Air suspension leveling control method based on binocular camera

Abstract

A binocular camera-based air suspension leveling control method, device, equipment and storage medium, comprising: if it is detected that the vehicle is in a power-off state, collecting the current road surface image through a preset binocular camera and recording the road surface information in the road surface image; if it is detected that the vehicle is in a power-on state, determining whether the average difference between the first heights of multiple preset height sensors is greater than a first preset threshold; if it is determined that the current average difference between the first heights is greater than the first preset threshold, controlling the air suspension leveling according to the recorded road surface information, wherein the controlled air suspension leveling includes axle-controlled height leveling and wheel-controlled height leveling, solving the problem in the related art that when the vehicle is stationary, the air spring slowly leaks, causing the vehicle body to tilt, and when axle leveling is used, the vehicle body is still in an uneven state, and leveling of the vehicle during the stationary process is achieved based on road surface information, so that the vehicle body is in a balanced state.

Description

Technical Field

[0001] The present application relates to the field of vehicle leveling, and specifically to an air suspension leveling control method, device, equipment and computer-readable storage medium based on a binocular camera. Background Art

[0002] With the advancement of automotive technology, the prevalence of air suspension on passenger vehicles has gradually increased. Air suspension-equipped vehicles not only adjust the vehicle height to the driver's needs and can be leveled as the vehicle load changes, significantly improving ride comfort and maneuverability. However, current air suspension systems can cause the vehicle to tilt while stationary due to slow air leakage from the air springs. Even with axle leveling, this can still leave the vehicle uneven. Summary of the Invention

[0003] The present application provides an air suspension leveling control method, device, equipment and computer-readable storage medium based on a binocular camera, which can solve the technical problem in the prior art that when the vehicle is stationary, the air spring slowly leaks air, causing the vehicle body to tilt, and if axle leveling is used, the vehicle body is still in an uneven state.

[0004] In a first aspect, an embodiment of the present application provides an air suspension leveling control method based on a binocular camera, characterized in that the air suspension leveling control method based on a binocular camera includes:

[0005] If it is detected that the vehicle is in a power-off state, the current road image is collected through a preset binocular camera, and the road information in the road image is recorded;

[0006] If it is detected that the vehicle is in a powered-on state, determining whether an average difference between first heights of a plurality of preset height sensors is greater than a first preset threshold;

[0007] If it is determined that the current first height average difference is greater than the first preset threshold, the air suspension is controlled to be leveled according to the recorded road surface information, wherein the road surface information includes a flat road surface and an uneven road surface, and the control of the air suspension leveling includes axle-controlled height leveling and wheel-controlled height leveling.

[0008] In conjunction with the first aspect, in one embodiment, controlling the leveling of the air suspension according to the recorded road surface information includes:

[0009] If the recorded road surface information is a flat road surface, a leveling instruction is sent to the air suspension system;

[0010] enabling the air suspension system to perform wheel-controlled height leveling on the air spring based on the leveling instruction;

[0011] After detecting that the wheel-controlled height leveling is being performed on the air spring, it is determined that the height values ​​currently detected by the plurality of height sensors are less than a preset target value, and the air suspension leveling is completed.

[0012] In conjunction with the first aspect, in one embodiment, controlling the leveling of the air suspension according to the recorded road surface information includes:

[0013] If the recorded road surface information indicates an uneven road surface, a leveling instruction is sent to the air suspension system;

[0014] enabling the air suspension system to perform shaft-controlled height leveling on the air spring based on the leveling instruction;

[0015] After detecting that the air spring is subjected to axis-controlled height leveling, it is determined that the height values ​​currently detected by the plurality of height sensors are less than a preset target value, and the air suspension leveling is completed.

[0016] In conjunction with the first aspect, in one embodiment, after controlling the air suspension to level according to the recorded road surface information if it is determined that the current first average height difference is greater than the first preset threshold, the method further includes:

[0017] If it is detected that the vehicle is in a driving state, determining whether the second height average difference of the plurality of preset height sensors is greater than a second preset threshold;

[0018] If it is determined that the second height average difference is greater than the second preset threshold, identifying road surface information of the vehicle during driving according to a preset binocular camera, wherein the road surface information includes a flat road surface;

[0019] The air suspension is controlled to adjust level according to the road surface information.

[0020] In combination with the first aspect, in one embodiment, controlling the leveling of the air suspension according to the road surface information includes:

[0021] determining whether to control the air suspension to be leveled according to the road surface information;

[0022] If the road surface information is a flat road surface, generating a leveling value according to the second average height difference and the second preset threshold;

[0023] The leveling value is sent to an air suspension system, so that the air suspension system performs wheel-controlled height leveling on the air spring based on the leveling value, thereby controlling the leveling of the air suspension.

[0024] In combination with the first aspect, in one embodiment, the road surface information includes a flat road surface and an uneven road surface; and the identifying the road surface information of the vehicle during driving according to the preset binocular camera includes:

[0025] The preset binocular camera located at the front of the vehicle collects the road image of the current vehicle during its driving process;

[0026] By identifying the road surface image, it is determined whether the road surface image is a flat road surface or an uneven road surface.

[0027] In combination with the first aspect, in one embodiment, determining whether the average difference between the second heights of the plurality of preset height sensors is greater than a second preset threshold includes:

[0028] Get real-time height sensor values ​​detected by multiple preset height sensors;

[0029] Calculating a second average height difference between the real-time height sensor value detected by each of the preset height sensors and the preset height value;

[0030] Determine whether the second height average difference is greater than a second preset threshold.

[0031] In a second aspect, an embodiment of the present application provides an air suspension leveling control device based on a binocular camera, the air suspension leveling control device based on a binocular camera comprising:

[0032] An acquisition module is configured to acquire a current road image through a preset binocular camera and record road information of the road image if it is detected that the vehicle is in a power-off state;

[0033] a determination module, configured to determine whether an average difference in first heights of a plurality of preset height sensors is greater than a first preset threshold value if it is detected that the vehicle is in a powered-on state;

[0034] A control module is configured to control the leveling of the air suspension according to recorded road surface information if it is determined that the current first average height difference is greater than the first preset threshold, wherein the road surface information includes a flat road surface and an uneven road surface, and the control of the air suspension leveling includes axle-controlled height leveling and wheel-controlled height leveling.

[0035] In the third aspect, an embodiment of the present application provides an air suspension leveling control device based on a binocular camera, wherein the air suspension leveling control device based on a binocular camera includes a processor, a memory, and an air suspension leveling control program based on a binocular camera stored on the memory and executable by the processor, wherein when the air suspension leveling control program based on a binocular camera is executed by the processor, the steps of the air suspension leveling control method based on a binocular camera as described above are implemented.

[0036] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which is stored an air suspension leveling control program based on a binocular camera. When the air suspension leveling control program based on a binocular camera is executed by a processor, the steps of the air suspension leveling control method based on a binocular camera as described above are implemented.

[0037] The beneficial effects of the technical solutions provided in the embodiments of the present application include:

[0038] If it is detected that the vehicle is in a power-off state, the current road surface image is collected by a preset binocular camera, and the road surface information of the road surface image is recorded; if it is detected that the vehicle is in a power-on state, it is determined whether the average difference of the first heights of multiple preset height sensors is greater than a first preset threshold value; if it is determined that the current average difference of the first heights is greater than the first preset threshold value, the air suspension is controlled to be leveled according to the recorded road surface information, wherein the road surface information includes flat road surfaces and uneven road surfaces, and the control of air suspension leveling includes axle-controlled height leveling and wheel-controlled height leveling, which solves the problem in the related art that when the vehicle is stationary, the air spring slowly leaks, causing the vehicle body to tilt, and the vehicle body is still in an uneven state even if axle leveling is used, and realizes leveling of the vehicle during stationary process based on road surface information, so that the vehicle body is in a balanced state. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a flow chart of the first embodiment of the air suspension leveling control method based on a binocular camera of the present application;

[0040] Figure 2 This is a flow chart of a second embodiment of the air suspension leveling control method based on a binocular camera of the present application;

[0041] Figure 3 This is a schematic diagram of the functional modules of an embodiment of an air suspension leveling control device based on a binocular camera of the present application;

[0042] Figure 4 This is a schematic diagram of the hardware structure of the binocular camera-based air suspension leveling control device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] First, some technical terms in this application are explained to facilitate those skilled in the art to understand this application.

[0045] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0046] In a first aspect, an embodiment of the present application provides an air suspension leveling control method based on a binocular camera.

[0047] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the air suspension leveling control method based on binocular cameras in this application. Figure 1 As shown in FIG, the air suspension leveling control method based on a binocular camera includes:

[0048] Step S10: If it is detected that the vehicle is in a power-off state, a current road image is captured by a preset binocular camera, and road surface information of the road image is recorded;

[0049] Exemplarily, a vehicle is detected. If the vehicle is detected to be powered off, a pre-installed binocular camera is used to capture a current road image. This pre-installed binocular camera is located on the vehicle and can capture a clear image of the road surface. The pre-installed binocular camera captures the current road image and processes it, including image recognition. For example, image recognition technology is used to identify the captured road image and obtain road surface information from the image, including both smooth and uneven road surfaces.

[0050] Step S20: If it is detected that the vehicle is in a powered-on state, determining whether an average difference in first heights of a plurality of preset height sensors is greater than a first preset threshold;

[0051] Exemplarily, after recording the road surface information, if it is detected that the vehicle is powered on, the height value from the fender flare to the wheel center is detected using height sensors pre-installed on four sides of the vehicle. Based on the height values ​​from the fender flare to the wheel center detected by each of the preset height sensors, a first average height difference value of the current plurality of preset height sensors is calculated. The calculated first average height difference value of the current plurality of preset height sensors is compared with a first preset threshold value. For example, the calculated first average height difference value of the current plurality of preset height sensors is compared with a first preset threshold value of 8 mm to determine whether the calculated first average height difference value of the current plurality of preset height sensors is greater than the first preset threshold value of 8 mm.

[0052] Step S30: If it is determined that the current first height average difference is greater than the first preset threshold, the air suspension is controlled to be leveled according to the recorded road surface information, wherein the road surface information includes a flat road surface and an uneven road surface, and the controlled air suspension leveling includes axle-controlled height leveling and wheel-controlled height leveling.

[0053] Exemplarily, if the calculated average difference in first heights of the multiple preset height sensors is determined to be greater than a first preset threshold of 8 mm, the air suspension is controlled for leveling based on the recorded road surface information. The road surface information includes both a flat road surface and an uneven road surface, and the air suspension leveling includes both axle-controlled leveling and wheel-controlled leveling. For example, when the road surface information indicates a flat road surface, the air spring is controlled for leveling by the wheel; or, when the road surface information indicates an uneven road surface, the air spring is controlled for leveling by the axle.

[0054] Specifically, controlling the leveling of the air suspension according to the recorded road surface information includes: if the recorded road surface information is a flat road surface, sending a leveling instruction to the air suspension system; causing the air suspension system to perform wheel-controlled height leveling on the air spring based on the leveling instruction; after detecting that the wheel-controlled height leveling of the air spring is performed, the height value detected by the multiple height sensors is less than the preset target value, thereby completing the leveling of the air suspension.

[0055] Exemplarily, if the recorded road surface information indicates a flat surface, a leveling command is sent to the air suspension system, carrying a leveling value. For example, if the current first height average difference is greater than a first preset threshold, the first preset threshold is subtracted from the current first height average difference to obtain the leveling value. Based on this leveling value, the air suspension system performs wheel-controlled height leveling on the air springs to control air suspension leveling. When wheel-controlled height leveling is detected, the air springs are leveled so that the current height difference detected by the multiple height sensors is less than a preset target value, completing air suspension leveling.

[0056] For example, when the vehicle is next powered on, if the air suspension system detects that the first height difference between multiple height sensors is greater than a first preset threshold of 8mm, it will adjust the vehicle's height based on the recorded road surface smoothness signal. If the recorded road surface signal indicates a smooth road surface, the air suspension system controls the air springs corresponding to the height sensors to inflate and deflate, performing wheel-controlled height leveling, and adjusting the height sensor signal value to within ±5mm of the preset target value. In other words, all height sensor values ​​are adjusted to within ±5mm of the preset target value.

[0057] Specifically, controlling the leveling of the air suspension according to the recorded road surface information includes: if the recorded road surface information is an uneven road surface, sending a leveling instruction to the air suspension system; causing the air suspension system to perform axis-controlled height leveling on the air spring based on the leveling instruction; after detecting that the axis-controlled height leveling of the air spring is performed, the height values ​​detected by the multiple height sensors are less than the preset target values, thereby completing the leveling of the air suspension.

[0058] Exemplarily, if the recorded road surface information indicates an uneven road surface, a leveling command is sent to the air suspension system, carrying a leveling value. For example, if the current first height average difference is greater than a first preset threshold, the first preset threshold is subtracted from the current first height average difference to obtain the leveling value. Based on this leveling value, the air suspension system performs axis-controlled height leveling on the air springs to control air suspension leveling. When axis-controlled height leveling is detected, the air springs are leveled so that the height values ​​detected by the multiple height sensors are less than a preset target value, completing air suspension leveling.

[0059] For example, if the recorded road surface signal indicates an uneven surface, the air suspension system controls the air spring corresponding to the height sensor to inflate and deflate, performing axle height control leveling. This adjusts the height sensor signal value to a level within ±5mm of the preset target value. This means adjusting the height sensor values ​​on the front or rear axles to a level within 5mm of the preset target value. For example, if the left front height sensor has a height difference of +20mm and the right front height sensor has a height difference of -10mm, the average height difference is (+20mm - 10mm) / 2 = 5mm.

[0060] In this embodiment, if it is detected that the vehicle is in a power-off state, the current road surface image is collected by a preset binocular camera, and the road surface information of the road surface image is recorded; if it is detected that the vehicle is in a power-on state, it is determined whether the average difference of the first heights of the current multiple preset height sensors is greater than the first preset threshold value; if it is determined that the current average difference of the first heights is greater than the first preset threshold value, the air suspension is controlled to be leveled according to the recorded road surface information, wherein the road surface information includes flat road surfaces and uneven road surfaces, and the control of air suspension leveling includes axle-controlled height leveling and wheel-controlled height leveling, which solves the problem in the related art that when the vehicle is stationary, the air spring slowly leaks air, causing the vehicle body to tilt, and the vehicle body is still in an uneven state when axle leveling is used, and realizes leveling of the vehicle during stationary process based on road surface information, so that the vehicle body is in a balanced state.

[0061] In one embodiment, referring to Figure 2 , Figure 2 This is a flow chart of the second embodiment of the air suspension leveling control method based on binocular cameras in this application. Figure 2As shown in FIG, the air suspension leveling control method based on a binocular camera includes:

[0062] Step S40: If it is detected that the vehicle is in a driving state, determining whether the second height average difference of the plurality of preset height sensors is greater than a second preset threshold;

[0063] Exemplarily, when a vehicle is detected to be in motion, it is determined whether a second average height difference of a plurality of preset height sensors of the vehicle is greater than a second preset threshold value. Height sensors are pre-installed at the left front, right front, left rear, and right rear of the vehicle, respectively, for detecting the height from the fender flare to the wheel center of the vehicle. For example, real-time height sensor values ​​detected by the plurality of preset height sensors are obtained, a second average height difference between the real-time height sensor values ​​of each preset height sensor is calculated, and the calculated second average height difference is compared with the second preset threshold value to determine whether the calculated second average height difference is greater than the second preset threshold value.

[0064] Specifically, determining whether the second height average difference of multiple preset height sensors is greater than a second preset threshold includes: obtaining real-time height sensor values ​​detected by multiple preset height sensors; calculating the second height average difference between the real-time height sensor values ​​detected by each of the preset height sensors and the preset height values; and determining whether the second height average difference is greater than a second preset threshold.

[0065] Exemplarily, real-time height sensor values ​​detected by multiple preset height sensors are obtained, a second height average difference between the real-time height sensor value and the preset height value is calculated, the obtained second height average difference is compared with a second preset threshold, and it is determined whether the height average difference is greater than the second preset threshold.

[0066] Step S50: If it is determined that the second height average difference is greater than the second preset threshold, identifying road surface information of the vehicle during driving according to a preset binocular camera, wherein the road surface information includes a flat road surface;

[0067] Exemplarily, if the second average height difference is determined to be greater than a second preset threshold, the preset binocular camera may be used to identify road surface information during vehicle travel, where the road surface information may include both flat and uneven road surfaces. For example, the preset binocular camera may capture an image of the road surface during vehicle travel and compare the image with a target image. If the image matches the target image, the road surface is flat; if the image does not match the target image, the road surface is uneven.

[0068] Specifically, the road surface information includes a flat road surface and an uneven road surface; the identifying of the road surface information of the vehicle during driving based on a preset binocular camera includes: collecting a road surface image of the current vehicle during driving through a preset binocular camera located at the front of the vehicle; and determining whether the road surface image is a flat road surface or an uneven road surface by identifying the road surface image.

[0069] Exemplarily, a preset binocular camera located at the front of the vehicle is used to capture images of the road surface during the current vehicle's driving process, and image recognition is performed on the road surface image to determine whether the road surface image is a flat road surface or an uneven road surface. For example, the captured road surface image is recognized by a preset image recognition model, and the preset image recognition model is pre-trained using flat road surface images and uneven road surface images.

[0070] Step S60: Controlling the air suspension to adjust the level according to the road surface information.

[0071] Exemplarily, if the road surface information is a flat road surface, a preset leveling value is obtained and sent to the air suspension system, so that the air suspension system performs wheel control height leveling on the air spring based on the preset leveling value to control the leveling of the air suspension.

[0072] Specifically, controlling the leveling of the air suspension according to the road surface information includes: determining whether to control the leveling of the air suspension according to the road surface information; if the road surface information is a flat road surface, generating a leveling value according to the second average height difference and the second preset threshold; sending the leveling value to the air suspension system, so that the air suspension system performs wheel-controlled height leveling on the air spring based on the leveling value to control the leveling of the air suspension.

[0073] Exemplarily, if the road surface information indicates a flat road surface, the air suspension is controlled for leveling; if the road surface information indicates an uneven road surface, the air suspension is not controlled for leveling. A leveling value is generated based on the second average height difference and a second preset threshold. For example, the second preset threshold is subtracted from the second average height difference to obtain the leveling value. The leveling value is transmitted to the air suspension system, which then controls the air springs for wheel-controlled height leveling based on the leveling value to control air suspension leveling. For example, the air suspension system controls the air springs corresponding to the height sensor to inflate and deflate for wheel-controlled height leveling, thereby adjusting the height sensor signal value to within a preset target value.

[0074] In this embodiment, if it is detected that the vehicle is in a driving state, it is determined whether the second height average difference of multiple preset height sensors is greater than a second preset threshold value; if it is determined that the second height average difference is greater than the second preset threshold value, the road surface information of the vehicle during driving is identified based on the preset binocular camera, and the road surface information includes a flat road surface; based on the road surface information, the air suspension is controlled to be leveled, thereby solving the technical problem in the prior art that the dynamic leveling of the air suspension height adjustment system currently requires time to judge the height difference, and the vehicle body is in an unstable state during this period, resulting in poor driving comfort, thereby achieving faster leveling and improving the comfort of the entire vehicle.

[0075] In a second aspect, an embodiment of the present application also provides an air suspension leveling control device based on a binocular camera.

[0076] In one embodiment, referring to Figure 3 , Figure 3 This is a functional module diagram of an embodiment of an air suspension leveling control device based on a binocular camera in this application. Figure 3 As shown in FIG, the air suspension leveling control device based on a binocular camera includes:

[0077] The acquisition module 10 is configured to acquire a current road image through a preset binocular camera and record road information of the road image if it is detected that the vehicle is in a power-off state;

[0078] a determination module 20 for determining whether an average difference in first heights of a plurality of preset height sensors is greater than a first preset threshold value if it is detected that the vehicle is in a powered-on state;

[0079] The control module 30 is configured to control the leveling of the air suspension according to the recorded road surface information if it is determined that the current first average height difference is greater than the first preset threshold, wherein the road surface information includes a flat road surface and an uneven road surface, and the control of the air suspension leveling includes axle-controlled height leveling and wheel-controlled height leveling.

[0080] Furthermore, in one embodiment, the control module 30 is configured to:

[0081] If the recorded road surface information is a flat road surface, a leveling instruction is sent to the air suspension system;

[0082] enabling the air suspension system to perform wheel-controlled height leveling on the air spring based on the leveling instruction;

[0083] After detecting that the wheel-controlled height leveling is being performed on the air spring, it is determined that the height values ​​currently detected by the plurality of height sensors are less than a preset target value, and the air suspension leveling is completed.

[0084] Furthermore, in one embodiment, the control module 30 is configured to:

[0085] If the recorded road surface information indicates an uneven road surface, a leveling instruction is sent to the air suspension system;

[0086] enabling the air suspension system to perform shaft-controlled height leveling on the air spring based on the leveling instruction;

[0087] After detecting that the air spring is subjected to axis-controlled height leveling, it is determined that the height values ​​currently detected by the plurality of height sensors are less than a preset target value, and the air suspension leveling is completed.

[0088] Furthermore, in one embodiment, the binocular camera-based air suspension leveling control device further includes a new module for:

[0089] If it is detected that the vehicle is in a driving state, determining whether the second height average difference of the plurality of preset height sensors is greater than a second preset threshold;

[0090] If it is determined that the second height average difference is greater than the second preset threshold, identifying road surface information of the vehicle during driving according to a preset binocular camera, wherein the road surface information includes a flat road surface;

[0091] The air suspension is controlled to adjust level according to the road surface information.

[0092] Furthermore, in one embodiment, the binocular camera-based air suspension leveling control device further includes a new module for:

[0093] determining whether to control the air suspension to be leveled according to the road surface information;

[0094] If the road surface information is a flat road surface, generating a leveling value according to the second average height difference and the second preset threshold;

[0095] The leveling value is sent to an air suspension system, so that the air suspension system performs wheel-controlled height leveling on the air spring based on the leveling value, thereby controlling the leveling of the air suspension.

[0096] Furthermore, in one embodiment, the binocular camera-based air suspension leveling control device further includes a new module for:

[0097] The preset binocular camera located at the front of the vehicle collects the road image of the current vehicle during its driving process;

[0098] By identifying the road surface image, it is determined whether the road surface image is a flat road surface or an uneven road surface.

[0099] Furthermore, in one embodiment, the binocular camera-based air suspension leveling control device further includes a new module for:

[0100] Get real-time height sensor values ​​detected by multiple preset height sensors;

[0101] Calculating a second average height difference between the real-time height sensor value detected by each of the preset height sensors and the preset height value;

[0102] Determine whether the second height average difference is greater than a second preset threshold.

[0103] Among them, the functional implementation of each module in the above-mentioned air suspension leveling control device based on binocular camera corresponds to the various steps in the above-mentioned embodiment of the air suspension leveling control method based on binocular camera, and its functions and implementation processes will not be repeated here one by one.

[0104] On the third aspect, an embodiment of the present application provides an air suspension leveling control device based on a binocular camera. The air suspension leveling control device based on a binocular camera can be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0105] Reference Figure 4 , Figure 4 This is a schematic diagram of the hardware structure of the binocular camera-based air suspension leveling control device involved in the embodiment of the present application. In the embodiment of the present application, the binocular camera-based air suspension leveling control device may include a processor, a memory, a communication interface, and a communication bus.

[0106] The communication bus may be of any type and is used to interconnect the processor, memory, and communication interface.

[0107] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces, used to interconnect components within the binocular camera-based air suspension leveling control device, as well as interfaces used to interconnect the binocular camera-based air suspension leveling control device with other devices (such as other computing devices or user devices). Physical interfaces can include Ethernet, fiber optic, and ATM interfaces; user devices can include displays, keyboards, and other devices.

[0108] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0109] The processor may be a general-purpose processor that can call a binocular camera-based air suspension leveling control program stored in a memory and execute the binocular camera-based air suspension leveling control method provided in the embodiments of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the binocular camera-based air suspension leveling control program is called can be referred to in the various embodiments of the binocular camera-based air suspension leveling control method of the present application, and will not be further described here.

[0110] Those skilled in the art will understand that Figure 4 The hardware structure shown in the figure does not constitute a limitation to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0111] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0112] The computer-readable storage medium of the present application stores an air suspension leveling control program based on a binocular camera, wherein when the air suspension leveling control program based on a binocular camera is executed by a processor, the steps of the air suspension leveling control method based on a binocular camera as described above are implemented.

[0113] Among them, the method implemented when the binocular camera-based air suspension leveling control program is executed can refer to the various embodiments of the binocular camera-based air suspension leveling control method of this application, and will not be repeated here.

[0114] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0115] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit the "first", "second" and "third" to different types.

[0116] In the description of the embodiments of this application, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0117] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0118] In some processes described in the embodiments of the present application, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed in sequence or in parallel, and these operations or steps may be combined.

[0119] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of the present application.

[0120] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An air suspension leveling control method based on a binocular camera, characterized in that: The air suspension leveling control method based on a binocular camera includes: If it is detected that the vehicle is in a power-off state, the current road image is collected through a preset binocular camera, and the road information in the road image is recorded; If it is detected that the vehicle is in a powered-on state, determining whether an average difference between first heights of a plurality of preset height sensors is greater than a first preset threshold; If it is determined that the current first height average difference is greater than the first preset threshold, the air suspension is controlled to be leveled according to the recorded road surface information, wherein the road surface information includes a flat road surface and an uneven road surface, and the control of the air suspension leveling includes axle-controlled height leveling and wheel-controlled height leveling.

2. The air suspension leveling control method based on a binocular camera according to claim 1, characterized in that: The controlling of the air suspension leveling according to the recorded road surface information includes: If the recorded road surface information is a flat road surface, a leveling instruction is sent to the air suspension system; enabling the air suspension system to perform wheel-controlled height leveling on the air spring based on the leveling instruction; After detecting that the wheel-controlled height leveling is being performed on the air spring, it is determined that the height values ​​currently detected by the plurality of height sensors are less than a preset target value, and the air suspension leveling is completed.

3. The air suspension leveling control method based on a binocular camera according to claim 1, characterized in that: The controlling of the air suspension leveling according to the recorded road surface information includes: If the recorded road surface information indicates an uneven road surface, a leveling instruction is sent to the air suspension system; enabling the air suspension system to perform shaft-controlled height leveling on the air spring based on the leveling instruction; After detecting that the air spring is subjected to axis-controlled height leveling, it is determined that the height values ​​currently detected by the plurality of height sensors are less than a preset target value, and the air suspension leveling is completed.

4. The air suspension leveling control method based on a binocular camera according to claim 1, characterized in that: If it is determined that the current first height average difference is greater than the first preset threshold, after controlling the air suspension to be leveled according to the recorded road surface information, the method further includes: If it is detected that the vehicle is in a driving state, determining whether the second height average difference of the plurality of preset height sensors is greater than a second preset threshold; If it is determined that the second height average difference is greater than the second preset threshold, identifying road surface information of the vehicle during driving according to a preset binocular camera, wherein the road surface information includes a flat road surface; The air suspension is controlled to adjust level according to the road surface information.

5. The air suspension leveling control method based on a binocular camera according to claim 4, characterized in that: The controlling the leveling of the air suspension according to the road surface information includes: determining whether to control the air suspension to be leveled according to the road surface information; If the road surface information is a flat road surface, generating a leveling value according to the second average height difference and the second preset threshold; The leveling value is sent to an air suspension system, so that the air suspension system performs wheel-controlled height leveling on the air spring based on the leveling value, thereby controlling the leveling of the air suspension.

6. The air suspension leveling control method based on a binocular camera according to claim 4, characterized in that: The road surface information includes a flat road surface and an uneven road surface; the road surface information of the vehicle during driving is identified by the preset binocular camera, including: The preset binocular camera located at the front of the vehicle collects the road image of the current vehicle during its driving process; By identifying the road surface image, it is determined whether the road surface image is a flat road surface or an uneven road surface.

7. The air suspension leveling control method based on a binocular camera according to claim 4, characterized in that: The determining whether the second height average difference of the plurality of preset height sensors is greater than a second preset threshold comprises: Get real-time height sensor values ​​detected by multiple preset height sensors; Calculating a second average height difference between the real-time height sensor value detected by each of the preset height sensors and the preset height value; Determine whether the second height average difference is greater than a second preset threshold.

8. An air suspension leveling control device based on a binocular camera, characterized in that: The air suspension leveling control device based on a binocular camera includes: An acquisition module is configured to acquire a current road image through a preset binocular camera and record road information of the road image if it is detected that the vehicle is in a power-off state; a determination module, configured to determine whether an average difference in first heights of a plurality of preset height sensors is greater than a first preset threshold value if it is detected that the vehicle is in a powered-on state; A control module is configured to control the leveling of the air suspension according to recorded road surface information if it is determined that the current first average height difference is greater than the first preset threshold, wherein the road surface information includes a flat road surface and an uneven road surface, and the control of the air suspension leveling includes axle-controlled height leveling and wheel-controlled height leveling.

9. An air suspension leveling control device based on a binocular camera, characterized in that: The binocular camera-based air suspension leveling control device includes a processor, a memory, and a binocular camera-based air suspension leveling control program stored in the memory and executable by the processor, wherein when the binocular camera-based air suspension leveling control program is executed by the processor, the steps of the binocular camera-based air suspension leveling control method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores an air suspension leveling control program based on a binocular camera, wherein when the air suspension leveling control program based on a binocular camera is executed by a processor, the steps of the air suspension leveling control method based on a binocular camera as described in any one of claims 1 to 7 are implemented.

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