Vehicle suspension control method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vehicle control, and provides a vehicle suspension control method and device, electronic equipment and a storage medium. The method comprises the following steps: in the driving process of a vehicle, acquiring road surface data of the vehicle in the current driving direction, and establishing a road elevation map of the vehicle in the current driving direction according to the road surface data; predicting the driving track of the vehicle in the current driving direction, and predicting the wheel height change amplitude of the vehicle during driving according to the driving track and the road elevation map; a target obstacle is determined according to the driving track and the road surface data, and the wheel height change amplitude is corrected according to the target obstacle; the suspension of the vehicle is controlled according to the corrected wheel height change amplitude, so that the suspension can be controlled in advance according to the accurate wheel height change amplitude before the vehicle vibrates, the suspension effect of the suspension is improved, the situation that the suspension is adjusted only after a vehicle body vibrates is avoided, and the service life of the vehicle is prolonged. And the vehicle suspension effect is poor.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle suspension control method, device, electronic device and storage medium. Background Art

[0002] The active suspension in modern automobiles is a new type of suspension developed in recent decades. Its control principle is: when the vehicle is driving, the sensors in the suspension system transmit information such as vehicle speed and vertical vibration of the vehicle body to the electronic control unit ECU. The ECU issues control instructions based on the input signal and the pre-set control program to make the suspension generate a force that counteracts the inertia and controls the vehicle body vibration and height.

[0003] However, this control method only collects signals such as the wheel bounce, body height and tilt state of the current vehicle body through sensors on the suspension system after vibration occurs, and then adjusts the stability of the vehicle body according to these signals. In other words, the active suspension in the prior art is also adjusted after receiving road bumps and body vibrations, resulting in delayed shock absorption effect and poor shock absorption effect. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a vehicle suspension control method, device, electronic device and storage medium to solve the problem in the prior art that the vehicle suspension is not adjusted until the vehicle body vibrates, resulting in poor vehicle suspension effect.

[0005] According to a first aspect of an embodiment of the present application, a method for controlling a suspension of a vehicle is provided, the method comprising: during the driving process of the vehicle, collecting road surface data of the vehicle in the current driving direction, and establishing a road elevation map of the vehicle in the current driving direction based on the road surface data; predicting the driving trajectory of the vehicle in the current driving direction, and predicting the amplitude of wheel height change of the vehicle during driving based on the driving trajectory and the road elevation map; determining a target obstacle based on the driving trajectory and the road surface data, and correcting the amplitude of wheel height change based on the target obstacle; and controlling the suspension of the vehicle based on the corrected amplitude of wheel height change.

[0006] According to a second aspect of an embodiment of the present application, a suspension control device for a vehicle is provided, the device comprising: an acquisition module, for acquiring road surface data of the vehicle in a current driving direction during driving of the vehicle, and establishing a road elevation map of the vehicle in the current driving direction based on the road surface data; a prediction module, for predicting a driving trajectory of the vehicle in the current driving direction, and predicting a wheel height variation amplitude of the vehicle during driving based on the driving trajectory and the road elevation map; a correction module, for determining a target obstacle based on the driving trajectory and the road surface data, and correcting the wheel height variation amplitude based on the target obstacle; and a control module, for controlling the suspension of the vehicle based on the corrected wheel height variation amplitude.

[0007] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0008] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0009] Compared with the prior art, the embodiments of the present application have the following beneficial effects: during the driving process of the vehicle, the method in the embodiments of the present application collects road surface data of the vehicle in the current driving direction, and establishes a road elevation map of the vehicle in the current driving direction based on the road surface data; predicts the driving trajectory of the vehicle in the current driving direction, and predicts the wheel height change amplitude of the vehicle during driving based on the driving trajectory and the road elevation map; determines the target obstacle based on the driving trajectory and the road surface data, and corrects the wheel height change amplitude based on the target obstacle; controls the suspension of the vehicle based on the corrected wheel height change amplitude, wherein the method generates a road elevation map based on the collected road surface data. The figure provides basic data support for subsequent suspension adjustments. The wheel height change amplitude is predicted in advance according to the road elevation map and the driving trajectory, and the wheel height change amplitude is corrected taking into account the influence of the target obstacle on the wheel height change amplitude, thereby improving the accuracy of the corrected wheel height change amplitude. Subsequently, the vehicle's suspension is controlled according to the corrected wheel height change amplitude, so that the vehicle can control the suspension in advance to prepare for shock absorption according to the accurate wheel height change amplitude before the vehicle vibrates, thereby improving the shock absorption effect of the suspension, and avoiding the problem in the prior art that the suspension is adjusted only after the vehicle body vibrates, resulting in poor vehicle suspension effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0011] Figure 1 It is a flow chart of a suspension control method for a vehicle provided in an embodiment of the present application;

[0012] Figure 2 is a flow chart of another vehicle suspension control method provided in an embodiment of the present application;

[0013] Figure 3 is a flow chart of another vehicle suspension control method provided in an embodiment of the present application;

[0014] Figure 4 is a flow chart of another vehicle suspension control method provided in an embodiment of the present application;

[0015] Figure 5 is a flow chart of another vehicle suspension control method provided in an embodiment of the present application;

[0016] Figure 6 is a flow chart of another optional vehicle suspension control method provided in an embodiment of the present application;

[0017] Figure 7 is a flow chart of another optional vehicle suspension control method provided in an embodiment of the present application;

[0018] Figure 8 is a structural schematic diagram of a suspension control device for a vehicle provided in an embodiment of the present application;

[0019] Fig. 9 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0021] A vehicle suspension control method and device according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0022] Figure 1 A vehicle suspension control method provided in an embodiment of the present application is as follows: Figure 1 As shown, the method includes:

[0023] S101, during the driving process of the vehicle, collecting road surface data of the vehicle in the current driving direction, and establishing a road elevation map of the vehicle in the current driving direction according to the road surface data;

[0024] S102, predicting the driving trajectory of the vehicle in the current driving direction, and predicting the height variation of the wheels of the vehicle during driving according to the driving trajectory and the road elevation map;

[0025] S103, determining a target obstacle according to the driving trajectory and road surface data, and correcting the wheel height variation according to the target obstacle;

[0026] S104: Control the suspension of the vehicle according to the corrected wheel height variation.

[0027] It can be understood that the suspension control method of the above-mentioned vehicle provided in this example is applied to vehicles, and the above-mentioned vehicles include vehicles with automatic driving or intelligent driving (including vehicles with passenger functions (such as cars, buses, large buses, minibuses, etc.), vehicles with cargo functions (such as ordinary trucks, vans, trailers, closed trucks, tank trucks, flatbed trucks, container trucks, dump trucks, trucks with special structures), special vehicles (such as logistics distribution vehicles, automatic guided transport vehicles AGV, patrol cars, cranes, cranes, excavators, bulldozers, forklifts, rollers, loaders, off-road engineering vehicles, armored engineering vehicles, sewage treatment vehicles, sanitation vehicles, vacuum trucks, floor washing vehicles, sprinkler trucks, sweeping robots, food delivery robots, shopping guide robots, lawn mowers, golf carts, etc.), vehicles with entertainment functions (such as entertainment vehicles, amusement park automatic driving devices, balance cars, etc.), rescue vehicles (such as fire trucks, ambulances, power repair vehicles, engineering rescue vehicles, etc.)), etc.

[0028] Specifically, the vehicle is provided with a collection device, which can collect road surface data of the vehicle in the current driving direction during the driving process of the vehicle, and the vehicle is provided with an electronic control unit ECU. The electronic control unit ECU can establish a road elevation map of the vehicle in the current driving direction according to the road surface data.

[0029] It is understood that by real-time collection and analysis of the road surface data of the vehicle in the current driving direction, an accurate road elevation map can be generated. It is understood that the road elevation map is a representation of the changes in the height of the road surface. The road elevation map can clearly show the subtle changes in the road conditions ahead in the current driving direction, and provide basic data support for subsequent suspension adjustments, thereby improving the stability of the vehicle under different road conditions. In this example, the road elevation map represents the height value of each location in the form of a grid or point cloud.

[0030] In some examples, the vehicle predicts a driving trajectory of the vehicle in the current driving direction, which is a possible future driving path of the vehicle.

[0031] Continuing with the previous example, after predicting the driving trajectory, this example predicts the amplitude of wheel height change of the vehicle while driving based on the driving trajectory and the road elevation map; specifically, predicting the amplitude of wheel height change of the vehicle while driving based on the driving trajectory and the road elevation map includes: mapping the driving trajectory to the road elevation map, obtaining the ground height corresponding to each trajectory point in the driving trajectory (the driving trajectory consists of multiple trajectory points arranged in sequence); comparing the ground height corresponding to the current trajectory point with the ground height corresponding to the previous trajectory point, and determining the amplitude of wheel height change.

[0032] According to the above principle, the wheel height change amplitude corresponding to the current trajectory point is calculated by the ground height corresponding to the current trajectory point and the ground height corresponding to the previous trajectory point.

[0033] It can be understood that the ground height corresponding to the trajectory point in the road elevation map is composed of the height of the ground itself and the height of the obstacles on the ground. The height of the ground itself will not change, but the height of some obstacles on the ground will change as the vehicle runs over them. When the height of the obstacle is changed, the ground height changes accordingly, and the amplitude of the wheel height change corresponding to the trajectory point changes accordingly; for example, taking the obstacle as a plastic water bottle, when a vehicle drives over the plastic water bottle, it will run over the plastic water bottle, thereby reducing the height of the plastic water bottle, and the corresponding ground height will also decrease, and the amplitude of the wheel height change corresponding to the trajectory point will also change accordingly.

[0034] Based on the above principle, this example will determine the target obstacle according to the driving trajectory and road surface data. The target obstacle is an obstacle overlapping with the driving trajectory. That is, in the future driving process of the vehicle, if the actual driving trajectory is the same as the predicted driving trajectory, the target obstacle will be run over. In order to make the obtained wheel height change amplitude more accurate, this example will correct the wheel height change amplitude according to the target obstacle.

[0035] Finally, the vehicle's suspension is controlled according to the corrected wheel height change, improving the user's driving experience.

[0036] According to the technical solution provided in the embodiment of the present application, during the driving process of the vehicle, road surface data of the vehicle in the current driving direction is collected, and a road elevation map of the vehicle in the current driving direction is established based on the road surface data; the driving trajectory of the vehicle in the current driving direction is predicted, and the wheel height change amplitude of the vehicle during driving is predicted based on the driving trajectory and the road elevation map; the target obstacle is determined based on the driving trajectory and the road surface data, and the wheel height change amplitude is corrected based on the target obstacle; the suspension of the vehicle is controlled based on the corrected wheel height change amplitude, wherein the method generates a road elevation map based on the collected road surface data for subsequent suspension control. The adjustment provides basic data support, predicts the wheel height change amplitude in advance according to the road elevation map and the driving trajectory, and takes into account the influence of the target obstacle on the wheel height change amplitude to correct the wheel height change amplitude, thereby improving the accuracy of the corrected wheel height change amplitude. Subsequently, the vehicle's suspension is controlled according to the corrected wheel height change amplitude, so that the vehicle can control the suspension in advance to prepare for shock absorption according to the accurate wheel height change amplitude before the vehicle vibrates, thereby improving the shock absorption effect of the suspension, and avoiding the problem in the prior art that the suspension is adjusted only after the vehicle body vibrates, resulting in poor vehicle suspension effect.

[0037] In some embodiments, Figure 2 As shown, the target obstacle is determined according to the driving trajectory and road surface data, and the wheel height variation amplitude is corrected based on the target obstacle, including:

[0038] S201, obtaining the obstacle type of the target obstacle, and determining the height change amplitude of the target obstacle when the vehicle passes through the target obstacle according to the obstacle type;

[0039] S202: Correct the height variation of the wheels according to the height variation of the target obstacle.

[0040] Specifically, obstacle types include: deformable obstacles and non-deformable obstacles; illustratively, deformable obstacles include plastic water bottles, foam, balloons, etc.; non-deformable obstacles include bricks, manhole covers and other obstacles.

[0041] It is understandable that when a vehicle passes through the target obstacle, if the target obstacle is a deformable obstacle, the target obstacle will be squeezed by the vehicle and its height will change; if the target obstacle is a non-deformable obstacle, the target obstacle will be squeezed by the vehicle and its height will not change. Therefore, this example needs to determine the actual height of the target obstacle when the vehicle passes through the target obstacle according to the obstacle type of the target obstacle.

[0042] Specifically, when the obstacle type of the target obstacle is a deformable obstacle, this example predicts the height of the target obstacle after being squeezed by the vehicle, and uses the predicted height as the actual height of the target obstacle; when the obstacle type of the target obstacle is a non-deformable obstacle, this example directly uses the current height of the target obstacle as the actual height.

[0043] It can be understood that the height of the target obstacle after being squeezed by the vehicle is determined by information such as the weight of the vehicle, the shape of the target obstacle, and the material of the target obstacle. Therefore, relevant technical personnel can pre-train a predicted height model, which can predict the height of the target obstacle after being squeezed by the vehicle based on the weight of the vehicle, the shape of the target obstacle, and the material of the target obstacle.

[0044] In some examples, after obtaining the actual height of the target obstacle, this example will correct the wheel height change amplitude according to the actual height of the target obstacle; specifically, when the wheel height change amplitude is a positive value, the actual height is subtracted to achieve the correction of the wheel height change amplitude; when the wheel height change amplitude is a negative value, the actual height is added to achieve the correction of the wheel height change amplitude.

[0045] In some examples, the ground height of the current trajectory point can also be calculated based on the actual height of the target obstacle and the height of the ground itself, and then the difference between the recalculated ground height of the current trajectory point and the ground height of the previous trajectory point is calculated to obtain the corrected wheel height change amplitude.

[0046] According to the technical solution provided in the embodiment of the present application, the obstacle type of the target obstacle is obtained, and the height change amplitude of the target obstacle when the vehicle passes the target obstacle is determined according to the obstacle type; according to the height change amplitude of the target obstacle, the wheel height change amplitude is corrected, thereby achieving accurate acquisition of the actual wheel height change amplitude.

[0047] In some embodiments, Figure 3 As shown, the suspension of the vehicle is controlled according to the corrected wheel height variation, including:

[0048] S301, obtaining a suspension adjustment strategy corresponding to a wheel height variation range;

[0049] S302: When the vehicle reaches a position point corresponding to the height variation amplitude of each wheel, the suspension of the vehicle is controlled according to the suspension adjustment strategy.

[0050] Specifically, obtaining the suspension adjustment strategy corresponding to the wheel height variation amplitude includes: obtaining the target amplitude interval corresponding to the wheel height variation amplitude, and searching for the suspension adjustment strategy corresponding to the preset amplitude interval and the suspension adjustment strategy according to the target amplitude interval; illustratively, the amplitude interval includes a first amplitude interval, a second amplitude interval, and a third amplitude interval, and the first amplitude interval indicates that the road on which the vehicle is about to travel is a flat road, and the corresponding suspension adjustment strategy at this time is: maintaining normal damping and spring stiffness settings to maintain a comfortable riding experience. The second amplitude interval indicates that the road on which the vehicle is about to travel is uneven, and the wheel height fluctuates, and the suspension adjustment strategy is to increase the damping force to better absorb the impact caused by the uneven road surface, and adjust the spring stiffness to adapt to the vehicle load and dynamic changes. The third amplitude interval indicates that the road on which the vehicle is about to travel is relatively uneven (pothole section or off-road), and the wheel height fluctuates greatly, and the suspension adjustment strategy is: adjusting the suspension to a softer setting to absorb large impacts, while avoiding the "bottoming" phenomenon caused by excessive compression of the suspension.

[0051] In some examples, after determining the suspension adjustment strategy, this example controls the suspension of the vehicle according to the suspension adjustment strategy when the vehicle travels to a position point corresponding to the amplitude of the height change of each wheel.

[0052] For example, if the vehicle's suspension is an air suspension, the electronic control ECU sends the suspension adjustment strategy to the air suspension controller through the CAN bus, and the air suspension controller drives the CDC solenoid valve through the H-bridge to change the size of the oil working chamber hole in the CDC shock absorber to adjust the damping, thereby achieving continuous adjustable resistance. In order to stably adjust the damping, the controller drives the CDC solenoid valve with a high-frequency PWM current, and changes the size of the current by adjusting the duty cycle, thereby controlling the size of the gap opening, thereby achieving variable damping. At the same time, the CDC air suspension controller drives the air distribution valve on and off through the drive circuit, thereby changing the internal pressure of the air chamber of the air shock absorber, thereby changing the stiffness of the air shock absorber.

[0053] In some examples, information such as the vehicle's driving mode and road surface slipperiness may also be taken into consideration, and the suspension adjustment strategy may be determined based on the driving mode, road surface slipperiness, and the amplitude of wheel height change of the vehicle.

[0054] According to the technical solution provided in the embodiment of the present application, a suspension adjustment strategy corresponding to the wheel height change amplitude is obtained; when the vehicle travels to a position point corresponding to each wheel height change amplitude, the suspension of the vehicle is controlled according to the suspension adjustment strategy, so that when the vehicle reaches the position point, the vehicle prepares shock absorption measures in advance, so that the vehicle has a better shock absorption effect.

[0055] In some embodiments, Figure 4As shown, the road surface data of the vehicle in the current driving direction is collected, and a road elevation map of the vehicle in the current driving direction is established according to the road surface data, including:

[0056] S401, collecting first road surface data and second road surface data of the vehicle in the current driving direction respectively through a binocular camera;

[0057] S402: construct a disparity map according to the first road surface data and the second road surface data, and establish a road elevation map according to the disparity map.

[0058] Specifically, a binocular camera is provided in the vehicle. In this example, the first road surface data and the second road surface data of the vehicle in the current driving direction are respectively collected through the binocular camera. The first road surface data and the second road surface data together constitute the above-mentioned road surface data. It can be understood that the collection range of the binocular camera can be flexibly set by relevant personnel according to actual needs. Exemplarily, the above-mentioned collection range is 0.5 meters to 150 meters in front of the vehicle.

[0059] For example, taking the binocular camera consisting of an infrared camera and a visible light camera as an example, the infrared camera and the visible light camera are used to collect data on the road surface in the range of 0.5 meters to 150 meters in front of the vehicle respectively to obtain first road surface data and second road surface data.

[0060] In some examples, after receiving the first road surface data and the second road surface data, the electronic control unit ECU in this example can perform stereo matching on the first road surface data and the second road surface data. Specifically, the pixel coordinates (u, v) and the disparity d corresponding to each pixel are first determined according to the first road surface data and the second road surface data, and a complete disparity cost space Cm (u, v, d) is constructed according to the pixel coordinates (u, v) and the disparity d.

[0061] On the basis of the above, the semi-global stereo matching algorithm (SGM) is used to calculate the disparity map. SGM obtains the disparity through the local optimal method and uses dynamic programming to solve it on multiple paths to improve the smoothness and accuracy of the disparity map. Finally, the disparity value of each pixel is obtained to generate the disparity map.

[0062] To generate a road elevation map based on the disparity map, this example first calculates the disparity Among them, x l represents the horizontal coordinate of the pixel point in the image corresponding to the first road surface data, x r The horizontal coordinate of the pixel point in the image corresponding to the second road surface data is represented, f is the focal length of the camera, b is the baseline distance of the binocular camera, and z is the distance from the pixel point to the binocular camera. The above parallax d can be used to estimate the ground and determine the ground position.

[0063] After the ground surface is determined, the disparity map is divided into different areas using a rasterization method, free spaces for driving are marked, and a road elevation map is generated by applying the RANSAC algorithm to the data in the raster map.

[0064] It can be understood that in some examples, a laser radar is provided on the vehicle. In this example, the road surface data of the vehicle in the current driving direction can also be directly collected through the laser radar, and a road elevation map can be constructed based on the road surface data.

[0065] According to the technical solution provided in the embodiment of the present application, first road surface data and second road surface data of the vehicle in the current driving direction are respectively collected through a binocular camera; a disparity map is constructed based on the first road surface data and the second road surface data, and a road elevation map is established based on the disparity map. The first road surface data and the second road surface data of the vehicle in the current driving direction are collected through a binocular camera, thereby effectively collecting key geometric information in the scene, and constructing a road elevation map through the first road surface data and the second road surface data, thereby effectively extracting key geometric information in the scene, and providing a good data foundation for subsequent suspension control.

[0066] In some embodiments, Figure 5 As shown, the vehicle's driving trajectory in the current driving direction is predicted, and the wheel height change amplitude of the vehicle is predicted according to the driving trajectory and the road elevation map, including:

[0067] S501, obtaining the wheelbase of the vehicle, and predicting the driving trajectory according to the wheelbase and the baseline of the binocular camera;

[0068] S502, mapping the driving trajectory to a road elevation map, and obtaining the ground height corresponding to each trajectory point in the driving trajectory;

[0069] S503: Compare the ground height corresponding to the current track point with the ground height corresponding to the previous track point to determine the range of wheel height change.

[0070] Specifically, this example obtains the wheelbase of the vehicle, which is the distance between the left and right tires of the vehicle; and then predicts the driving trajectory based on the wheelbase and the baseline of the binocular camera, which will not be repeated here.

[0071] After obtaining the driving trajectory, this example maps the driving trajectory to the road elevation map and obtains the ground height corresponding to each trajectory point in the driving trajectory; compares the ground height corresponding to the current trajectory point with the ground height corresponding to the previous trajectory point to determine the wheel height change amplitude corresponding to the current trajectory point, and obtains the wheel height change amplitude corresponding to all trajectory points based on this method.

[0072] Exemplarily, taking the ground height of the current track point as x and the ground height of the previous track point as y, the wheel height change amplitude corresponding to the current track point is xy.

[0073] According to the technical solution provided in the embodiment of the present application, the wheelbase of the vehicle is obtained, and the driving trajectory is predicted based on the wheelbase and the baseline of the binocular camera; the driving trajectory is mapped into a road elevation map, and the ground height corresponding to each trajectory point in the driving trajectory is obtained; the ground height corresponding to the current trajectory point is compared with the ground height corresponding to the previous trajectory point to determine the wheel height change amplitude, thereby improving the accuracy of the obtained wheel height change amplitude.

[0074] In some embodiments, Figure 6 As shown, the target obstacle is determined according to the driving trajectory and road surface data, including:

[0075] S601, determining obstacles in the current driving direction according to road surface data, and mapping the obstacles into a road elevation map;

[0076] S602: Take obstacles in the road elevation map that overlap with the driving trajectory as target obstacles.

[0077] Specifically, this example parses the road surface data to determine obstacles in the current driving direction, and then maps the obstacles into the road elevation map.

[0078] It can be understood that the road elevation map maps the driving trajectory, and this example further uses obstacles that overlap with the driving trajectory as target obstacles.

[0079] Exemplarily, obstacles A, B, C, D ... N are determined, wherein obstacles A, B, C overlap with the driving trajectory, and obstacles A, B, C are respectively used as target obstacles.

[0080] According to the technical solution provided in the embodiment of the present application, obstacles in the current driving direction are determined based on road surface data, and the obstacles are mapped into a road elevation map; obstacles in the road elevation map that overlap with the driving trajectory are used as target obstacles. This method achieves accurate determination of target obstacles.

[0081] In some embodiments, Figure 7 As shown, after controlling the suspension of the vehicle according to the corrected wheel height variation, the method further includes:

[0082] S701, obtaining the status of the occupants in the cabin of the vehicle;

[0083] S702: If the status of the occupant in the cabin of the vehicle indicates that the occupant is abnormal, an alarm is issued.

[0084] Specifically, in order to further enhance the vehicle riding experience of the passengers (users) in the cabin, the method provided in this example will further obtain the status of the passengers in the cabin of the vehicle.

[0085] If the status of the occupants in the vehicle's cabin indicates that there is an abnormality with the occupants (for example, if there is motion sickness, vomiting, etc., it is determined that there is an abnormality with the occupants), an alarm reminder will be issued so that the driver of the vehicle can promptly take measures such as reducing the speed and opening windows for ventilation to alleviate the abnormality of the occupants in the cabin, thereby achieving the effect of improving the riding experience of the occupants in the cabin.

[0086] According to the technical solution provided in the embodiment of the present application, the status of the occupants in the vehicle cabin is obtained; if the status of the occupants in the vehicle cabin indicates that the occupants are abnormal, an alarm reminder is issued so that the driver of the vehicle can promptly take measures such as reducing the speed of the vehicle and opening windows for ventilation to alleviate the abnormality of the occupants in the cabin, thereby achieving the effect of improving the riding experience of the occupants in the cabin.

[0087] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0088] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0089] This embodiment also provides a vehicle suspension control device, such as Figure 8 As shown, the device comprises:

[0090] The acquisition module 801 is used to collect the road surface data of the vehicle in the current driving direction during the driving process of the vehicle, and to establish a road elevation map of the vehicle in the current driving direction according to the road surface data;

[0091] Prediction module 802, used to predict the driving trajectory of the vehicle in the current driving direction, and predict the height variation of the wheels of the vehicle when driving according to the driving trajectory and the road elevation map;

[0092] A correction module 803, used to determine a target obstacle according to the driving trajectory and road surface data, and to correct the wheel height variation amplitude based on the target obstacle;

[0093] The control module 804 is used to control the suspension of the vehicle according to the corrected wheel height variation.

[0094] In some examples, the correction module 803 is also used to obtain the obstacle type of the target obstacle, determine the actual height of the target obstacle when the vehicle passes the target obstacle according to the obstacle type; and correct the wheel height change amplitude according to the actual height of the target obstacle.

[0095] In some examples, the control module 804 is also used to obtain a suspension adjustment strategy corresponding to the wheel height change amplitude; when the vehicle travels to a position point corresponding to each wheel height change amplitude, the suspension of the vehicle is controlled according to the suspension adjustment strategy.

[0096] In some examples, the acquisition module 801 is also used to respectively acquire first road surface data and second road surface data of the vehicle in the current driving direction through a binocular camera; construct a disparity map based on the first road surface data and the second road surface data, and establish a road elevation map based on the disparity map.

[0097] In some examples, the prediction module 802 is also used to obtain the wheelbase of the vehicle, predict the driving trajectory based on the wheelbase and the baseline of the binocular camera; map the driving trajectory to a road elevation map to obtain the ground height corresponding to each trajectory point in the driving trajectory; compare the ground height corresponding to the current trajectory point with the ground height corresponding to the previous trajectory point to determine the amplitude of the wheel height change.

[0098] In some examples, the correction module 803 is also used to determine obstacles in the current driving direction based on the road surface data, map the obstacles into the road elevation map, and use obstacles in the road elevation map that overlap with the driving trajectory as target obstacles.

[0099] In some examples, the control module 804 is also used to obtain the status of the occupants in the vehicle cabin; if the status of the occupants in the vehicle cabin indicates that the occupants are abnormal, an alarm reminder is issued.

[0100] According to the technical solution provided by the embodiment of the present application, the suspension control device of the vehicle provided by the embodiment collects road surface data of the vehicle in the current driving direction during the driving process of the vehicle, and establishes a road elevation map of the vehicle in the current driving direction according to the road surface data; predicts the driving trajectory of the vehicle in the current driving direction, and predicts the wheel height change amplitude of the vehicle during driving according to the driving trajectory and the road elevation map; determines the target obstacle according to the driving trajectory and the road surface data, and corrects the wheel height change amplitude according to the target obstacle; controls the suspension of the vehicle according to the corrected wheel height change amplitude, wherein the method generates a road elevation map according to the collected road surface data. The figure provides basic data support for subsequent suspension adjustments. The wheel height change amplitude is predicted in advance according to the road elevation map and the driving trajectory, and the wheel height change amplitude is corrected taking into account the influence of the target obstacle on the wheel height change amplitude, thereby improving the accuracy of the corrected wheel height change amplitude. Subsequently, the vehicle's suspension is controlled according to the corrected wheel height change amplitude, so that the vehicle can control the suspension in advance to prepare for shock absorption according to the accurate wheel height change amplitude before the vehicle vibrates, thereby improving the shock absorption effect of the suspension, and avoiding the problem in the prior art that the suspension is adjusted only after the vehicle body vibrates, resulting in poor vehicle suspension effect.

[0101] Fig. 9 Schematic diagram of an electronic device 9 provided in an embodiment of the present application. Fig. 9 As shown, the electronic device 9 of this embodiment includes: a processor 901, a memory 902, and a computer program 903 stored in the memory 902 and executable on the processor 901. When the processor 901 executes the computer program 903, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 901 executes the computer program 903, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0102] The electronic device 9 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 9 may include, but is not limited to, a processor 901 and a memory 902. Those skilled in the art will appreciate that Fig. 9 The electronic device 9 is merely an example and does not limit the electronic device 9 , and may include more or less components than those shown in the figure, or different components.

[0103] The processor 901 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0104] The memory 902 may be an internal storage unit of the electronic device 9, for example, a hard disk or memory of the electronic device 9. The memory 902 may also be an external storage device of the electronic device 9, for example, a plug-in hard disk, a smart memory card (Smart Med ia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. equipped on the electronic device 9. The memory 902 may also include both an internal storage unit of the electronic device 9 and an external storage device. The memory 902 is used to store computer programs and other programs and data required by the electronic device.

[0105] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0106] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of regional requirements and patent practice. For example, in some areas, according to regional requirements and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0107] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A suspension control method for a vehicle, characterized in that: The method comprises: During the driving process of the vehicle, collecting road surface data of the vehicle in the current driving direction, and establishing a road elevation map of the vehicle in the current driving direction according to the road surface data; Predicting a driving trajectory of the vehicle in a current driving direction, and predicting a height variation of the wheels of the vehicle during driving according to the driving trajectory and the road elevation map; Determining a target obstacle according to the driving trajectory and the road surface data, and correcting the wheel height variation amplitude based on the target obstacle; The suspension of the vehicle is controlled according to the corrected wheel height variation.

2. The method according to claim 1, characterized in that: Determining a target obstacle according to the driving trajectory and the road surface data, and correcting the wheel height variation amplitude based on the target obstacle, including: Obtaining an obstacle type of the target obstacle, and determining an actual height of the target obstacle when the vehicle passes through the target obstacle according to the obstacle type; The wheel height variation is corrected according to the actual height of the target obstacle.

3. The method according to claim 1, characterized in that Controlling the suspension of the vehicle according to the corrected wheel height variation, including: Obtaining a suspension adjustment strategy corresponding to the wheel height variation amplitude; When the vehicle travels to a position point corresponding to each wheel height variation amplitude, the suspension of the vehicle is controlled according to the suspension adjustment strategy.

4. The method according to claim 1, characterized in that Collecting road surface data of the vehicle in the current driving direction, and establishing a road elevation map of the vehicle in the current driving direction according to the road surface data, including: respectively collecting first road surface data and second road surface data of the vehicle in the current driving direction by using a binocular camera; A disparity map is constructed according to the first road surface data and the second road surface data, and the road elevation map is established according to the disparity map.

5. The method according to claim 1, characterized in that Predicting a driving trajectory of the vehicle in the current driving direction, and predicting a height variation of the wheels of the vehicle when driving according to the driving trajectory and the road elevation map, including: Obtaining the wheelbase of the vehicle, and predicting the driving trajectory according to the wheelbase and a baseline of a binocular camera; Mapping the driving trajectory to the road elevation map to obtain the ground height corresponding to each trajectory point in the driving trajectory; The ground height corresponding to the current track point is compared with the ground height corresponding to the previous track point to determine the wheel height change amplitude.

6. The method according to claim 5, characterized in that Determining a target obstacle according to the driving trajectory and the road surface data includes: Determine obstacles in the current driving direction according to the road surface data, and map the obstacles into the road elevation map; The obstacle in the road elevation map that overlaps with the driving trajectory is used as the target obstacle.

7. The method according to claim 1, characterized in that After controlling the suspension of the vehicle according to the corrected wheel height variation, the method further includes: Obtaining the status of the occupants in the cabin of the vehicle; If the state of the occupant in the cabin of the vehicle indicates that the occupant is abnormal, an alarm reminder is issued.

8. A suspension control device for a vehicle, characterized in that: The device comprises: A collection module, used for collecting road surface data of the vehicle in the current driving direction during the driving process of the vehicle, and establishing a road elevation map of the vehicle in the current driving direction according to the road surface data; A prediction module, used to predict the driving trajectory of the vehicle in the current driving direction, and predict the height variation of the wheels of the vehicle when driving according to the driving trajectory and the road elevation map; a correction module, configured to determine a target obstacle according to the driving trajectory and the road surface data, and to correct the wheel height variation amplitude based on the target obstacle; A control module is used to control the suspension of the vehicle according to the corrected wheel height variation.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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