Driving attitude control method for vehicle crossing deep pit based on active suspension

Abstract

The invention discloses a driving posture control method for a vehicle crossing a deep pit based on an active suspension. The driving posture control method comprises the steps that S1, road conditions are detected through a visual sensor; and S2, when the vehicle cannot pass through the deep pit of the road in a conventional driving mode on the road condition, the posture of the vehicle body is adjusted through cooperative control of the multiple active suspensions, and front and rear wheels of the vehicle are sequentially lifted to cross the deep pit. By the adoption of the technical scheme, the trafficability problem of the vehicle with the active suspension when encountering a deep pit road in emergency rescue and disaster relief is effectively solved.

Description

Technical Field

[0001] The invention belongs to the technical field of pure electric vehicles, and in particular relates to a driving posture control method for a vehicle crossing a deep pit based on an active suspension. Background Art

[0002] Vehicles based on active suspension can adjust the length of each suspension according to road conditions. They can also control the height of each wheel and the height of the vehicle body through active suspension, thereby adjusting the vehicle's posture, which can greatly improve the stability and passability of the vehicle in harsh road conditions. The principle of active suspension vehicles is as follows: Figure 1 As shown. Under harsh extreme working conditions, the advantages of active suspension will be more obvious.

[0003] During flood disasters, narrow roads for single vehicles may collapse, forming roads with deep pits. The pits are deep, the length of the pits is less than the wheelbase of the vehicle, and the width of the pits is less than the track of the vehicle. The pits make it impossible for vehicles to pass through the road by traditional driving methods, such as Figure 2 As shown in the figure, rescue vehicles must pass through these roads to rescue disaster victims, which places higher demands on the posture control of rescue vehicles. How to control the vehicle posture by controlling the active suspension to enable the vehicle to pass through the deep pit road, thereby ensuring the safety of life and property in the disaster-stricken areas, is an urgent problem to be solved at this stage. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a driving posture control method for a vehicle crossing a deep pit based on an active suspension, which effectively solves the passability problem of vehicles with active suspension encountering deep pit roads during emergency rescue.

[0005] To achieve the above object, the present invention adopts the following technical solution:

[0006] A driving posture control method for a vehicle crossing a deep pit based on active suspension, comprising:

[0007] Step S1, detecting road conditions through a visual sensor;

[0008] Step S2: When there is a deep pothole on the road that the vehicle cannot pass through in a conventional manner, the vehicle body posture is adjusted through multi-active suspension collaborative control so that the front and rear wheels of the vehicle are lifted up in sequence and cross the deep pothole.

[0009] Preferably, the length of the deep pit is smaller than the wheelbase, and the width of the deep pit is smaller than the track.

[0010] As a preferred embodiment, the posture control process when there is a deep pit in front of the vehicle wheel 2 includes:

[0011] Step 1: The vehicle is supported by four wheels and is driving normally. The visual sensor detects that the road is very narrow, but there is a deep pit in front of wheel 2. The length of the pit is less than the wheelbase, and the width of the pit is less than the wheelbase. The vehicle cannot pass through this road by conventional driving methods, so the vehicle body posture control is performed;

[0012] Step 2, the suspension controller is used to control the suspension 1 to extend, the suspension 3 to contract, and the suspension 4 to extend, resulting in a decrease in the roll angle of the vehicle body and a decrease in the pitch angle, so that the center of gravity is close to the vehicle body 3. As the vehicle body 2 rises, the load on the wheel 2 gradually decreases, and the wheel 2 eventually no longer contacts the ground. In this process, the distance from the center of gravity to the vehicle body 3 is ensured to be smaller than the distance to the vehicle body 2, so that the vehicle is supported by the wheels 1, 3, and 4 when traveling;

[0013] Step 3: After wheel 2 passes the deep pit, the suspension returns to its original length, the vehicle is supported by four wheels, and returns to normal driving state;

[0014] Step 4, the suspension controller is used to control the suspension 1 to contract, the suspension 2 to extend, and the suspension 3 to extend, so that the roll angle of the vehicle body decreases and the pitch angle increases, so that the center of gravity is close to the vehicle body 1. Since the vehicle body 4 rises, the load on the wheel 4 gradually decreases, and the wheel 4 eventually no longer contacts the ground. In this process, the distance from the center of gravity to the vehicle body 1 is ensured to be smaller than the distance to the vehicle body 4, so that the vehicle is supported by the wheels 1, 2 and 3 when traveling;

[0015] Step 5: After the wheel 4 passes the deep pit 307, the suspensions 1, 2 and 3 return to their original lengths, and the vehicle is supported by the four wheels and returns to a normal driving state.

[0016] Preferably, the posture control process when there is a deep pit in front of the vehicle wheel 1 includes:

[0017] Step 1: Detect through the visual sensor that the road is very narrow, but there is a deep pit in front of the wheel 1, the length of the pit is less than the wheelbase, and the width of the pit is less than the wheelbase. The deep pit makes it impossible for the vehicle to pass through the road in a conventional driving mode, and the vehicle body posture control is performed;

[0018] Step 2, using the suspension controller to control the extension of suspension 2, the extension of suspension 3, and the contraction of suspension 4, which increases the roll angle of the vehicle body and decreases the pitch angle, so that the center of gravity is close to the vehicle body 4. As the vehicle body 1 rises, the load on wheel 1 gradually decreases, and wheel 1 eventually no longer contacts the ground. In this process, the distance from the center of gravity to the vehicle body 4 is ensured to be smaller than the distance to the vehicle body 1, so that the vehicle is supported by wheels 2, 3, and 4 when traveling.

[0019] Step 3: After wheel 1 passes the deep pit, the suspension returns to its original length, the vehicle is supported by four wheels, and returns to normal driving state;

[0020] Step 4: Control the suspension 1 to extend, the suspension 2 to contract, and the suspension 4 to extend through the suspension controller, which increases the roll angle of the vehicle body and the pitch angle, so that the center of gravity is close to the vehicle body 2. As the vehicle body 3 rises, the load on the wheel 3 is gradually reduced, and the wheel 3 eventually stops contacting the ground. In this process, the distance from the center of gravity to the vehicle body 2 is ensured to be smaller than the distance to the vehicle body 3, so that the vehicle is supported by the wheels 1, 2, and 4 when traveling.

[0021] Step 5: After wheel 3 passes the deep pit, the suspension returns to its original length, and the vehicle is supported by four wheels and returns to normal driving state.

[0022] The present invention detects the road condition through a visual module, and detects that the road condition ahead is a narrow road, which is just enough for a single vehicle to pass through. However, there is a deep pit in front of a wheel, the length of the pit is less than the wheelbase, and the width of the pit is less than the wheelbase. The deep pit makes it impossible for the vehicle to pass through the road in a conventional driving mode; the vehicle body posture is adjusted through multi-active suspension collaborative control, so that the front and rear wheels of the vehicle are lifted up in turn, cross the deep pit, and smoothly pass this section of the road; finally, after passing the deep pit, the vehicle resumes normal driving. The present invention makes up for the problem that the vehicle cannot pass through the deep pit road, and effectively improves the passability of the active suspension-based vehicle in harsh road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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 only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0024] Figure 1 It is a schematic diagram of the principle of an active suspension vehicle;

[0025] Figure 2 This is a schematic diagram of the road condition of a deep pit;

[0026] Figure 3 It is a flow chart of the driving posture control method of a vehicle crossing a deep pit based on active suspension of the present invention;

[0027] Figure 4 Schematic diagram for supporting the vehicle on three wheels;

[0028] Figure 5 This is a schematic diagram of the posture control based on a deep pit in front of the wheel 2 of an active suspension vehicle according to the present invention;

[0029] Figure 6 This is a flow chart of the posture control based on a deep pit in front of the wheel 2 of an active suspension vehicle according to the present invention;

[0030] Figure 7This is a schematic diagram of the posture control based on a deep pit in front of the wheel 1 of an active suspension vehicle according to the present invention;

[0031] Figure 8 The present invention is a flow chart of posture control based on a deep pit in front of a wheel 1 of an active suspension vehicle. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 the present invention.

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Embodiment 1:

[0035] like Figure 3 As shown, an embodiment of the present invention provides a method for controlling the driving posture of a vehicle crossing a deep pit based on active suspension. The road condition is detected by a visual module, and it is detected that the road condition ahead is a narrow road that is just wide enough for a single vehicle to pass through. There is a deep pit in front of a wheel, and the length of the pit is less than the wheelbase, and the width of the pit is less than the track. The deep pit makes it impossible for the vehicle to pass through the road in a conventional manner. The vehicle body posture is adjusted through multi-active suspension collaborative control, so that the front and rear wheels of the vehicle are lifted up in turn and cross the deep pit, and the vehicle successfully passes through this section of road, and the vehicle resumes normal driving. The present invention can realize the wheel's cross-pit control, so that the wheel that is blocked from driving by the deep pit does not contact the ground, and the vehicle is supported by the remaining three wheels. After the wheel passes the pit, the wheel is slowly lowered to contact the ground, thus realizing the wheel's cross-pit control. The other wheel that is blocked from driving by the deep pit also crosses the pit according to a similar control method, and can successfully pass through the section. The principle of a vehicle being supported by three wheels is as follows. Figure 4 As shown, 1, 2, 3 and 4 represent the left front, right front, left rear and right rear wheels and suspensions of the vehicle. For the convenience of subsequent description, the vehicle body is divided into four parts, 1, 2, 3 and 4 also represent the left front, right front, left rear and right rear body of the vehicle. When the vehicle is supported by four wheels, the center of mass O of the vehicle body is at the geometric center of the vehicle, a and b are the distances from the center of mass to the front and rear axles respectively, and B is the wheelbase. The pitch and roll angles of the vehicle body cause the center of mass to move. Since the suspension travel is limited, the pitch and roll angles of the vehicle body are limited, so the range of movement of the center of mass is also limited. Figure 4The parallelogram 5678 in the middle represents the range within which the center of mass can move. To make wheel 2 leave the ground, the vehicle is supported by wheels 1, 3 and 4 and remains stable, so the center of mass O needs to be in trapezoid 551818. Assuming that the center of mass after the move is O1, a1 and b1 are the distances between the center of mass O1 and the front and rear axles, respectively, and c1 and d1 are the distances between the center of mass O1 and the left and right wheels, respectively.

[0036] like Figure 5 , 6 As shown, the posture control process when there is a deep pit in front of the vehicle wheel 2 includes:

[0037] Step 1: The vehicle is supported by four wheels and is driving normally. The visual sensor detects that the road is very narrow and a single vehicle can just pass through. However, there is a deep pit in front of wheel 2. The length of the pit is less than the wheelbase, and the width of the pit is less than the wheelbase. The vehicle cannot pass through this road by conventional driving methods, so the vehicle body posture control is performed;

[0038] Step 2, the attitude controller generates an ideal suspension travel value, the active suspension controller controls the active suspension to follow the ideal travel, and the suspension travel sensor outputs the actual travel of the active suspension to the active suspension controller to form a closed-loop control, so that the suspension 1 is extended, the suspension 3 is contracted, and the suspension 4 is extended, resulting in a decrease in the roll angle of the vehicle body, a decrease in the pitch angle, and a center of gravity close to the vehicle body 3. As the vehicle body 2 rises, the load on the wheel 2 is gradually reduced, and the wheel 2 eventually no longer contacts the ground. In this process, the distance from the center of gravity to the vehicle body 3 is ensured to be less than the distance to the vehicle body 2, so that the vehicle can be supported by wheels 1, 3 and 4 when traveling;

[0039] Step 3: After wheel 2 passes the deep pit, the suspension returns to its original length, the vehicle is supported by four wheels, and returns to normal driving state;

[0040] Step 4, the suspension controller is used to control the suspension 1 to contract, the suspension 2 to extend, and the suspension 3 to extend, so that the roll angle of the vehicle body decreases and the pitch angle increases, so that the center of gravity is close to the vehicle body 1. Since the vehicle body 4 rises, the load on the wheel 4 is gradually reduced, and the wheel 4 eventually no longer contacts the ground. In this process, the distance from the center of gravity to the vehicle body 1 is ensured to be smaller than the distance to the vehicle body 4, so that the vehicle can be supported by the wheels 1, 2 and 3 when traveling;

[0041] Step 5: After the wheel 4 passes the deep pit, the suspensions 1, 2 and 3 return to their original lengths, and the vehicle is supported by the four wheels and returns to normal driving.

[0042] like Figure 7 , 8 As shown, the posture control process of a vehicle wheel 1 having a deep pit in front of the vehicle wheel 1 includes:

[0043] Step 1: The visual sensor detects that the road is very narrow and a single vehicle can just pass through, but there is a deep pit in front of wheel 1, the length of the pit is less than the wheelbase, and the width of the pit is less than the wheelbase. The deep pit makes it impossible for the vehicle to pass through the road in a conventional driving mode, and the vehicle body posture control is performed;

[0044] Step 2, the attitude controller generates an ideal suspension travel value, the active suspension controller controls the active suspension to follow the ideal travel, and the suspension travel sensor outputs the actual active suspension travel to the active suspension controller to form a closed-loop control, so that the suspension 2 is extended, the suspension 3 is extended, and the suspension 4 is contracted, resulting in an increase in the roll angle of the vehicle body and a decrease in the pitch angle, so that the center of gravity is close to the vehicle body 4. As the vehicle body 1 rises, the load on the wheel 1 is gradually reduced, and the wheel 1 eventually no longer contacts the ground. In this process, the distance from the center of gravity to the vehicle body 4 is ensured to be less than the distance to the vehicle body 1, so that the vehicle can be supported by wheels 2, 3 and 4 when traveling;

[0045] Step 3: After wheel 1 passes the deep pit, the suspension returns to its original length, the vehicle is supported by four wheels, and returns to normal driving state;

[0046] Step 4, the suspension controller is used to control the suspension 1 to extend, the suspension 2 to contract, and the suspension 4 to extend, which results in an increase in the roll angle of the vehicle body and an increase in the pitch angle, so that the center of gravity is close to the vehicle body 2. As the vehicle body 3 rises, the load on the wheel 3 is gradually reduced, and the wheel 3 eventually stops contacting the ground. In this process, the distance from the center of gravity to the vehicle body 2 is ensured to be smaller than the distance to the vehicle body 3, so that the vehicle can be supported by the wheels 1, 2, and 4 when traveling;

[0047] Step 5: After wheel 3 passes the deep pit, the suspension returns to its original length, and the vehicle is supported by four wheels and returns to normal driving state.

[0048] The embodiments described above are only descriptions of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A method for controlling the driving posture of a vehicle crossing a deep pit based on active suspension, characterized in that: include: Step S1, detecting road conditions through a visual sensor; Step S2: When there is a deep pothole on the road that the vehicle cannot pass through in a conventional manner, the vehicle body posture is adjusted through multi-active suspension collaborative control so that the front and rear wheels of the vehicle are lifted up in sequence and cross the deep pothole.

2. The method for controlling the driving posture of a vehicle crossing a deep pit based on active suspension according to claim 1, characterized in that: The length of the pit is smaller than the wheelbase, and the width of the pit is smaller than the track.

3. The method for controlling the driving posture of a vehicle crossing a deep pit based on active suspension according to claim 2, characterized in that: The posture control process of the vehicle wheel 2 with a deep pit in front of it includes: Step 1: The vehicle is supported by four wheels and is driving normally. The visual sensor detects that the road is very narrow, but there is a deep pit in front of wheel 2. The length of the pit is less than the wheelbase, and the width of the pit is less than the wheelbase. The vehicle cannot pass through this road by conventional driving methods, so the vehicle body posture control is performed; Step 2, the suspension controller is used to control the suspension 1 to extend, the suspension 3 to contract, and the suspension 4 to extend, resulting in a decrease in the roll angle of the vehicle body and a decrease in the pitch angle, so that the center of gravity is close to the vehicle body 3. As the vehicle body 2 rises, the load on the wheel 2 gradually decreases, and the wheel 2 eventually no longer contacts the ground. In this process, the distance from the center of gravity to the vehicle body 3 is ensured to be smaller than the distance to the vehicle body 2, so that the vehicle is supported by the wheels 1, 3, and 4 when traveling; Step 3: After wheel 2 passes the deep pit, the suspension returns to its original length, the vehicle is supported by four wheels, and returns to normal driving state; Step 4, the suspension controller is used to control the suspension 1 to contract, the suspension 2 to extend, and the suspension 3 to extend, so that the roll angle of the vehicle body decreases and the pitch angle increases, so that the center of gravity is close to the vehicle body 1. Since the vehicle body 4 rises, the load on the wheel 4 gradually decreases, and the wheel 4 eventually no longer contacts the ground. In this process, the distance from the center of gravity to the vehicle body 1 is ensured to be smaller than the distance to the vehicle body 4, so that the vehicle is supported by the wheels 1, 2 and 3 when traveling; Step 5: After the wheel 4 passes the deep pit, the suspensions 1, 2 and 3 return to their original lengths, and the vehicle is supported by the four wheels and returns to normal driving.

4. The method for controlling the driving posture of a vehicle crossing a deep pit based on active suspension according to claim 3, characterized in that: The posture control process of a vehicle with a deep pit in front of wheel 1 includes: Step 1: Detect through the visual sensor that the road is very narrow, but there is a deep pit in front of the wheel 1, the length of the pit is less than the wheelbase, and the width of the pit is less than the wheelbase. The deep pit makes it impossible for the vehicle to pass through the road in a conventional driving mode, and the vehicle body posture control is performed; Step 2, using the suspension controller to control the extension of suspension 2, the extension of suspension 3, and the contraction of suspension 4, which increases the roll angle of the vehicle body and decreases the pitch angle, so that the center of gravity is close to the vehicle body 4. As the vehicle body 1 rises, the load on wheel 1 gradually decreases, and wheel 1 eventually no longer contacts the ground. In this process, the distance from the center of gravity to the vehicle body 4 is ensured to be smaller than the distance to the vehicle body 1, so that the vehicle is supported by wheels 2, 3, and 4 when traveling. Step 3: After wheel 1 passes the deep pit, the suspension returns to its original length, the vehicle is supported by four wheels, and returns to normal driving state; Step 4: Control the suspension 1 to extend, the suspension 2 to contract, and the suspension 4 to extend through the suspension controller, which increases the roll angle of the vehicle body and the pitch angle, so that the center of gravity is close to the vehicle body 2. As the vehicle body 3 rises, the load on the wheel 3 is gradually reduced, and the wheel 3 eventually stops contacting the ground. In this process, the distance from the center of gravity to the vehicle body 2 is ensured to be smaller than the distance to the vehicle body 3, so that the vehicle is supported by the wheels 1, 2, and 4 when traveling. Step 5: After wheel 3 passes the deep pit, the suspension returns to its original length, and the vehicle is supported by four wheels and returns to normal driving state.

Images