Active suspension control method and device and electronic equipment

Abstract

The invention provides an active suspension control method and device and electronic equipment, and the method comprises the steps: obtaining real-time driving positioning data of a vehicle if a driving signal of the vehicle is received; collecting real-time wheel height change data corresponding to the real-time driving positioning data; when it is detected that the vehicle travels to the abnormal traveling road section, the current road condition of the abnormal traveling road section is determined according to the real-time wheel height change data and the historical wheel height change abnormal data; wherein the abnormal driving road section is a road section with abnormal historical wheel height change abnormal data in the historical driving route of the vehicle; the abnormal driving road section and the historical wheel height change abnormal data are pre-stored in a vehicle-mounted memory; and according to the current road condition, control parameters of the air suspension system are determined. According to the method, the wheel height change in the vehicle driving process is monitored in real time, and map positioning information is combined to identify and deal with abnormal road conditions, so that the parameters of the air suspension system are adjusted to optimize the driving comfort and safety.

Description

Technical Field

[0001] The present invention relates to the technical field of active suspension control, and in particular to an active suspension control method, device and electronic equipment. Background Art

[0002] The road condition collection device and various sensors of the active suspension system, among which the road condition collection device includes: visual sensors, millimeter wave radars, ultrasonic radars, etc., but each has its own advantages and disadvantages. Visual sensors can detect information about the types of road traffic participants (such as pedestrians, vehicles, etc.), but they are greatly affected by weather and light intensity. Millimeter wave radars can accurately detect the position, speed and other information of the target and will not be affected by weather conditions, but they are prone to miss stationary targets and the detected targets have more noise points. Ultrasonic radars are low in cost and have high short-range measurement accuracy. They are suitable for parking warnings and blind spot collision monitoring, but their measurement distance is limited and they are easily affected by bad weather.

[0003] In general, existing active suspension control methods suffer from low control accuracy. Summary of the invention

[0004] The purpose of the present invention is to provide an active suspension control method, device and electronic equipment to alleviate the technical problem of low control accuracy in the existing active suspension control method, thereby improving the active suspension control accuracy.

[0005] In the first aspect, an embodiment of the present invention provides an active suspension control method, which is applied to a controller; the controller is connected to the vehicle's air suspension system, a map and positioning device, and a height sensor; the height sensor is used to collect the wheel height of the vehicle; the method includes: if a driving signal of the vehicle is received, real-time driving positioning data of the vehicle is obtained through a map and positioning device; and real-time wheel height change data corresponding to the real-time driving positioning data is collected through the height sensor; when it is detected that the vehicle is traveling to an abnormal driving section, the current road condition of the abnormal driving section is determined according to the real-time wheel height change data and the historical wheel height change abnormal data; wherein the abnormal driving section is a section in the historical driving route of the vehicle where the historical wheel height change abnormal data is abnormal; the abnormal driving section and the historical wheel height change abnormal data are pre-stored in a vehicle-mounted memory; and the control parameters of the air suspension system are determined according to the current road condition.

[0006] In a preferred embodiment of the present invention, the controller is also connected to a laser radar; the laser radar is arranged on the vehicle; after the step of collecting the real-time wheel height change data corresponding to the real-time driving positioning data through the height sensor, the method further comprises: collecting the real-time three-dimensional point cloud data of the driving direction of the vehicle corresponding to the real-time driving positioning data through the laser radar; background filtering the real-time three-dimensional point cloud data to obtain preprocessed data; target clustering the preprocessed data to obtain clustered data through a density-based clustering algorithm; the step of determining the current road condition of the abnormal driving section according to the real-time wheel height change data and the historical wheel height change abnormal data comprises: determining the road surface foreign matter information of the abnormal driving section according to the real-time wheel height change data, the historical wheel height change abnormal data and the clustering data to determine the current road condition of the abnormal driving section.

[0007] In a preferred embodiment of the present invention, the controller is also connected to an image acquisition device; the image acquisition device is on the vehicle; the relative position of the image acquisition device and the laser radar is fixed and the overlapped field of view of the laser radar and the image acquisition device accounts for a preset threshold of the field of view of the image acquisition device; after the step of acquiring real-time three-dimensional point cloud data of the vehicle driving direction corresponding to the real-time driving positioning data by the laser radar, the method further includes: acquiring real-time image information of the vehicle driving direction corresponding to the real-time driving positioning data by the image acquisition device; calibrating and correcting the lens distortion of the image acquisition device according to the real-time image information; and jointly calibrating the real-time image information and the real-time three-dimensional point cloud data. The spatial attitude conversion relationship between the image acquisition device and the above-mentioned laser radar; the step of determining the road foreign object information of the above-mentioned abnormal driving section according to the above-mentioned real-time wheel height change data, the above-mentioned historical wheel height change abnormal data and the above-mentioned clustering data, including: determining the corresponding relationship between the above-mentioned real-time image information and the above-mentioned clustering data according to the above-mentioned spatial attitude conversion relationship; assigning the environmental color information contained in each of the above-mentioned real-time image information to each point in the above-mentioned clustering data according to the corresponding relationship between the above-mentioned real-time image information and the above-mentioned clustering data to obtain reconstructed three-dimensional point cloud data; determining the road foreign object information of the above-mentioned abnormal driving section according to the above-mentioned real-time wheel height change data, the above-mentioned historical wheel height change abnormal data and the above-mentioned reconstructed three-dimensional point cloud data.

[0008] In a preferred embodiment of the present invention, the step of determining the current road condition of the abnormal driving section according to the real-time wheel height change data and the historical wheel height change abnormal data comprises: judging whether the real-time wheel height change data meets the preset height abnormality standard; if so, judging whether the real-time driving positioning data corresponding to the real-time wheel height change data and the historical wheel height change abnormal data overlap; if they overlap, determining that the current road condition of the abnormal driving section is abnormal; when the vehicle drives to the abnormal driving section again, after the step of determining the current road condition of the abnormal driving section according to the real-time wheel height change data and the historical wheel height change abnormal data, the method further comprises: retrieving the historical wheel height change abnormal data; determining the number of abnormal road conditions of the abnormal driving section according to the historical wheel height change abnormal data and the current road condition of the abnormal driving section; when the number of abnormal road conditions reaches a preset threshold, controlling the release of early warning information.

[0009] In a preferred embodiment of the present invention, the types of the above-mentioned road foreign object information include: bumps and concavities caused by road deformation, speed bumps and fallen objects; the step of determining the control parameters of the above-mentioned air suspension system based on the above-mentioned current road conditions includes: determining the height and stiffness of the air spring of the above-mentioned air suspension system, and the damping force of the shock absorber based on the bumps and concavities caused by road deformation, the above-mentioned speed bumps and the above-mentioned fallen objects.

[0010] In a preferred embodiment of the present invention, the controller is connected to the first solenoid valve for air intake of the air bag in the air suspension system and the second solenoid valve for shock absorber oil of the shock absorber; the step of determining the height and stiffness of the air spring of the air suspension system and the damping force of the shock absorber according to the unevenness caused by the deformation of the road surface, the speed bump and the debris, comprises: determining the air flow rate of the first solenoid valve and the oil flow rate of the shock absorber oil of the second solenoid valve according to the unevenness caused by the deformation of the road surface, the speed bump and the debris.

[0011] In a preferred embodiment of the present invention, after the step of determining the control parameters of the air suspension system according to the current road conditions, the method further includes: determining the adjusted driving speed of the vehicle according to the real-time wheel height change data and the vehicle speed adjustment step corresponding to the real-time wheel height change data; and controlling the vehicle to travel at the adjusted driving speed.

[0012] In a preferred embodiment of the present invention, the controller is also connected to a warning information prompting device; after the step of determining the control parameters of the air suspension system according to the current road conditions, the method comprises: generating a driving map of the vehicle according to the real-time driving positioning data through a map and positioning device; marking the abnormal driving section in the driving map to generate an abnormal driving point; when it is detected that the vehicle is driving on an abnormal driving section, before the step of determining the current road condition of the abnormal driving section according to the real-time wheel height change data and the historical wheel height change abnormal data, the method further comprises: when the vehicle is a preset distance away from the abnormal driving section and the number of abnormal road conditions reaches a preset threshold, controlling the warning information prompting device to issue a warning message.

[0013] In a second aspect, an embodiment of the present invention further provides an active suspension control device, which is applied to a controller; the controller is connected to the air suspension system, map and positioning device and height sensor of the vehicle; the height sensor is used to collect the wheel height of the vehicle; the device includes: a data acquisition module, which is used to obtain the real-time driving positioning data of the vehicle through the map and positioning device if the driving signal of the vehicle is received; and collect the real-time wheel height change data corresponding to the real-time driving positioning data through the height sensor; a road condition determination module, which is used to determine the current road condition of the abnormal driving section according to the real-time wheel height change data and the historical wheel height change abnormal data when it is detected that the vehicle is driving to an abnormal driving section; wherein the abnormal driving section is a section in the historical driving route of the vehicle where the historical wheel height change abnormal data is abnormal; the abnormal driving section and the historical wheel height change abnormal data are pre-stored in the vehicle-mounted memory; an air suspension system control module, which is used to determine the control parameters of the air suspension system according to the current road condition.

[0014] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising a processor and an on-board memory, wherein the on-board memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the active suspension control method.

[0015] The embodiments of the present invention have the following beneficial technical effects:

[0016] The embodiment of the present invention provides an active suspension control method, device and electronic device, which are applied to a controller; the controller is connected to the air suspension system, map and positioning device and height sensor of the vehicle; the height sensor is used to collect the wheel height of the vehicle; the method includes: if the driving signal of the vehicle is received, the real-time driving positioning data of the vehicle is obtained through the map and positioning device; and the real-time wheel height change data corresponding to the real-time driving positioning data is collected through the height sensor; when it is detected that the vehicle is driving to an abnormal driving section, the current road condition of the abnormal driving section is determined according to the real-time wheel height change data and the historical wheel height change abnormal data; wherein the abnormal driving section is a section in the historical driving route of the vehicle where the historical wheel height change abnormal data exists abnormally; the abnormal driving section and the historical wheel height change abnormal data are pre-stored in the vehicle memory; according to the current road condition, the control parameters of the air suspension system are determined. The method monitors the wheel height change during the driving process of the vehicle in real time, and identifies and responds to abnormal road conditions in combination with map positioning information, thereby automatically adjusting the air suspension system parameters to optimize driving comfort and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic flow chart of an active suspension control method provided by an embodiment of the present invention;

[0019] Figure 2 A schematic flow chart of another active suspension control method provided by an embodiment of the present invention;

[0020] Figure 3 A schematic structural diagram of an active suspension control device provided by an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0022] Icons: 31 - data acquisition module; 32 - road condition determination module; 33 - air suspension system control module; 41 - memory; 42 - processor; 43 - bus; 44 - communication interface. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0024] At present, the existing active suspension control methods have the problem of low control accuracy.

[0025] Based on this, an embodiment of the present invention provides an active suspension control method, device and electronic device, which monitors the wheel height changes during vehicle driving in real time and identifies and responds to abnormal road conditions in combination with map positioning information, thereby automatically adjusting air suspension system parameters to optimize driving comfort and safety. In order to facilitate understanding of the embodiments of the present invention, an active suspension control method is first introduced.

[0026] Example 1

[0027] In an embodiment of the present invention, Figure 1 A schematic flow chart of an active suspension control method provided by an embodiment of the present invention.

[0028] Wherein, the method is applied to a controller; the controller is connected to the vehicle's air suspension system, a map and positioning device, and a height sensor; the height sensor is used to collect the wheel height of the vehicle.

[0029] Depend on Figure 1 As can be seen, the method includes:

[0030] Step S101: if the driving signal of the vehicle is received, the real-time driving positioning data of the vehicle is obtained through the map and positioning device; and the real-time wheel height change data corresponding to the real-time driving positioning data is collected through the height sensor.

[0031] Step S102: When it is detected that the vehicle has traveled to an abnormal driving section, the current road condition of the abnormal driving section is determined according to the real-time wheel height change data and the historical wheel height change abnormal data; wherein the abnormal driving section is a section in the historical driving route of the vehicle where the historical wheel height change abnormal data is abnormal; the abnormal driving section and the historical wheel height change abnormal data are pre-stored in the vehicle-mounted memory.

[0032] In this embodiment, by pre-storing the historical wheel height change abnormal data in the vehicle memory, it is convenient to retrieve it in real time during the vehicle driving process, so that when passing the abnormal driving section again, the current road condition of the abnormal driving section can be quickly determined based on the above real-time wheel height change data and the historical wheel height change abnormal data, so as to control the air suspension system.

[0033] Furthermore, when the vehicle drives onto an abnormal driving section next time, the controller will control the air suspension system to issue a warning or make pre-adjustments, thereby improving the comfort and passability during driving.

[0034] Step S103: Determine the control parameters of the air suspension system according to the current road conditions.

[0035] An embodiment of the present invention provides an active suspension control method, which is applied to a controller; the controller is connected to the air suspension system, map and positioning device and height sensor of the vehicle; the height sensor is used to collect the wheel height of the vehicle; the method includes: if a driving signal of the vehicle is received, real-time driving positioning data of the vehicle is obtained through the map and positioning device; and real-time wheel height change data corresponding to the real-time driving positioning data is collected through the height sensor; when it is detected that the vehicle is traveling to an abnormal driving section, the current road condition of the abnormal driving section is determined according to the real-time wheel height change data and the historical wheel height change abnormal data; wherein the abnormal driving section is a section in the historical driving route of the vehicle where the historical wheel height change abnormal data is abnormal; the abnormal driving section and the historical wheel height change abnormal data are pre-stored in the vehicle-mounted memory; and the control parameters of the air suspension system are determined according to the current road condition. This method monitors the changes in wheel height during vehicle driving in real time and combines map positioning information to identify and respond to abnormal road conditions, thereby automatically adjusting the air suspension system parameters to optimize driving comfort and safety. This method only uses height sensors, and the system assembly, debugging and calibration costs are low.

[0036] Example 2

[0037] Based on the above embodiment, the embodiment of the present invention further provides another active suspension control method.

[0038] Among them, the method is applied to a controller; the above-mentioned controller is connected to the vehicle's air suspension system, map and positioning device and height sensor; the above-mentioned height sensor is used to collect the wheel height of the above-mentioned vehicle; the above-mentioned controller is also connected to a laser radar; the above-mentioned laser radar is arranged on the above-mentioned vehicle.

[0039] Depend on Figure 2 As can be seen, the method includes:

[0040] Step S201: If a driving signal of the above-mentioned vehicle is received, the real-time driving positioning data of the above-mentioned vehicle is obtained through a map and a positioning device; and the real-time wheel height change data corresponding to the above-mentioned real-time driving positioning data is collected through the above-mentioned height sensor; and the real-time three-dimensional point cloud data of the driving direction of the above-mentioned vehicle corresponding to the above-mentioned real-time driving positioning data is collected through the above-mentioned laser radar.

[0041] Step S202: Background filtering is performed on the above real-time three-dimensional point cloud data to obtain pre-processed data.

[0042] Step S203: performing target clustering on the preprocessed data by using a density-based clustering algorithm to obtain clustered data.

[0043] Step S204: When it is detected that the vehicle has traveled to an abnormal driving section, the road foreign matter information of the abnormal driving section is determined according to the real-time wheel height change data, the historical wheel height change abnormal data and the clustering data, so as to determine the current road condition of the abnormal driving section; wherein the abnormal driving section is a section in the historical driving route of the vehicle where the historical wheel height change abnormal data is abnormal; the abnormal driving section and the historical wheel height change abnormal data are pre-stored in the vehicle-mounted memory.

[0044] Step S205: Determine the control parameters of the air suspension system according to the current road conditions.

[0045] Furthermore, the controller is also connected to an image acquisition device; the image acquisition device is on the vehicle; the relative position of the image acquisition device and the laser radar is fixed and the overlapping field of view of the laser radar and the image acquisition device accounts for a preset threshold of the field of view of the image acquisition device; after the step of collecting real-time three-dimensional point cloud data of the vehicle driving direction corresponding to the real-time driving positioning data through the laser radar, the method further includes: collecting real-time image information of the vehicle driving direction corresponding to the real-time driving positioning data through the image acquisition device; calibrating and correcting the lens distortion of the image acquisition device according to the real-time image information; and jointly calibrating the image acquisition device according to the real-time image information and the real-time three-dimensional point cloud data. The spatial attitude conversion relationship between the device and the above-mentioned laser radar; the step of determining the road foreign object information of the above-mentioned abnormal driving section according to the above-mentioned real-time wheel height change data, the above-mentioned historical wheel height change abnormal data and the above-mentioned clustering data, including: determining the corresponding relationship between the above-mentioned real-time image information and the above-mentioned clustering data according to the above-mentioned spatial attitude conversion relationship; according to the corresponding relationship between the above-mentioned real-time image information and the above-mentioned clustering data, assigning the environmental color information contained in each of the above-mentioned real-time image information to each point in the above-mentioned clustering data to obtain reconstructed three-dimensional point cloud data; determining the road foreign object information of the above-mentioned abnormal driving section according to the above-mentioned real-time wheel height change data, the above-mentioned historical wheel height change abnormal data and the above-mentioned reconstructed three-dimensional point cloud data.

[0046] Among them, the step of determining the current road condition of the above-mentioned abnormal driving section according to the above-mentioned real-time wheel height change data and the historical wheel height change abnormal data includes: judging whether the above-mentioned real-time wheel height change data meets the preset height abnormality standard; if so, judging whether the above-mentioned real-time driving positioning data corresponding to the above-mentioned real-time wheel height change data and the above-mentioned historical wheel height change abnormal data overlap; if they overlap, determining that the current road condition of the above-mentioned abnormal driving section is abnormal; when the above-mentioned vehicle drives to the above-mentioned abnormal driving section again, after the step of determining the current road condition of the above-mentioned abnormal driving section according to the above-mentioned real-time wheel height change data and the historical wheel height change abnormal data, the above-mentioned method also includes: retrieving the above-mentioned historical wheel height change abnormal data; determining the number of abnormal road conditions of the above-mentioned abnormal driving section according to the above-mentioned historical wheel height change abnormal data and the current road condition of the above-mentioned abnormal driving section; when the number of abnormal road conditions reaches a preset threshold, controlling the release of early warning information.

[0047] Furthermore, the types of the above-mentioned road foreign object information include: bumps and concavities caused by road deformation, speed bumps and fallen objects; the step of determining the control parameters of the above-mentioned air suspension system based on the above-mentioned current road conditions includes: determining the height and stiffness of the air spring of the above-mentioned air suspension system, and the damping force of the shock absorber based on the bumps and concavities caused by road deformation, the above-mentioned speed bumps and the above-mentioned fallen objects.

[0048] Among them, the above-mentioned controller is connected to the first solenoid valve for air intake of the air bag in the above-mentioned air suspension system and the second solenoid valve for shock absorber oil of the shock absorber; the step of determining the height and stiffness of the air spring of the above-mentioned air suspension system and the damping force of the shock absorber according to the bumps and grooves caused by the above-mentioned road deformation, the above-mentioned speed bumps and the above-mentioned debris includes: determining the air flow rate of the above-mentioned first solenoid valve and the oil flow rate of the above-mentioned shock absorber oil of the above-mentioned second solenoid valve according to the bumps and grooves caused by the above-mentioned road deformation, the above-mentioned speed bumps and the above-mentioned debris.

[0049] In one embodiment, after the step of determining the control parameters of the air suspension system according to the current road conditions, the method further includes: determining the adjusted driving speed of the vehicle according to the real-time wheel height change data and the vehicle speed adjustment step corresponding to the real-time wheel height change data; and controlling the vehicle to travel at the adjusted driving speed.

[0050] Furthermore, the controller is also connected to a warning information prompting device; after the step of determining the control parameters of the air suspension system according to the current road conditions, the method comprises: generating a driving map of the vehicle according to the real-time driving positioning data through a map and positioning device;

[0051] The abnormal driving section is marked in the driving map to generate an abnormal driving point; when it is detected that the vehicle is driving on the abnormal driving section, before the step of determining the current road condition of the abnormal driving section according to the real-time wheel height change data and the historical wheel height change abnormal data, the method further includes: when the vehicle is a preset distance away from the abnormal driving section and the number of abnormal road conditions reaches a preset threshold, controlling the warning information prompting device to issue a warning message.

[0052] Among them, the types of the above-mentioned warning information prompting device are: human-computer interaction interface, loudspeaker or voice broadcasting device.

[0053] An embodiment of the present invention provides an active suspension control method, which is applied to a controller; the controller is connected to the air suspension system, map and positioning device and height sensor of the vehicle; the height sensor is used to collect the wheel height of the vehicle; the method includes: if a driving signal of the vehicle is received, real-time driving positioning data of the vehicle is obtained through the map and positioning device; and real-time wheel height change data corresponding to the real-time driving positioning data is collected through the height sensor; when it is detected that the vehicle is traveling to an abnormal driving section, the current road condition of the abnormal driving section is determined according to the real-time wheel height change data and the historical wheel height change abnormal data; wherein the abnormal driving section is a section in the historical driving route of the vehicle where the historical wheel height change abnormal data is abnormal; the abnormal driving section and the historical wheel height change abnormal data are pre-stored in the vehicle-mounted memory; and the control parameters of the air suspension system are determined according to the current road condition. This method monitors the changes in wheel height during vehicle driving in real time and combines map positioning information to identify and respond to abnormal road conditions, thereby automatically adjusting the air suspension system parameters to optimize driving comfort and safety. This method only uses height sensors, and the system assembly, debugging and calibration costs are low.

[0054] Example 3

[0055] Based on the above embodiments, Figure 3 A schematic structural diagram of an active suspension control device provided by an embodiment of the present invention.

[0056] Among them, the device is applied to a controller; the above-mentioned controller is connected to the vehicle's air suspension system, map and positioning device and height sensor; the above-mentioned height sensor is used to collect the wheel height of the above-mentioned vehicle.

[0057] Depend on Figure 3 As can be seen, the device includes:

[0058] The data acquisition module 31 is used to obtain the real-time driving positioning data of the above-mentioned vehicle through the map and positioning device if the driving signal of the above-mentioned vehicle is received; and to collect the real-time wheel height change data corresponding to the above-mentioned real-time driving positioning data through the above-mentioned height sensor.

[0059] The road condition determination module 32 is used to determine the current road condition of the abnormal driving section according to the real-time wheel height change data and the historical wheel height change abnormal data when it is detected that the vehicle is driving on the abnormal driving section; wherein the abnormal driving section is a section in the historical driving route of the vehicle where the historical wheel height change abnormal data is abnormal; the abnormal driving section and the historical wheel height change abnormal data are pre-stored in the vehicle-mounted memory.

[0060] The air suspension system control module 33 is used to determine the control parameters of the air suspension system according to the current road conditions.

[0061] Among them, the data acquisition module 31, the road condition determination module 32 and the air suspension system control module 33 are connected in sequence.

[0062] The active suspension control device provided in the embodiment of the present invention has the same technical features as the active suspension control method provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the device described above can refer to the corresponding process in the above method embodiment, and will not be repeated here.

[0063] Example 4

[0064] This embodiment provides an electronic device, including a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the steps of the active suspension control method.

[0065] See also Figure 4 The structure diagram of an electronic device shown in the figure includes: a memory 41 and a processor 42. The memory stores a computer program that can be run on the processor 42. When the processor executes the computer program, the steps provided by the above-mentioned active suspension control method are implemented.

[0066] like Figure 4 As shown, the device further includes: a bus 43 and a communication interface 44, a processor 42, a communication interface 44 and a memory 41 are connected via the bus 43; the processor 42 is used to execute executable modules stored in the memory 41, such as computer programs.

[0067] The memory 41 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 44 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0068] The bus 43 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0069] Among them, the memory 41 is used to store the program, and the processor 42 executes the program after receiving the execution instruction. The method performed by the active suspension control device disclosed in any embodiment of the present invention can be applied to the processor 42, or implemented by the processor 42. The processor 42 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 42. The above processor 42 can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The disclosed methods, steps and logic block diagrams in the embodiments of the present invention can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 41, and the processor 42 reads the information in the memory 41 and completes the steps of the above method in combination with its hardware.

[0070] Furthermore, an embodiment of the present invention also provides a machine-readable storage medium, which stores machine-executable instructions. When the machine-executable instructions are called and executed by the processor 42, the machine-executable instructions prompt the processor 42 to implement the above-mentioned active suspension control method.

[0071] The active suspension control method and the active suspension control device provided by the embodiments of the present invention have the same technical features, and therefore can solve the same technical problems and achieve the same technical effects.

[0072] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0073] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

Claims

1. An active suspension control method, characterized in that: Applied to a controller; the controller is connected to an air suspension system of a vehicle, a map and positioning device, and a height sensor; the height sensor is used to collect the wheel height of the vehicle; the method comprises: If the driving signal of the vehicle is received, the real-time driving positioning data of the vehicle is obtained through the map and positioning device; and the real-time wheel height change data corresponding to the real-time driving positioning data is collected through the height sensor; When it is detected that the vehicle is traveling to an abnormal driving section, the current road condition of the abnormal driving section is determined according to the real-time wheel height change data and the historical wheel height change abnormal data; wherein the abnormal driving section is a section in the historical driving route of the vehicle where the historical wheel height change abnormal data is abnormal; the abnormal driving section and the historical wheel height change abnormal data are pre-stored in the vehicle-mounted memory; According to the current road condition, control parameters of the air suspension system are determined.

2. The active suspension control method according to claim 1, characterized in that: The controller is also connected to a laser radar; the laser radar is arranged on the vehicle; After the step of collecting the real-time wheel height change data corresponding to the real-time driving positioning data by the height sensor, the method further includes: Collecting real-time three-dimensional point cloud data of the vehicle driving direction corresponding to the real-time driving positioning data by the laser radar; Perform background filtering on the real-time three-dimensional point cloud data to obtain pre-processed data; The pre-processed data is subjected to target clustering by a density-based clustering algorithm to obtain clustered data; The step of determining the current road condition of the abnormal driving section according to the real-time wheel height change data and the historical wheel height change abnormal data comprises: According to the real-time wheel height change data, the historical wheel height change abnormal data and the clustering data, the road surface foreign matter information of the abnormal driving section is determined to determine the current road condition of the abnormal driving section.

3. The active suspension control method according to claim 2, characterized in that: The controller is also connected to an image acquisition device; the image acquisition device is on the vehicle; the relative positions of the image acquisition device and the laser radar are fixed and the overlapped visual field of the laser radar and the image acquisition device accounts for a portion of the visual field of the image acquisition device that reaches a preset threshold; After the step of collecting the real-time three-dimensional point cloud data of the vehicle driving direction corresponding to the real-time driving positioning data by the laser radar, the method further includes: Collecting real-time image information of the vehicle driving direction corresponding to the real-time driving positioning data through the image acquisition device; Calibrate and correct the lens distortion of the image acquisition device according to the real-time image information; and jointly calibrate the spatial posture conversion relationship between the image acquisition device and the laser radar according to the real-time image information and the real-time three-dimensional point cloud data; The step of determining the road foreign matter information of the abnormal driving section according to the real-time wheel height change data, the historical wheel height change abnormal data and the clustering data comprises: Determining a corresponding relationship between the real-time image information and the clustering data according to the spatial posture conversion relationship; According to the correspondence between the real-time image information and the cluster data, the environmental color information contained in each real-time image information is assigned to each point in the cluster data to obtain reconstructed three-dimensional point cloud data; According to the real-time wheel height change data, the historical wheel height change abnormal data and the reconstructed three-dimensional point cloud data, the road surface foreign matter information of the abnormal driving section is determined.

4. The active suspension control method according to claim 3, characterized in that: The step of determining the current road condition of the abnormal driving section according to the real-time wheel height change data and the historical wheel height change abnormal data comprises: Determining whether the real-time wheel height change data meets a preset height abnormality standard; If yes, determining whether the real-time wheel height change data and the real-time driving positioning data corresponding to the historical wheel height change abnormal data are overlapped; If they coincide, determining that the current road condition of the abnormal driving section is abnormal; When the vehicle travels to the abnormal driving section again, after the step of determining the current road condition of the abnormal driving section according to the real-time wheel height change data and the historical wheel height change abnormality data, the method further comprises: Retrieving the historical wheel height change abnormal data; Determining the number of abnormal road conditions of the abnormal driving section according to the historical wheel height change abnormal data and the current road condition of the abnormal driving section; When the number of abnormal road conditions reaches a preset threshold, the control releases warning information.

5. The active suspension control method according to claim 4, characterized in that: The types of the road foreign body information include: bumps and depressions caused by road deformation, speed bumps, and fallen objects; the step of determining the control parameters of the air suspension system according to the current road conditions includes: The height and stiffness of the air spring of the air suspension system and the damping force of the shock absorber are determined according to the unevenness caused by the deformation of the road surface, the speed bump and the fallen objects.

6. The active suspension control method according to claim 5, characterized in that: The controller is connected to a first solenoid valve for air intake of an air bag in the air suspension system and a second solenoid valve for shock absorber oil of a shock absorber; The step of determining the height and stiffness of the air spring of the air suspension system and the damping force of the shock absorber according to the unevenness caused by the road deformation, the speed bump and the fallen objects comprises: The air flow rate of the first solenoid valve and the oil flow rate of the shock absorber oil of the second solenoid valve are determined according to the unevenness caused by the deformation of the road surface, the speed bump, and the fallen objects.

7. The active suspension control method according to claim 4, characterized in that: After the step of determining the control parameters of the air suspension system according to the current road conditions, the method further includes: Determine the adjusted driving speed of the vehicle according to the real-time wheel height change data and the vehicle speed adjustment step corresponding to the real-time wheel height change data; and control the vehicle to travel at the adjusted driving speed.

8. The active suspension control method according to claim 4, characterized in that: The controller is also connected to a warning information prompting device; after the step of determining the control parameters of the air suspension system according to the current road conditions, the method comprises: Generate a driving map of the vehicle according to the real-time driving positioning data through a map and positioning device; Marking the abnormal driving section on the driving map to generate an abnormal driving point; When it is detected that the vehicle is traveling on an abnormal driving section, before the step of determining the current road condition of the abnormal driving section according to the real-time wheel height change data and the historical wheel height change abnormality data, the method further includes: When the distance between the vehicle and the abnormal driving section is a preset distance, and the number of abnormal road conditions reaches a preset threshold, the warning information prompting device is controlled to issue a warning message.

9. An active suspension control device, characterized in that: Applied to a controller; the controller is connected to the air suspension system of the vehicle, a map and positioning device, and a height sensor; the height sensor is used to collect the wheel height of the vehicle; the device includes: A data acquisition module, for acquiring real-time driving positioning data of the vehicle through a map and a positioning device if a driving signal of the vehicle is received; and for collecting real-time wheel height change data corresponding to the real-time driving positioning data through the height sensor; A road condition determination module, for determining the current road condition of the abnormal driving section according to the real-time wheel height change data and the historical wheel height change abnormal data when it is detected that the vehicle is driving on the abnormal driving section; wherein the abnormal driving section is a section in the historical driving route of the vehicle where the historical wheel height change abnormal data is abnormal; the abnormal driving section and the historical wheel height change abnormal data are pre-stored in the vehicle-mounted memory; The air suspension system control module is used to determine the control parameters of the air suspension system according to the current road conditions.

10. An electronic device, characterized in that: The electronic device includes a processor and an on-board memory, wherein the on-board memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the active suspension control method according to any one of claims 1 to 8.

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