and "second" in the names "first" and "second" mentioned in the embodiments of the present application are only used for name identification, and do not represent the first and second in order.

[0146] From the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps of the above-mentioned embodiment methods can be implemented by means of software plus a general hardware platform. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product. The computer software product can be stored in a storage medium, such as a read-only memory (English: read-only memory, ROM) / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the method described in each embodiment or some parts of the embodiments of the present application.

[0147] The various embodiments described in the specification are intended to be exemplary only and the scope of the application is not limited to the embodiments described. The same parts are referred to each other for the same or similar parts among the various embodiments. Each embodiment focuses on the difference from other embodiments. Especially, the device embodiments are described simply because they are basically similar to the method embodiments. The relevant parts are referred to the part of the method embodiments. The part or all modules can be selected to achieve the purpose of the embodiments according to the actual needs. Those skilled in the art can understand and implement without creative labor.

[0148] The above only describes exemplary embodiments of the present application, and is not intended to limit the protection scope of the present application.

Claims

1. An active suspension control method, characterized by, The method is applied to a camera controller and comprises the following steps: obtaining a first image and a second image, the first image being a first-time detection area image captured by a camera, and the second image being a second-time detection area image captured by the camera, the second time being later than the first time by a preset time period; obtaining a part of the first image that does not overlap with the second image as a first output image; obtaining the elevations of a preset number of sampling points in the first output image and generating a first elevation curve; sending the first elevation curve to an active suspension controller so that the active suspension controller controls the active suspension according to the first elevation curve; the step of obtaining the elevations of the preset number of sampling points in the first output image and generating the first elevation curve comprises the following steps: obtaining a preset sampling period and a preset number of sampling points; in the first output image, obtaining a preset number of sampling points as a first sampling point set according to the first-time detection area, the distance between adjacent sampling points in the first sampling point set being the product of the quotient of the preset sampling period and the preset number of sampling points and a first vehicle speed; calculating the elevation of each sampling point in the first sampling point set; generating a first elevation curve according to the elevation of each sampling point in the first sampling point set; the method further comprises the following steps: performing weighted superposition on the overlapping area of the first image and the second image to obtain a superimposed image; obtaining a third image, the third image being a third-time detection area image captured by the camera, the third time being later than the second time by the preset time period; obtaining a part of the superimposed image that does not overlap with the third image as a second output image; obtaining the elevations of the preset number of sampling points in the second output image and generating a second elevation curve; sending the second elevation curve to the active suspension controller so that the active suspension controller controls the active suspension according to the second elevation curve.

2. The method of claim 1, wherein, the method further comprises the following steps: calculating a first path curvature according to a first vehicle speed and a first yaw rate, the first vehicle speed being the vehicle speed at the first time, and the first yaw rate being the vehicle yaw rate at the first time; obtaining a first-time detection area according to a preset path width, a preset path longitudinal length and the first path curvature.

3. The method of claim 1, wherein, the step of performing weighted superposition on the overlapping area of the first image and the second image to obtain a superimposed image comprises the following step: performing weighted superposition on the overlapping area of the first image and the second image to obtain a superimposed image by using a binocular algorithm.

4. The method of claim 1, wherein, the step of obtaining the elevations of the preset number of sampling points in the second output image and generating a second elevation curve comprises the following steps: in the second output image, obtaining a preset number of sampling points as a second sampling point set; the distance between adjacent sampling points in the second sampling point set being the product of the quotient of the preset sampling period and the preset number of sampling points and a second vehicle speed, and the distance between two sampling points adjacent to the first sampling point set in the second sampling point set being the product of the quotient of the preset sampling period and the preset number of sampling points and the first vehicle speed; calculate the height of each sampling point in the second sampling point set; generate a second height curve according to the height of each sampling point in the second sampling point set.

5. An active suspension control device characterized by comprising: The device comprises: an acquisition module, configured to acquire a first image and a second image, the first image being a first-time detection region image collected by a camera, and the second image being a second-time detection region image collected by the camera, the second time being later than the first time by a preset time period; a first output image module, configured to acquire a part of the first image that does not overlap with the second image as a first output image; a first height module, configured to acquire the height of a preset number of sampling points in the first output image and generate a first height curve; a first sending module, configured to send the first height curve to an active suspension controller, so that the active suspension controller controls the active suspension to act according to the first height curve; The first height module comprises: a first acquisition unit, configured to acquire a preset sampling period and a preset number of sampling points; a first sampling unit, configured to acquire a preset number of sampling points in the first output image as a first sampling point set according to the first-time detection region, the distance between adjacent sampling points in the first sampling point set being the product of the quotient of the preset sampling period and the preset number of sampling points and a first vehicle speed, the first vehicle speed being the vehicle speed at the first time; a first calculation unit, configured to calculate the height of each sampling point in the first sampling point set; a first curve unit, configured to generate a first height curve according to the height of each sampling point in the first sampling point set; The device further comprises: a superposition module, configured to perform weighted superposition on the overlapping region of the first image and the second image to obtain a superimposed image; a third acquisition module, configured to acquire a third image, the third image being a third-time detection region image collected by the camera, the third time being later than the second time by the preset time period; a second output image module, configured to acquire a part of the superimposed image that does not overlap with the third image as a second output image; a second height module, configured to acquire the height of the preset number of sampling points in the second output image and generate a second height curve; a second sending module, configured to send the second height curve to the active suspension controller, so that the active suspension controller controls the active suspension to act according to the second height curve.

6. A vehicle characterized by comprising: The vehicle comprises a camera controller configured to perform the active suspension control method according to any one of claims 1 to 4.

7. A computer storage medium, characterized in that The computer storage medium stores codes, and when the codes are executed, the computer storage device that executes the codes implements the active suspension control method according to any one of claims 1 to 4.

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