A small vehicle active suspension system and method based on front ground perception

Abstract

This invention discloses an active damping system and method for small vehicles based on front-mounted ground sensing. The system includes: a sensing module for acquiring road condition information in front of the wheels; a control module for calculating a first vehicle height adjustment parameter based on the road condition information, the distance between the sensing module and each wheel, and the vehicle's real-time speed information; and generating a first control command based on the first vehicle height adjustment parameter and sending it to the active damping element whose height needs to be adjusted; and an active damping element for performing high-frequency height adjustment according to the first control command from the control module to achieve active damping. The above-mentioned damping system and method, by setting sensing modules in front of both front wheels to sense road condition information and achieving active damping based on the acquired sensing information, improves the vehicle's intelligent control efficiency, increases vehicle ride comfort, and enhances the user experience.

Description

Technical Field

[0001] This invention belongs to the field of vehicle technology, and specifically relates to an active shock absorption system and method for small vehicles based on front-mounted ground sensing. Background Technology

[0002] With societal development, users have increasingly higher demands for vehicle comfort. Most existing vehicles are equipped with shock absorption systems, which primarily work by acquiring the vehicle's vibration frequency and then adjusting the corresponding elastic and damping elements to achieve shock absorption. However, shock absorption systems only activate when vibration occurs, resulting in low efficiency. Therefore, how to achieve active shock absorption based on perceived road contours and elevation changes before vibrations occur has become an increasingly urgent technical problem to be solved. Summary of the Invention

[0003] To address the aforementioned issues, this invention provides an active damping system and method for small vehicles with front-mounted ground sensing, which increases vehicle ride comfort and improves user experience.

[0004] This invention provides an active shock absorption system for small vehicles based on forward ground sensing, comprising:

[0005] The sensing module is used to acquire road condition information in front of the wheels;

[0006] The control module is used to calculate the first vehicle height adjustment parameter based on 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, and to generate a first control command based on the first vehicle height adjustment parameter and send it to the active shock absorber element whose height needs to be adjusted.

[0007] The active damping element is used to perform high-frequency height adjustment according to the first control command given by the control module, so as to perform active damping.

[0008] Furthermore, the sensing module includes a road condition sensing element disposed in front of the vehicle's front wheels, wherein,

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

[0011] Furthermore, the control module includes,

[0012] The calculation unit is used to calculate the first vehicle height adjustment parameters based on road condition information in front of the wheels, real-time vehicle speed information, and the distance between the sensing module and each wheel.

[0013] The generation unit is used to generate a first control command based on the calculated first vehicle height adjustment parameters;

[0014] A control unit is used to adjust the height of at least one active damping element of the vehicle based on a first control command.

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

[0016] The control module is also used to calculate the second vehicle height adjustment parameters based on the vibration information of the wheels, the distance between the lightweight front wheel and each wheel, and the real-time speed information of the vehicle, and to generate a second control command based on the second vehicle height adjustment parameters and send it to the active shock absorber element whose height needs to be adjusted.

[0017] The active damping element is also used to perform high-frequency height adjustment according to the second control command given by the control module, so as to perform secondary active damping.

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

[0019] This invention also introduces an active shock absorption method for small vehicles based on forward ground sensing, including:

[0020] Obtain information about the road conditions in front of the wheels;

[0021] The system calculates the first vehicle height adjustment parameter based on the road conditions in front of the wheels, the distance between the sensing module and each wheel, and the real-time speed information of the vehicle. It also generates a first control command based on the first vehicle height adjustment parameter and sends it to the active shock absorber element whose height needs to be adjusted.

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

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

[0024] The system acquires road surface contour information and road elevation change information in front of the vehicle, and obtains road condition information in front of the wheels based on the road surface contour information and road elevation change information.

[0025] Furthermore, the first vehicle height adjustment parameters include a first adjustment height and a first adjustment preparation time.

[0026] Furthermore, it also includes,

[0027] Road condition sensing elements detect the vibration information of the wheels in real time;

[0028] The second vehicle height adjustment parameter is calculated based on the vibration information of the wheels, the distance between the lightweight front wheel and each wheel, and the real-time speed information of the vehicle. A second control command is generated based on the second vehicle height adjustment parameter and sent to the active shock absorber element whose height needs to be adjusted.

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

[0030] This invention also introduces a computer-readable storage medium storing a computer program, characterized in that the program is executed by a processor to implement the above-described active shock absorption method for small vehicles based on forward ground perception.

[0031] The active damping system of this invention uses sensing modules placed in front of both front wheels to sense road condition information and achieve active damping of the vehicle based on the acquired sensing information, thereby improving the vehicle's intelligent control efficiency, increasing vehicle smoothness, and enhancing the user experience.

[0032] Furthermore, by using vibration information to perform more precise shock absorption on the vehicle, a dual shock absorption system can be achieved, improving the efficiency of the vehicle's active shock absorption and resulting in better shock absorption performance.

[0033] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 A schematic diagram of a small vehicle active shock absorption system based on forward ground sensing is shown in an embodiment of the present invention.

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

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

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

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

[0040] Figure 5 A schematic diagram of another active shock absorption system for small vehicles based on forward ground sensing is shown in an embodiment of the present invention.

[0041] Figure 6 A flowchart illustrating an active shock absorption method for small vehicles based on forward ground sensing is shown in an embodiment of the present invention.

[0042] Figure 7 A schematic diagram of a computer-readable storage medium structure according to an embodiment of the present invention is shown. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] like Figure 1 As shown in the illustration, this invention discloses an active damping system for small vehicles based on front-mounted ground sensing. The system includes a sensing module, a control module, and active damping elements. The sensing module acquires road condition information in front of the wheels. The control module calculates a first vehicle height adjustment parameter based on the road condition information, the distance between the sensing module and each wheel, and the vehicle's real-time speed. It then generates a first control command based on the first vehicle height adjustment parameter and sends it to the active damping element whose height needs adjustment. The active damping element performs high-frequency height adjustment according to the first control command from the control module to achieve active damping. By placing sensing modules in front of both front wheels of the vehicle to sense road condition information and achieving active damping based on the acquired sensing information, the system improves the vehicle's intelligent control efficiency, increases vehicle smoothness, and enhances the user experience.

[0045] In this embodiment of the invention, the vehicle is traveling on a road surface, and the road surface in front of the vehicle is full of uncertainties. For example, the road surface in front of the vehicle may have an upward or downward trend, and there may be issues such as whether the road surface is flat, whether there are potholes, slopes, small debris, etc. Therefore, a sensing module is needed to perceive road condition information, such as... Figure 2 As shown, the sensing module is located in front of the front wheels of the vehicle. The sensing module includes a road condition sensing element, which is used to acquire road surface contour information and road surface elevation change information, and to obtain road condition information in front of the wheels based on the road surface contour information and road surface elevation change information. The road condition sensing element includes a laser sensor, an elevation sensor and / or a lightweight front wheel, but is not limited to these. Other sensors capable of acquiring road condition information are also applicable to this invention.

[0046] Furthermore, the laser sensor, elevation sensor, or lightweight front wheel are all positioned in front of the vehicle's front wheels. For example, such as... Figure 3 The diagram shows a left-side view of a vehicle with a laser sensor positioned at the front. The laser sensor emits laser pulses and receives the reflected beams. By calculating the round-trip time of the light pulses, it measures the distance to a target object, thereby constructing a three-dimensional image of the environment ahead. The laser sensor can effectively acquire road surface contours for identification, such as potholes, steps, and obstacles, and predict road conditions at greater distances when visibility is clear, thus improving vehicle shock absorption efficiency. An elevation sensor is also positioned in front of the front wheels (not shown in the diagram) and is primarily used to measure height changes relative to a reference point. This can be absolute elevation (relative to sea level) or relative elevation (e.g., the vehicle's height relative to the road surface). The elevation sensor can monitor the rising or falling trend of the road surface ahead, effectively preventing severe up-and-down jolting during vehicle operation. Furthermore, as... Figure 4a The image shown is a left view of a vehicle with lightweight front-mounted wheels. The structure of the lightweight front-mounted wheels is as follows: Figure 4b As shown, the lightweight front wheels can directly contact or be very close to the ground, physically sensing the fine structure and unevenness of the road surface. This provides direct feedback on the actual elevation changes, hardness, and potential obstacles of the road ahead, resulting in a more objective assessment of road conditions. The road contour and elevation change information acquired by the laser sensor, elevation sensor, or lightweight front wheels are integrated to obtain road condition information in front of the wheels, which is then sent to the control module. By placing sensing modules on both sides of the front wheels, the acquired road condition information becomes more accurate.

[0047] In embodiments of the present invention, such as 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 receives road condition information sent by the road condition sensing element and calculates a first vehicle height adjustment parameter based on the road condition information in front of the wheels, the distance between the sensing module and each wheel, and the vehicle's real-time speed information; wherein the distance between the sensing module and each wheel is a configuration parameter in the control module, and the vehicle's real-time speed information is obtained by the control module in real-time through the vehicle speed sensor. The generation unit generates a first control command based on the calculated first vehicle height adjustment parameter; the control unit adjusts the height of at least one active shock absorber element of the vehicle based on the first control command. Specifically, when calculating the first height adjustment parameter, the calculation unit 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] Where v is the vehicle speed in m / s (meters per second), Kroad is the expected road surface roughness coefficient (quantified according to road condition type), K1 and K2 are pre-calibrated coefficients based on different vehicle models and suspension types to balance the influence of speed and road conditions on height adjustment, and C is a constant term. Furthermore, since the road condition sensing element is placed in front of the front wheels, the preparation time for active adjustment is the time it takes for the wheel to reach the position of the road condition sensing element. This needs to be calculated by dividing the distance between the road condition sensing element and the wheel by the vehicle speed, i.e.:

[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 for 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. This enables the active damping system to more accurately predict and adapt to various road conditions, improving driving safety and ride comfort.

[0053] In this embodiment of the invention, the lightweight front wheel also collects vibration information. By analyzing the vibration frequency and amplitude, it can determine the unevenness of the road surface, tire bounce, or special obstacles encountered by the wheels (such as small stones, manhole cover edges, etc.), enabling 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 the lightweight front wheel, which is also used to sense the vibration information of the wheels in real time. The control module is also used to calculate a second vehicle height adjustment parameter based on the wheel vibration information, the distance between the lightweight front wheel and each wheel, and the real-time vehicle speed information, and to generate a second control command based on 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 command given by the control module to perform secondary active shock absorption. The calculation unit of the control unit is also used to receive vibration information from the wheels, and to calculate a second vehicle height adjustment parameter based on the wheel vibration information, the distance between the lightweight front wheel and each wheel, and the real-time vehicle speed information; wherein, the distance between the lightweight front wheel and each wheel is a configuration parameter in the control module, and the real-time vehicle speed information is obtained by the control module in real time through the vehicle speed sensor. The generation unit is also used to generate a second control command based on the calculated second vehicle height adjustment parameter; the control unit is also used to adjust the height of at least one active shock absorber of the vehicle based on the second control command.

[0054] Specifically, the second vehicle height adjustment parameters include a second adjustment height and a second adjustment preparation time, wherein the second adjustment height satisfies the following:

[0055] H 实时 =H base +k1·A+k2·f 2

[0056] Among them, H base It 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] Where D1 is the distance between the lightweight front wheel and each wheel, in meters, and V is the real-time speed of the vehicle, in meters per second.

[0059] By using vibration information to perform more precise shock absorption on the vehicle, and by collecting and sensing information to perform dual shock absorption, the efficiency of intelligent vehicle control is improved, the smoothness of the vehicle is increased, and the user experience is enhanced.

[0060] like Figure 2As shown, the active damping elements are mounted on each wheel of the vehicle and include damping elements and elastic elements. The damping elements include hydraulic rods, and the elastic elements include, but are not limited to, actively adjustable springs. Furthermore, the damping elements and elastic elements are not limited to these; other elements capable of adjusting vehicle height are also applicable to this invention.

[0061] like Figure 6 As shown in the figure, this embodiment of the invention also introduces a shock absorption method for a small vehicle active shock absorption system based on the aforementioned front-end ground sensing. The method includes: first, acquiring road condition information in front of the wheels; then, calculating a first vehicle height adjustment parameter based on the road condition information in front of the wheels, the distance between the sensing module and each wheel, and the vehicle's real-time speed information; forming a first control command based on 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 command given by the control module to perform active shock absorption.

[0062] In this embodiment of the invention, obtaining road condition information in front of the wheels includes,

[0063] Obtain road surface contour information and road surface elevation change information in front of the vehicle, and obtain road condition information in front of the wheels based on the road surface contour information and road surface elevation change information.

[0064] In this embodiment of the invention, the first vehicle height adjustment parameters include a first adjustment height and a first adjustment preparation time.

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

[0066] The second vehicle height adjustment parameter is calculated based on the vibration information of the wheels, the distance between the lightweight front wheel and each wheel, and the real-time speed information of the vehicle. A second control command is generated based on the second vehicle height adjustment parameter and sent to the active shock absorber element whose height needs to be adjusted.

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

[0068] The aforementioned system provides the vehicle with comprehensive and multi-layered information on the road conditions ahead, enabling the active damping system to more accurately predict and adapt to various road conditions, thereby improving driving safety and ride comfort.

[0069] like Figure 7As shown in the illustration, this embodiment of the invention also introduces a computer-readable storage medium storing a computer program that is executed by a processor to implement the active shock absorption method for small vehicles based on front-mounted ground sensing as described above. By setting a sensing module on the front wheels to sense road condition information and wheel tire vibration information, active shock absorption of the vehicle is achieved based on the acquired sensing information, improving the efficiency of vehicle intelligent control, increasing vehicle comfort, and enhancing the user experience.

[0070] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to 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 forward ground sensing, characterized in that, include, A perception module is used to acquire road condition information in front of the wheels. The perception module includes a road condition sensing element disposed in front of the front wheels of the vehicle. The road condition sensing element includes a laser sensor and an elevation sensor. The laser sensor acquires the road surface contour to identify potholes, steps, and obstacles, while the elevation sensor can monitor the rising or falling trend of the road surface in front of the vehicle. The road condition sensing element is used to acquire road surface contour information and road surface elevation change information in front of the vehicle, and to obtain road condition information in front of the wheels based on the road surface contour information and road surface elevation change information. The sensing module also includes a lightweight front wheel for real-time sensing of wheel vibration information; The control module is used to calculate the first vehicle height adjustment parameter based on 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, and to generate a first control command based on the first vehicle height adjustment parameter and send it to the active shock absorber element whose height needs to be adjusted. And based on the vibration information of the wheels, the distance between the lightweight front wheel and each wheel, and the real-time speed information of the vehicle, a second vehicle height adjustment parameter is calculated; and a second control command is generated based on the second vehicle height adjustment parameter and sent to the active shock absorber element whose height needs to be adjusted; wherein, The first vehicle height adjustment parameters include a first adjustment height and a first adjustment preparation time, wherein the first adjustment height satisfies: in, The vehicle speed is expressed in m / s, and the expected road surface roughness coefficient is given. , 1. 2 is a coefficient pre-calibrated according to different vehicle models and suspension types, and C is a constant term; The first adjustment preparation time is met: First adjustment preparation time = D / V 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; The second vehicle height adjustment parameters include a second adjustment height and a second adjustment preparation time, wherein the second adjustment height satisfies: Among them, H base It 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; Second adjustment preparation time = D 1 / V Where D1 is the distance between the lightweight front wheel and each wheel, in meters, and V is the real-time speed of the vehicle, in meters per second. The active damping element is used to perform high-frequency height adjustment according to the first control command given by the control module for active damping; and to perform high-frequency height adjustment according to the second control command given by the control module for secondary active damping.

2. The active shock absorption system for small vehicles based on forward ground sensing according to claim 1, characterized in that, The control module includes, The calculation unit is used to calculate the first vehicle height adjustment parameters based on road condition information in front of the wheels, real-time vehicle speed information, and the distance between the sensing module and each wheel. The generation unit is used to generate a first control command based on the calculated first vehicle height adjustment parameters; A control unit is used to adjust the height of at least one active damping element of the vehicle based on a first control command.

3. The active shock absorption system for small vehicles based on forward ground sensing according to any one of claims 1-2, characterized in that, The active damping element is installed on each wheel of the vehicle, and the active damping element includes a damping element and an elastic element.

4. A method for active shock absorption in small vehicles based on forward ground sensing, characterized in that, include, Obtain information about the road conditions in front of the wheels; The road condition sensing element acquires road surface contour information and road surface elevation change information in front of the vehicle, and obtains road condition information in front of the wheels based on the road surface contour information and road surface elevation change information. The road condition sensing element includes a laser sensor and an elevation sensor. The laser sensor acquires road surface contour information to identify potholes, steps and obstacles, and the elevation sensor can monitor the rising or falling trend of the road surface in front of the vehicle. The lightweight front wheel can be used to sense the vibration information of the wheel in real time. The system calculates the first vehicle height adjustment parameter based on the road conditions in front of the wheels, the distance between the sensing module and each wheel, and the real-time speed information of the vehicle. It also generates a first control command based on the first vehicle height adjustment parameter and sends it to the active shock absorber element whose height needs to be adjusted. And based on the vibration information of the wheels, the distance between the lightweight front wheel and each wheel, and the real-time speed information of the vehicle, a second vehicle height adjustment parameter is calculated; and a second control command is generated based on the second vehicle height adjustment parameter and sent to the active shock absorber element whose height needs to be adjusted; wherein, The first vehicle height adjustment parameters include a first adjustment height and a first adjustment preparation time, wherein the first adjustment height satisfies: in, The vehicle speed is expressed in m / s, and the expected road surface roughness coefficient is given. , 1. 2 is a coefficient pre-calibrated according to different vehicle models and suspension types, and C is a constant term; The first adjustment preparation time is met: First adjustment preparation time = D / V 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; The second vehicle height adjustment parameters include a second adjustment height and a second adjustment preparation time, wherein the second adjustment height satisfies: H 实时 =H base +k 1 A+k 2 f 2 Among them, H base It 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; Second adjustment preparation time = D 1 / V Where D1 is the distance between the lightweight front wheel and each wheel, in meters, and V is the real-time speed of the vehicle, in meters per second. The active damping element performs high-frequency height adjustment according to the first control command for active damping; and performs high-frequency height adjustment according to the second control command given by the control module for secondary active damping.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the active shock absorption method for small vehicles based on forward ground perception as described in claim 4.

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