Small vehicle active suspension system and method based on front ground sensing

Abstract

The invention discloses a small vehicle active suspension system and method based on front ground sensing, and the system comprises a sensing module which is used for obtaining the road condition information in front of wheels; the control module is used for calculating a first vehicle height adjusting parameter according to the road condition information in front of the wheels, the distance between the sensing module and each wheel and the real-time speed information of the vehicle, forming a first control instruction according to the first vehicle height adjusting parameter, and sending the first control instruction to the active anti-vibration element of which the height needs to be adjusted; and the active shock absorption element is used for carrying out high-frequency height adjustment according to the first control instruction given by the control module so as to carry out active shock absorption. According to the anti-vibration system and method, the sensing module is arranged in front of the front wheels on the two sides to sense the road condition information, active anti-vibration of the vehicle is achieved based on the obtained sensing information, the intelligent control efficiency of the vehicle is improved, the smoothness of the vehicle is improved, and the user experience is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicles, and in particular relates to a small vehicle active shock absorbing system and method based on front ground sensing. Background Art

[0002] With the development of society, users have higher and higher requirements for vehicle comfort. Most existing vehicles are equipped with shock absorption systems, which mainly obtain the vibration frequency of the vehicle and then adjust the corresponding elastic elements and damping elements to achieve the purpose of shock absorption. However, the shock absorption system only performs shock absorption when the vehicle vibrates, and the shock absorption efficiency is low. Therefore, how to achieve active shock absorption of the vehicle before vibration based on the perceived road profile and elevation change information has become an increasingly urgent technical problem to be solved. Summary of the invention

[0003] In view of the above problems, the present invention provides a small vehicle active shock absorption system and method with front ground sensing, which increases the smoothness of the vehicle and improves the user experience.

[0004] The embodiment of the present invention introduces a small vehicle active shock absorption system based on front ground sensing, including:

[0005] A perception module, used to obtain road condition information in front of the wheels;

[0006] A control module, configured to calculate a first vehicle height adjustment parameter according to road condition information in front of the wheel, a distance between the sensing module and each wheel, and real-time vehicle speed information, and to form a first control instruction according to the first vehicle height adjustment parameter and send the first control instruction to an active shock absorbing element whose height needs to be adjusted;

[0007] The active shock absorbing element is used to perform high-frequency height adjustment according to the first control instruction given by the control module to perform active shock absorbing.

[0008] Furthermore, the perception module includes a road condition perception element arranged in front of the front wheels of the vehicle, wherein:

[0009] The road condition sensing element is used to obtain the road surface contour information and road surface elevation change information in front of the vehicle, and obtain the road condition information in front of the wheel based on the road surface contour information and road surface elevation change information.

[0010] Furthermore, the road condition sensing element includes a laser sensor, an elevation sensor and / or a lightweight front small wheel.

[0011] Furthermore, the control module includes:

[0012] A calculation unit, used to calculate a first vehicle height adjustment parameter according to road condition information in front of the wheel, real-time vehicle speed information, and a distance between the sensing module and each wheel;

[0013] a generating unit, configured to form a first control instruction according to the calculated first vehicle height adjustment parameter;

[0014] The control unit is used to adjust the height of at least one active shock absorbing element of the vehicle based on a first control instruction.

[0015] Furthermore, the road condition sensing element includes a lightweight front small wheel, and the lightweight front small wheel is also used to sense the vibration information of the wheel in real time;

[0016] The control module is also used to calculate a second vehicle height adjustment parameter according to the vibration information of the wheel, the distance between the lightweight front small wheel and each wheel, and the real-time speed information of the vehicle, and to form a second control instruction according to the second vehicle height adjustment parameter, and send it to the active shock absorbing element whose height needs to be adjusted;

[0017] The active shock absorbing element is also used to perform high-frequency height adjustment according to a second control instruction given by the control module to perform secondary active shock absorbing.

[0018] Furthermore, the active shock absorbing element is arranged on each wheel of the vehicle, and the active shock absorbing element includes a damping element and an elastic element.

[0019] The embodiment of the present invention also introduces a small vehicle active shock avoidance method based on front ground sensing, including:

[0020] Obtain the road condition information in front of the wheel;

[0021] Calculating a first vehicle height adjustment parameter according to the road condition information in front of the wheel, the distance between the sensing module and each wheel, and the real-time speed information of the vehicle, and forming a first control instruction according to the first vehicle height adjustment parameter, and sending it to the active shock absorbing element whose height needs to be adjusted;

[0022] The active shock absorbing element performs high-frequency height adjustment according to the first control command to perform active shock absorbing.

[0023] Furthermore, obtaining the road condition information in front of the wheel includes:

[0024] The road surface profile information and road surface elevation change information in front of the vehicle are obtained, and the road condition information in front of the wheel is obtained according to the road surface profile information and road surface elevation change information.

[0025] Furthermore, the first vehicle height adjustment parameter includes a first adjustment height and a first adjustment preparation time.

[0026] Furthermore, it also includes:

[0027] The road condition sensing element senses the vibration information of the wheels in real time;

[0028] Calculating a second vehicle height adjustment parameter according to the vibration information of the wheel, the distance between the lightweight front small wheel and each wheel, and the real-time speed information of the vehicle, and forming a second control instruction according to the second vehicle height adjustment parameter, and sending it to the active shock absorbing element whose height needs to be adjusted;

[0029] The active shock absorbing element performs high-frequency height adjustment according to the second control command given by the control module to perform secondary active shock absorbing.

[0030] The embodiment of the present invention also introduces a computer-readable storage medium on which a computer program is stored, characterized in that the program is executed by a processor to implement the above-mentioned active shock avoidance method for a small vehicle based on front ground perception.

[0031] The active shock absorption system of the present invention senses road condition information by setting up a sensing module in front of the front wheels on both sides, and realizes active shock absorption of the vehicle based on the acquired sensing information, thereby improving the intelligent control efficiency of the vehicle, increasing the smoothness of the vehicle, and improving the user experience.

[0032] In addition, the vehicle can be more accurately shock-absorbed through vibration information, thereby achieving double shock absorption for the vehicle, improving the vehicle's active shock absorption efficiency and making the shock absorption effect better.

[0033] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of the structure of an active shock absorbing system for a small vehicle based on front ground sensing in an embodiment of the present invention is shown;

[0036] Figure 2 A bottom plan view of a vehicle in an embodiment of the present invention is shown;

[0037] Figure 3A left view of a vehicle equipped with a laser sensor in an embodiment of the present invention is shown;

[0038] Figure 4a A left view of a vehicle equipped with a lightweight front small wheel in an embodiment of the present invention is shown;

[0039] Figure 4b A structural diagram of a lightweight front small wheel in an embodiment of the present invention is shown;

[0040] Figure 5 Another schematic structural diagram of a small vehicle active shock absorbing system based on front ground sensing in an embodiment of the present invention is shown;

[0041] Figure 6 A schematic flow chart of a method for active shock avoidance of a small vehicle based on front ground sensing in an embodiment of the present invention is shown;

[0042] Figure 7 A schematic diagram of the structure of a computer-readable storage medium in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 the present invention.

[0044] like Figure 1 As shown, an embodiment of the present invention discloses an active shock absorbing system for a small vehicle based on front ground sensing, the system includes a sensing module, a control module and an active shock absorbing element, wherein the sensing module is used to obtain the road condition information in front of the wheel; the control module is used to calculate the first vehicle height adjustment parameter according to the road condition information in front of the wheel, the distance between the sensing module and each wheel, and the real-time speed information of the vehicle, and to form a first control instruction according to the first vehicle height adjustment parameter, and send it to the active shock absorbing element whose height needs to be adjusted; the active shock absorbing element is used to perform high-frequency height adjustment according to the first control instruction given by the control module, so as to perform active shock absorbing. By setting a sensing module in front of the front wheels on both sides of the vehicle to sense the road condition information, the active shock absorbing of the vehicle is realized based on the acquired sensing information, the intelligent control efficiency of the vehicle is improved, the smoothness of the vehicle is increased, and the user experience is improved.

[0045] In the embodiment of the present invention, the vehicle is traveling on the road, and the road ahead of the vehicle is full of uncertainties, such as whether the road ahead of the vehicle has an upward or downward trend, whether the road is flat, whether there are potholes, slopes, small debris, etc., so the perception module needs to perceive the road condition information, such as Figure 2 As shown, the perception module is arranged in front of the front wheels of the vehicle, and the perception module includes a road condition perception element, wherein the road condition perception element is used to obtain road surface contour information and road surface elevation change information, and obtain road condition information in front of the wheel based on the road surface contour information and road surface elevation change information; the road condition perception element includes a laser sensor, an elevation sensor and / or a lightweight front small wheel, but is not limited to this, and other sensors that can obtain road condition information are also applicable to the present invention.

[0046] Furthermore, the laser sensor, elevation sensor or lightweight front wheel are all arranged in front of the front wheel of the vehicle. Figure 3 The left view of a vehicle shown in the figure has a laser sensor disposed in front of the vehicle. The laser sensor emits laser pulses and receives the reflected light beam. The distance to the target object is measured by calculating the round-trip time of the light pulse, thereby constructing a three-dimensional image of the environment ahead. The laser sensor can effectively obtain the road contour, identify large terrain changes such as potholes, steps, obstacles, etc., and predict the road condition at a long distance ahead when the line of sight is clear, thereby improving the vehicle's shock absorption efficiency. The elevation sensor is also disposed in front of the front wheel of the vehicle (not shown in the figure), and is mainly used to measure the height change relative to a certain reference point. It can be an absolute elevation (relative to sea level) or a relative elevation (such as the height of the vehicle body relative to the road surface). The elevation sensor can monitor the rising or falling trend of the road ahead of the vehicle, thereby effectively avoiding the vehicle from violent ups and downs during driving. Furthermore, as Figure 4a A left view of a vehicle with a lightweight front wheel at the front of the vehicle is shown. The structure of the lightweight front wheel is as shown in FIG. Figure 4b As shown, the lightweight front wheel can directly contact the ground or be very close to the ground, and sense the subtle structure and unevenness of the road surface through physical means, providing direct feedback on the actual height changes, hardness and possible obstacles of the road ahead, and providing more objective feedback on road conditions. Therefore, the road profile information and road elevation change information obtained by the laser sensor, elevation sensor or lightweight front wheel are integrated to obtain the road condition information in front of the wheel and send it to the control module. By setting up a perception module in front of both sides of the front wheel, the road condition information obtained is more accurate.

[0047] In the embodiment of the present invention, Figure 5As shown, the control module includes a calculation unit, a generation unit and a control unit, wherein the control module is the central control element of the system. The calculation unit is used to receive the road condition information sent by the road condition sensing element, and calculate the first vehicle height adjustment parameter according to the road condition information in front of the wheel, the distance between the sensing module and each wheel, and the real-time speed information of the vehicle; wherein the distance between the sensing module and each wheel is a configuration parameter in the control module, and the real-time speed information of the vehicle is obtained in real time by the control module through the vehicle speed sensor. The generation unit is used to form a first control instruction according to the calculated first vehicle height adjustment parameter; the control unit is used to adjust the height of at least one active shock absorbing element of the vehicle based on the first control instruction. Specifically, when the calculation unit calculates the first height adjustment parameter, the first vehicle height adjustment parameter includes a first adjustment height and a first adjustment preparation time, wherein the first adjustment height satisfies:

[0048] H adj =K1·v+K2·Kroad+C

[0049] Among them, v is the vehicle speed in m / s (meters per second), the expected road roughness coefficient Kroad (quantified according to the road condition type), K1 and K2 are pre-adjusted coefficients according to different vehicle models and suspension types, which are used to balance the impact of speed and road conditions on height adjustment, and C is a constant term. Furthermore, the road condition sensing element is placed in front of the front wheel, so the preparation time for active adjustment is the time it takes for the wheel to travel to the position of the road condition sensing element. The distance between the road condition sensing element and the wheel needs to be divided by the vehicle speed, that is, it satisfies:

[0050] First adjustment preparation time = D / V

[0051] Where D is the distance between the sensing module and each wheel in meters, and V is the real-time speed of the vehicle in meters per second.

[0052] The model of the first vehicle height adjustment parameter comprehensively considers factors such as time, real-time speed and road surface smoothness, providing the vehicle with all-round, multi-level information on the road conditions ahead, enabling the active suspension system to more accurately predict and adapt to various road conditions, improving driving safety and ride comfort.

[0053] In the embodiment of the present invention, the lightweight front wheel also collects vibration information, and can judge the unevenness of the road surface, the tire bounce or the special obstacles encountered by the wheel (such as pebbles, the edge of a manhole cover, etc.) by analyzing the vibration frequency and amplitude, so as to meet the needs of the vehicle to adaptively perform secondary shock absorption adjustment. Preferably, a vibration sensor is integrated on the lightweight front wheel. The road condition sensing element includes a lightweight front wheel, and the lightweight front wheel is also used to sense the vibration information of the wheel in real time; the control module is also used to calculate the second vehicle height adjustment parameter according to the vibration information of the wheel, the distance between the lightweight front wheel and each wheel, and the real-time speed information of the vehicle, and to form a second control instruction according to the second vehicle height adjustment parameter, and send it to the active shock absorption element whose height needs to be adjusted; the active shock absorption element is also used to perform high-frequency height adjustment according to the second control instruction given by the control module to perform secondary active shock absorption. That is, the calculation unit of the control unit is also used to receive the vibration information of the wheel, and calculate the second vehicle height adjustment parameter according to the vibration information of the wheel, the distance between the lightweight front small wheel and each wheel, and the real-time speed information of the vehicle; wherein, the distance between the lightweight front small wheel and each wheel is a configuration parameter in the control module, and the real-time speed information of the vehicle is obtained in real time by the control module through the vehicle speed sensor. The generation unit is also used to form a second control instruction according to the calculated second vehicle height adjustment parameter; the control unit is also used to adjust the height of at least one active shock absorbing element of the vehicle based on the second control instruction.

[0054] Specifically, the second vehicle height adjustment parameter includes a second adjustment height and a second adjustment preparation time, wherein the second adjustment height satisfies:

[0055] H 实时 =H base +k1·A+k2·f 2

[0056] Among them, H base is the base height of the active shock absorber, k1 and k2 are adjustment coefficients, A is the vibration amplitude, and f is the vibration frequency.

[0057] Second adjustment preparation time = D1 / V

[0058] Among them, D1 is the distance between the lightweight front small wheel and each wheel, in meters, and V is the real-time speed of the vehicle, in meters per second.

[0059] Vibration information can be used to more accurately absorb shock on the vehicle, and then the vehicle can be doubly absorb shock by collecting perception information, which improves the vehicle's intelligent control efficiency, increases the vehicle's smoothness, and improves the user experience.

[0060] like Figure 2As shown, the active shock absorbing element is arranged on each wheel of the vehicle, including a damping element and an elastic element. The damping element includes a hydraulic rod, and the elastic element includes an active adjustment spring, but is not limited thereto. The damping element and the elastic element are not limited thereto, and other elements capable of adjusting the height of the vehicle are also applicable to the present invention.

[0061] like Figure 6 As shown, an embodiment of the present invention also introduces a shock absorption method for a small vehicle active shock absorption system based on the above-mentioned front ground sensing, the method comprising, first, obtaining road condition information in front of the wheel; then calculating a first vehicle height adjustment parameter according to the road condition information in front of the wheel, the distance between the sensing module and each wheel, and the real-time speed information of the vehicle, and forming a first control instruction according to the first vehicle height adjustment parameter, and sending it to the active shock absorption element whose height needs to be adjusted; finally, the active shock absorption element performs high-frequency height adjustment according to the first control instruction given by the control module to perform active shock absorption.

[0062] In the embodiment of the present invention, obtaining the road condition information in front of the wheel includes:

[0063] Obtaining road profile information and road elevation change information in front of the vehicle, and obtaining road condition information in front of the wheel based on the road profile information and road elevation change information;

[0064] In the embodiment of the present invention, the first vehicle height adjustment parameter includes a first adjustment height and a first adjustment preparation time.

[0065] In the embodiment of the present invention, the road condition sensing element senses the vibration information of the wheel in real time;

[0066] Calculating a second vehicle height adjustment parameter according to the vibration information of the wheel, the distance between the lightweight front small wheel and each wheel, and the real-time speed information of the vehicle, and forming a second control instruction according to the second vehicle height adjustment parameter, and sending it to the active shock absorbing element whose height needs to be adjusted;

[0067] The active shock absorbing element performs high-frequency height adjustment according to the second control command given by the control module to perform secondary active shock absorbing.

[0068] The above system provides the vehicle with all-round, multi-level information on road conditions ahead, enabling the active suspension system to more accurately predict and adapt to various road conditions, improving driving safety and ride comfort.

[0069] like Figure 7As shown, the embodiment of the present invention also introduces a computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor to implement the small vehicle active shock absorption method based on front ground sensing as described above. By setting a sensing module on the front wheel to sense road condition information and wheel tire vibration information, the vehicle's active shock absorption is implemented based on the acquired sensing information, thereby improving the vehicle's intelligent control efficiency, increasing the vehicle's comfort, and improving the user experience.

[0070] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A small vehicle active shock absorption system based on front ground sensing, characterized in that: include, A perception module, used to obtain road condition information in front of the wheels; A control module, configured to calculate a first vehicle height adjustment parameter according to road condition information in front of the wheel, a distance between the sensing module and each wheel, and real-time vehicle speed information, and to form a first control instruction according to the first vehicle height adjustment parameter and send the first control instruction to an active shock absorbing element whose height needs to be adjusted; The active shock absorbing element is used to perform high-frequency height adjustment according to the first control instruction given by the control module to perform active shock absorbing.

2. The small vehicle active shock absorption system based on front ground sensing according to claim 1 is characterized in that: The perception module includes a road condition perception element arranged in front of the front wheels of the vehicle, wherein: The road condition sensing element is used to obtain the road surface contour information and road surface elevation change information in front of the vehicle, and obtain the road condition information in front of the wheel based on the road surface contour information and road surface elevation change information.

3. The small vehicle active shock absorption system based on front ground sensing according to claim 2 is characterized in that: The road condition sensing element includes a laser sensor, an elevation sensor and / or a lightweight front wheel.

4. The small vehicle active shock absorption system based on front ground sensing according to claim 3 is characterized in that: The control module comprises: A calculation unit, used to calculate a first vehicle height adjustment parameter according to road condition information in front of the wheel, real-time vehicle speed information, and a distance between the sensing module and each wheel; a generating unit, configured to form a first control instruction according to the calculated first vehicle height adjustment parameter; The control unit is used to adjust the height of at least one active shock absorbing element of the vehicle based on a first control instruction.

5. The small vehicle active shock absorption system based on front ground sensing according to claim 2 is characterized in that: The road condition sensing element includes a lightweight front small wheel, and the lightweight front small wheel is also used to sense the vibration information of the wheel in real time; The control module is also used to calculate a second vehicle height adjustment parameter according to the vibration information of the wheel, the distance between the lightweight front small wheel and each wheel, and the real-time speed information of the vehicle, and to form a second control instruction according to the second vehicle height adjustment parameter, and send it to the active shock absorbing element whose height needs to be adjusted; The active shock absorbing element is also used to perform high-frequency height adjustment according to a second control instruction given by the control module to perform secondary active shock absorbing.

6. The small vehicle active shock absorption system based on front ground sensing according to any one of claims 1 to 5, characterized in that: The active shock absorbing element is arranged on each wheel of the vehicle, and the active shock absorbing element includes a damping element and an elastic element.

7. A small vehicle active shock avoidance method based on front ground sensing, characterized in that: include, Obtain the road condition information in front of the wheel; Calculating a first vehicle height adjustment parameter according to the road condition information in front of the wheel, the distance between the sensing module and each wheel, and the real-time speed information of the vehicle, and forming a first control instruction according to the first vehicle height adjustment parameter, and sending it to the active shock absorbing element whose height needs to be adjusted; The active shock absorbing element performs high-frequency height adjustment according to the first control command to perform active shock absorbing.

8. The small vehicle active shock absorbing method based on front ground sensing according to claim 7 is characterized in that: Obtaining the road condition information in front of the wheel includes: The road surface profile information and road surface elevation change information in front of the vehicle are obtained, and the road condition information in front of the wheel is obtained according to the road surface profile information and road surface elevation change information.

9. The small vehicle active shock absorbing method based on front ground sensing according to claim 8 is characterized in that: The first vehicle height adjustment parameters include a first adjustment height and a first adjustment preparation time.

10. The small vehicle active shock absorbing method based on front ground sensing according to any one of claims 7 to 9, characterized in that: Also includes, The road condition sensing element senses the vibration information of the wheels in real time; Calculating a second vehicle height adjustment parameter according to the vibration information of the wheel, the distance between the lightweight front small wheel and each wheel, and the real-time speed information of the vehicle, and forming a second control instruction according to the second vehicle height adjustment parameter, and sending it to the active shock absorbing element whose height needs to be adjusted; The active shock absorbing element performs high-frequency height adjustment according to the second control command given by the control module to perform secondary active shock absorbing.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the small vehicle active shock avoidance method based on front ground perception as described in any one of claims 7 to 10.

Images