Vehicle and vehicle control method

Abstract

The invention provides a vehicle and a vehicle control method. The vehicle comprises a vehicle body; the suspension frame is arranged on the vehicle body, and the suspension frame is used for lifting the vehicle body; the position sensor is arranged on the vehicle body and used for detecting position information between the vehicle body and an obstacle in the advancing direction; the controller is electrically connected with the suspension and the position sensor, and the controller is used for controlling the suspension to descend according to the position information, so that the highest point of the vehicle body is not higher than the lowest point of the obstacle. The vehicle body height of the vehicle is automatically adjusted, the risk of collision or scraping between the vehicle body and the obstacle is reduced, high-altitude obstacle avoidance of the vehicle is achieved, and the driving safety of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and in particular to a vehicle and a vehicle control method. Background Art

[0002] In the related art, high obstacles in the direction of vehicle travel, such as height limit poles, low roofs of basements, and tree branches spread across the roadside, need to be manually identified, and the height of the vehicle body can be lowered by manually deflating the tires or manually adjusting the adjustable suspension to avoid collision or scratches between the vehicle and the high obstacles. Summary of the invention

[0003] The present application provides a vehicle and a vehicle control method that automatically adjusts the vehicle body height to achieve high-altitude obstacle avoidance.

[0004] The present application provides a vehicle, comprising:

[0005] Car body;

[0006] A suspension, arranged on the vehicle body, and used for lifting and lowering the vehicle body;

[0007] A position sensor, the position sensor is arranged on the vehicle body and is used to detect the position information between the vehicle body and the obstacle in the traveling direction;

[0008] A controller is electrically connected to the suspension and the position sensor, and is used for controlling the suspension to descend according to the position information so that the highest point of the vehicle body is not higher than the lowest point of the obstacle object.

[0009] When there is an obstacle in the direction of travel of the vehicle, the position information between the vehicle and the obstacle is obtained through the position sensor. When the lowest point of the obstacle is lower than the highest point of the vehicle body, the controller adjusts the height of the vehicle body by controlling the suspension so that the highest point of the vehicle body is not higher than the lowest point of the obstacle, thereby automatically adjusting the height of the vehicle body and reducing the risk of collision or scratching between the vehicle body and the obstacle, thereby realizing the vehicle's high-altitude obstacle avoidance and improving the vehicle's driving safety.

[0010] Optionally, the position sensor includes a distance sensor; along the height direction of the vehicle body, the maximum distance sensing point of the distance sensor within the measurement range is not lower than the highest point of the vehicle body;

[0011] The controller controls the suspension to descend in response to the obstacle object being detected by the maximum distance sensing point of the distance sensor.

[0012] Optionally, the maximum distance sensing point is higher than the highest point of the vehicle body, and the distance sensor is configured to form a first safety distance between the maximum distance sensing point and a horizontal plane where the highest point of the vehicle body is located along the vertical direction.

[0013] Optionally, along the width direction of the vehicle body, the maximum distance sensing point within the measurement range of the distance sensor is located on the outer side of the vehicle body;

[0014] The distance sensor is configured such that a second safety distance is formed between the maximum distance sensing point along a horizontal direction perpendicular to the traveling direction and a vertical plane where a side end point of the vehicle body along a width direction is located.

[0015] Optionally, the vehicle body includes a cockpit and a cargo hold,

[0016] There is one distance sensor, which is arranged in the cockpit or the cargo hold; or there are multiple position sensors, and the cockpit and the cargo hold are respectively provided with at least one position sensor; the maximum distance sensing point of the distance sensor is not lower than the highest point of the cockpit and the highest point of the cargo hold.

[0017] Optionally, the highest point of the cockpit and the highest point of the cargo hold are not at the same height;

[0018] The distance sensor disposed at the lower highest point of the cockpit or the cargo hold has a measuring direction facing outward and obliquely upward;

[0019] The distance sensor arranged at the higher highest point of the cockpit and the cargo hold has its measuring direction facing outward and obliquely upward or arranged in a horizontal direction, and is located at the same height as the higher highest point of the cockpit and the cargo hold.

[0020] Optionally, the distance sensor is a point sensor, and there are multiple sensors, and the cockpit and the cargo hold are respectively provided with multiple distance sensors;

[0021] Among the plurality of distance sensors disposed in the cockpit, at least one is directed toward the front of the cockpit, at least one is directed toward the left front of the cockpit, and at least one is directed toward the right front of the cockpit;

[0022] Among the multiple distance sensors arranged in the cargo hold, at least one is facing directly rearward of the cargo hold, at least one is facing left rearward of the cargo hold, and at least one is facing right rearward of the cargo hold.

[0023] Optionally, the distance sensor is a scanning sensor, two of which are arranged in the cockpit and the cargo hold, respectively, and facing opposite directions; along the width direction of the vehicle body, the measurement range of the scanning sensor is greater than the maximum width of the cockpit and the maximum width of the cargo hold.

[0024] Optionally, the distance sensor is arranged with its measuring direction facing outward and obliquely upward, or is arranged along the horizontal direction where the highest point of the vehicle body is located, and is located at the same height as the highest point of the vehicle body.

[0025] Optionally, the distance sensor is a point sensor, and there are multiple sensors, which are distributed on the vehicle body;

[0026] At least one is facing the front of the vehicle body, at least one is facing the left front of the vehicle body, and at least one is facing the right front of the vehicle body; at least one is facing the rear of the vehicle body, at least one is facing the left rear of the vehicle body, and at least one is facing the right rear of the vehicle body.

[0027] Optionally, the distance sensor is a scanning sensor, two of which are respectively arranged at the front end and the rear end of the vehicle body and facing opposite directions;

[0028] Along the width direction of the vehicle body, the measuring range of the scanning sensor is greater than the maximum width of the vehicle body.

[0029] The present application also provides a control method for a vehicle, the vehicle comprising a vehicle body and a suspension arranged on the vehicle body, the suspension being used to lift the vehicle body, the control method comprising:

[0030] Acquiring position information between the vehicle body and an obstacle in the direction of vehicle travel;

[0031] The suspension is controlled to descend according to the position information so that the highest point of the vehicle body is not higher than the lowest point of the obstacle object.

[0032] When there is an obstacle in the direction of travel of the vehicle, the position information between the vehicle and the obstacle is obtained. When the lowest point of the obstacle is lower than the highest point of the vehicle body, the controller adjusts the height of the vehicle body by controlling the suspension so that the highest point of the vehicle body is not higher than the lowest point of the obstacle, thereby automatically adjusting the height of the vehicle body and reducing the risk of collision or scratching between the vehicle body and the obstacle, thereby realizing the vehicle's high-altitude obstacle avoidance and improving the vehicle's driving safety.

[0033] Optionally, obtaining position information between the vehicle body and an obstacle in the traveling direction includes: projecting a measuring light beam outward from the vehicle body along the traveling direction, wherein the measuring light beam has a maximum distance sensing point within a measuring range, and the maximum distance sensing point is not lower than the highest point of the vehicle body;

[0034] Controlling the suspension to descend according to the position information includes: when the maximum distance sensing point detects an obstacle object, controlling the suspension to descend.

[0035] Optionally, controlling the suspension to descend includes:

[0036] Controlling the suspension to descend until no obstacle is detected at the maximum distance sensing point;

[0037] The suspension is controlled to stop.

[0038] Optionally, controlling the suspension to descend includes:

[0039] Controlling the suspension to descend until no obstacle is detected at the maximum distance sensing point;

[0040] Controlling the suspension to continue descending to a first safe height;

[0041] The suspension is controlled to stop.

[0042] Optionally, when the maximum distance sensing point detects an obstacle object, controlling the suspension to descend according to the position information includes:

[0043] When the maximum distance sensing point detects an obstacle, the vehicle speed and the distance between the obstacle and the vehicle body along the traveling direction are obtained, and the starting position of the suspension lowering is obtained;

[0044] Determining a starting position and a descending speed for controlling the suspension to descend according to the vehicle speed and the distance;

[0045] From the starting position, the suspension is controlled to descend according to the descending speed.

[0046] Optionally, along the width direction of the vehicle body, the measuring range of the measuring light beam is greater than the maximum width of the vehicle body;

[0047] When the maximum distance sensing point detects an obstacle object, controlling the suspension to descend includes:

[0048] When the maximum distance sensing point detects an obstacle within a limited area, the suspension is controlled to descend; wherein the limited area is the area between the extension lines of the two end points of the vehicle body along the width direction along the traveling direction.

[0049] Optionally, the acquiring the position information between the position sensor and the obstacle in the traveling direction of the vehicle body includes:

[0050] Obtain image information of obstacle objects;

[0051] The controlling the lifting of the suspension according to the position information comprises:

[0052] When the lowest point of the obstacle object in the image information is lower than the calibrated position, the suspension is controlled to descend until the lowest point of the obstacle object in the image information is not lower than the calibrated position, so that the highest point of the vehicle body is not higher than the lowest point of the calibrated object. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0054] Figure 1-2 Shown is a schematic diagram of an embodiment of a vehicle of the present application.

[0055] Figure 3-4 Shown is a schematic diagram of another embodiment of the vehicle of the present application.

[0056] Figure 5 Shown is a top view schematic diagram of an embodiment of the vehicle of the present application.

[0057] Figure 6 Shown is a top view schematic diagram of another embodiment of the vehicle of the present application.

[0058] Figure 7-8 Shown is a schematic diagram of another embodiment of the vehicle of the present application.

[0059] Fig. 9 Shown is a schematic diagram of yet another embodiment of the vehicle of the present application.

[0060] Fig.10 Shown is a schematic diagram of an embodiment of a vehicle control method of the present application.

[0061] Fig.11 Shown is a schematic diagram of another embodiment of a vehicle control method of the present application.

[0062] Fig.12 Shown is a schematic diagram of yet another embodiment of a vehicle control method of the present application.

[0063] Fig.13 Shown is a schematic diagram of yet another embodiment of a vehicle control method of the present application.

[0064] Fig.14 Shown is a schematic diagram of yet another embodiment of a vehicle control method of the present application.

[0065] Fig.15 Shown is a schematic diagram of yet another embodiment of a vehicle control method of the present application.

[0066] Fig.16 Shown is a schematic diagram of yet another embodiment of a vehicle control method of the present application.

[0067] Description of reference numerals:

[0068] Vehicle 100; body 110; cockpit 111; cargo compartment 112; suspension 120; position sensor 130;

[0069] First safety distance L1; second safety distance L2; limited area R;

[0070] Obstacle 200. DETAILED DESCRIPTION

[0071] Here, the technical solutions in the embodiments (or "implementations") of the present application will be described clearly and completely in conjunction with the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0072] If there are terms involving directional indications or positional relationships in the embodiments of the present application (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings); if the specific posture changes, the directional indication or positional relationship will also change accordingly. In addition, the terms "first", "second", etc. involved in the embodiments of the present application are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance.

[0073] The present application provides a vehicle and a vehicle control method. The vehicle and the vehicle control method of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0074] See also Figure 1-8 As shown, the vehicle 100 includes a body 110, a suspension 120, a position sensor 130 and a controller. The body 110 is used to carry passengers or load cargo. The suspension 120 is arranged on the body 110, and the suspension 120 is used to lift the body 110. The position sensor 130 is arranged on the body 110, and is used to detect the position information between the body 110 and the obstacle 200 in the direction of travel. The controller is electrically connected to the suspension 120 and the position sensor 130, and the controller is used to control the suspension 120 to descend according to the position information, so that the highest point of the body 110 is not higher than the lowest point of the obstacle 200. Among them, the vehicle 100 can be a commercial vehicle, such as a bus, a truck, a truck, a semi-trailer tractor, an incomplete bus vehicle and an incomplete truck vehicle.

[0075] When there is an obstacle 200 in the direction of travel of the vehicle 100, the position information between the vehicle 100 and the obstacle 200 is obtained through the position sensor 130. When the lowest point of the obstacle 200 is lower than the highest point of the vehicle body 110, the controller adjusts the height of the vehicle body 110 by controlling the suspension 120 so that the highest point of the vehicle body 110 is not higher than the lowest point of the obstacle 200, thereby automatically adjusting the height of the vehicle body 110 of the vehicle 100 and reducing the risk of collision or scratching between the vehicle body 110 and the obstacle 200, thereby achieving high-altitude obstacle avoidance of the vehicle 100 and improving the driving safety of the vehicle 100.

[0076] See also Figure 1-4 and Figure 5-6 As shown, in an optional embodiment, the position sensor 130 includes a distance sensor. In the height direction along the vehicle body 110, the maximum distance sensing point of the distance sensor within the measurement range is not lower than the highest point of the vehicle body 110. The distance sensor is used to detect the distance between the obstacle 200 and the vehicle body 110. In response to the maximum distance sensing point of the distance sensor detecting the obstacle 200, the controller controls the suspension 120 to descend. When the maximum distance sensing point of the distance sensor can detect the obstacle 200, the controller determines that the distance between the obstacle 200 and the vehicle body 110 is too close, and there is a risk of collision or scratching between the obstacle 200 and the vehicle body 110. The controller controls the suspension 120 to descend according to the detection result of the distance sensor so that the highest point of the vehicle body 110 is not higher than the lowest point of the obstacle 200, thereby achieving high-altitude obstacle avoidance of the vehicle 100 and improving the driving safety of the vehicle 100.

[0077] See also Figure 3-4 As shown, in an optional embodiment, the maximum distance sensing point is higher than the highest point of the vehicle body 110, and the distance sensor is configured to form a first safety distance L1 between the maximum distance sensing point and the horizontal plane where the highest point of the vehicle body 110 is located in the vertical direction. When the maximum distance sensing point of the distance sensor can detect the obstacle 200, the controller determines that the distance between the obstacle 200 and the vehicle body 110 is too close, and there is a risk of collision or scratching between the obstacle 200 and the vehicle body 110. The controller controls the suspension 120 to descend according to the detection result of the distance sensor. When the distance sensor cannot detect the obstacle 200 in the direction of travel of the vehicle 100, there is a first safety distance L1 between the lowest point of the obstacle 200 and the highest point of the vehicle body 110 in the height direction of the vehicle body 110, which further reduces the risk of collision or scratching between the obstacle 200 and the vehicle body 110, which is beneficial to the high-altitude obstacle avoidance of the vehicle 100 and improves the driving safety of the vehicle 100.

[0078] See also Figure 6 As shown, in an optional embodiment, along the width direction of the vehicle body 110, the maximum distance sensing point within the measurement range of the distance sensor is located on the outside of the vehicle body 110. The distance sensor is configured to form a second safety distance L2 between the maximum distance sensing point along the horizontal direction perpendicular to the traveling direction and the vertical plane where the side end point of the vehicle body 110 along the width direction is located. When the maximum distance sensing point of the distance sensor can detect the obstacle 200, the controller determines that the distance between the obstacle 200 and the vehicle body 110 is too close, and there is a risk of collision or scratching between the obstacle 200 and the vehicle body 110. The controller controls the suspension 120 to descend according to the detection result of the distance sensor. When the distance sensor cannot detect the obstacle 200 in the traveling direction of the vehicle 100, there is a second safety distance L2 between the obstacle 200 and the vehicle body 110 in the width direction of the vehicle body 110, which further reduces the risk of collision or scratching between the obstacle 200 and the vehicle body 110, which is beneficial to the high-altitude obstacle avoidance of the vehicle 100 and improves the driving safety of the vehicle 100.

[0079] In some preferred embodiments, the vehicle 100 further includes an alarm device, which is electrically connected to the controller. When the distance sensor detects an obstacle 200, especially when the obstacle 200 is detected in the width direction of the vehicle body 110, the alarm device reminds the driver to adjust the vehicle 100, which is beneficial to the obstacle avoidance of the vehicle 100 and improves the driving safety of the vehicle 100.

[0080] See also Figure 1-4As shown, in an optional embodiment, the type of vehicle 100 is a truck, and the body 110 includes a cockpit 111 and a cargo compartment 112. When the number of distance sensors is one, the distance sensor is arranged in the cockpit 111 or the cargo compartment 112. In a preferred embodiment, the distance sensor is arranged in the cockpit 111 and the cargo compartment 112, whichever has a higher highest point. The distance sensor can be set as a scanning sensor, which can rotate. When the vehicle 100 moves forward, the front of the vehicle 100 is detected; when the vehicle 100 moves backward, the rear of the vehicle 100 is detected, and the maximum distance sensing point of the distance sensor is not lower than the higher of the highest points of the cockpit 111 and the cargo compartment 112. When there are multiple position sensors 130, the cockpit 111 and the cargo compartment 112 are respectively provided with at least one position sensor 130. The maximum distance sensing point of the distance sensor is not lower than the highest point of the cockpit 111 and the highest point of the cargo compartment 112. In some embodiments, when the cockpit 111 is provided with only one distance sensor, the distance sensor provided in the cockpit 111 is preferably a scanning sensor, which can rotate, and when the vehicle 100 moves forward, the front of the cockpit 111 is detected; when the vehicle 100 moves backward, the rear of the cockpit 111 is detected, and the maximum distance sensing point of the distance sensor provided in the cockpit 111 is not lower than the highest point of the cockpit 111. In other embodiments, when the cargo hold 112 is provided with only one distance sensor, the distance sensor provided in the cargo hold 112 is preferably a scanning sensor, which can rotate, and when the vehicle 100 moves forward, the front of the cargo hold 112 is detected; when the vehicle 100 moves backward, the rear of the cargo hold 112 is detected, and the maximum distance sensing point of the distance sensor provided in the cargo hold 112 is not lower than the highest point of the cargo hold 112. The controller controls the suspension 120 to descend according to the detection result of the distance sensor. When the distance sensor cannot detect the existence of the obstacle 200 in the direction of travel of the vehicle 100, the risk of collision or scratch between the obstacle 200 and the cockpit 111 and the cargo compartment 112 is reduced, which is beneficial to high-altitude obstacle avoidance of various parts of the vehicle 100 and improves the driving safety of the vehicle 100.

[0081] See also Figure 1-4 As shown, in an optional embodiment, the highest point of the cockpit 111 and the highest point of the cargo hold 112 are not at the same height. The measuring direction of the distance sensor provided at the cockpit 111 and the cargo hold 112, whichever has the lower highest point, faces outward and is set diagonally upward. The measuring direction of the distance sensor provided at the cockpit 111 and the cargo hold 112, whichever has the higher highest point, faces outward and is set diagonally upward. Alternatively, the measuring direction of the distance sensor provided at the cockpit 111 and the cargo hold 112, whichever has the higher highest point, is set in the horizontal direction and is at the same height as the highest point of the cockpit 111 and the cargo hold 112, whichever has the higher highest point.

[0082] In some embodiments, when the highest point of the cockpit 111 is higher than the highest point of the cargo hold 112, the distance sensor provided in the cockpit 111 may be provided in the horizontal direction, and the provided position is at the same height as the highest point of the cockpit 111; at the same time, the distance sensor provided in the cargo hold 112 is provided outwardly and obliquely upwardly, and the maximum distance sensing point of the distance sensor provided in the cargo hold 112 is not lower than the highest point of the cockpit 111. In other embodiments, when the highest point of the cockpit 111 is higher than the highest point of the cargo hold 112, the distance sensor provided in the cockpit 111 may be provided at any position of the cockpit 111, outwardly and obliquely upwardly, and the maximum distance sensing point of the distance sensor provided in the cockpit 111 is not lower than the highest point of the cockpit 111; at the same time, the distance sensor provided in the cargo hold 112 is provided outwardly and obliquely upwardly, and the maximum distance sensing point of the distance sensor provided in the cargo hold 112 is not lower than the highest point of the cockpit 111. In some other embodiments, when the highest point of the cockpit 111 is lower than the highest point of the cargo hold 112, the distance sensor provided in the cockpit 111 is provided outward and obliquely upward, and the maximum distance sensing point of the distance sensor provided in the cockpit 111 is not lower than the highest point of the cargo hold 112; the distance sensor provided in the cargo hold 112 can be provided in the horizontal direction, and the setting position is at the same height as the highest point of the cargo hold 112. In some other embodiments, when the highest point of the cockpit 111 is lower than the highest point of the cargo hold 112, the distance sensor provided in the cockpit 111 is provided outward and obliquely upward, and the maximum distance sensing point of the distance sensor provided in the cockpit 111 is not lower than the highest point of the cargo hold 112; the distance sensor provided in the cargo hold 112 can be provided at any position of the cargo hold 112, outward and obliquely upward, and the maximum distance sensing point of the distance sensor provided in the cargo hold 112 is not lower than the highest point of the cargo hold 112. Through the above settings, when any one of the multiple distance sensors at various parts of the vehicle 100 detects an obstacle 200, the controller determines that the distance between the obstacle 200 and the vehicle body 110 is too close, and there is a risk of collision or scratching between the obstacle 200 and the vehicle body 110. The controller controls the suspension 120 to descend according to the detection results of the distance sensor, so that each part of the vehicle body 110 is not higher than the lowest point of the obstacle 200, thereby achieving high-altitude obstacle avoidance of the vehicle 100 and improving the driving safety of the vehicle 100; at the same time, the positional relationship between the obstacle 200 and the vehicle 100 is obtained through any one of the multiple distance sensors, and the controller is adjusted to achieve high-altitude obstacle avoidance of the vehicle 100, reducing the adjustment steps and facilitating the rapid obstacle avoidance of the vehicle 100.

[0083] See also Figure 5As shown, in an optional embodiment, the distance sensor is a point sensor, and the number is multiple, and the cockpit 111 and the cargo hold 112 are respectively provided with multiple distance sensors. Among the multiple distance sensors arranged in the cockpit 111, at least one is facing the front of the cockpit 111, at least one is facing the left front of the cockpit 111, and at least one is facing the right front of the cockpit 111. Among them, along the width direction of the vehicle body 110, among the sensors facing the left front of the cockpit 111 and the right front of the cockpit 111, the maximum distance sensing point of at least one point sensor is greater than the maximum width of the cockpit 111 at the left front of the cockpit 111, and the maximum distance sensing point of at least one point sensor is greater than the maximum width of the cockpit 111 at the right front of the cockpit 111. Among the multiple distance sensors arranged in the cargo hold 112, at least one is facing the rear of the cargo hold 112, at least one is facing the left rear of the cargo hold 112, and at least one is facing the right rear of the cargo hold 112. Among them, along the width direction of the vehicle body 110, among the sensors facing the left rear of the cargo compartment 112 and the right rear of the cargo compartment 112, the maximum distance sensing point of at least one point sensor at the left rear of the cargo compartment 112 is greater than the maximum width of the cargo compartment 112, and the maximum distance sensing point of at least one point sensor at the right rear of the cargo compartment 112 is greater than the maximum width of the cargo compartment 112. Through the above configuration, the distance sensor arranged in the cockpit 111 detects the obstacle 200 in front of the vehicle 100, and the distance sensor arranged in the cargo compartment 112 detects the obstacle 200 behind the vehicle 100, which reduces the number of distance sensors arranged on the vehicle 100 and facilitates the arrangement of the distance sensors.

[0084] See also Figure 6 As shown, in an optional embodiment, the distance sensor is a scanning sensor, and there are two of them, which are respectively arranged in the cockpit 111 and the cargo compartment 112 and face opposite directions. Among them, the distance sensor arranged in the cockpit 111 faces the front of the vehicle 100, and the distance sensor arranged in the cargo compartment 112 faces the rear of the vehicle 100. Along the width direction of the vehicle body 110, the measurement range of the scanning sensor is greater than the maximum width of the cockpit 111 and the maximum width of the cargo compartment 112. Through the above arrangement, the distance sensor arranged in the cockpit 111 detects the obstacle 200 in front of the vehicle 100, and the distance sensor arranged in the cargo compartment 112 detects the obstacle 200 behind the vehicle 100, which reduces the number of distance sensors arranged on the vehicle 100 and facilitates the arrangement of the distance sensors.

[0085] See also Figure 7-9As shown, in an optional embodiment, when the heights of the cockpit 111 and the cargo hold 112 of the vehicle 100 are the same, the measuring direction of the distance sensor is set outward and obliquely upward. Alternatively, the measuring direction of the distance sensor is set in the horizontal direction, and the setting position of the distance sensor is at the same height as the highest point of the vehicle body 110. The controller controls the suspension 120 to descend according to the detection result of the distance sensor so that the vehicle body 110 is not higher than the lowest point of the obstacle 200, thereby achieving high-altitude obstacle avoidance of the vehicle 100 and improving the driving safety of the vehicle 100.

[0086] In an optional embodiment, the distance sensor is a point sensor, and there are multiple sensors, which are distributed on the vehicle body 110, at least one of which faces the front of the vehicle body 110, at least one of which faces the front left of the vehicle body 110, and at least one of which faces the front right of the vehicle body 110; at least one of which faces the rear of the vehicle body 110, at least one of which faces the rear left of the vehicle body 110, and at least one of which faces the rear right of the vehicle body 110. Among them, along the width direction of the vehicle body 110, among the sensors facing the front left of the vehicle body 110 and the front right of the vehicle body 110, the maximum distance sensing point of at least one point sensor at the front left of the vehicle body 110 is greater than the maximum width of the vehicle body 110, and the maximum distance sensing point of at least one point sensor at the front right of the vehicle body 110 is greater than the maximum width of the vehicle body 110; among the sensors facing the rear left of the vehicle body 110 and the rear right of the vehicle body 110, the maximum distance sensing point of at least one point sensor at the rear left of the vehicle body 110 is greater than the maximum width of the vehicle body 110, and the maximum distance sensing point of at least one point sensor at the rear right of the vehicle body 110 is greater than the maximum width of the vehicle body 110. Through the above settings, the distance sensor arranged in the cockpit 111 detects the obstacle 200 in front of the vehicle 100, and the distance sensor arranged in the cargo hold 112 detects the obstacle 200 behind the vehicle 100, thereby reducing the number of distance sensors arranged on the vehicle 100 and facilitating the setting of the distance sensors.

[0087] In an optional embodiment, the distance sensor is a scanning sensor, and the number is two, which are respectively arranged at the front end and the rear end of the vehicle body 110 and face in opposite directions. Along the width direction of the vehicle body 110, the measurement range of the scanning sensor is greater than the maximum width of the vehicle body 110. Through the above arrangement, the distance sensor arranged in the cockpit 111 detects the obstacle 200 in front of the vehicle 100, and the distance sensor arranged in the cargo hold 112 detects the obstacle 200 behind the vehicle 100, which reduces the number of distance sensors arranged on the vehicle 100 and facilitates the arrangement of the distance sensors.

[0088] In a specific implementation, when the vehicle 100 moves forward, the distance sensors facing the front, left front and right front of the vehicle 100 are activated, and detect whether there is an obstacle 200 in front of the vehicle 100. When the distance sensor detects that there is an obstacle 200 in front of the vehicle 100, when the lowest point of the obstacle 200 is lower than the highest point of the vehicle body 110, the controller adjusts the height of the vehicle body 110 by controlling the suspension 120 so that the highest point of the vehicle body 110 is not higher than the lowest point of the obstacle 200. When the vehicle 100 moves backward, the distance sensors facing the rear, left rear and right rear of the vehicle 100 are activated, and detect whether there is an obstacle 200 behind the vehicle 100. When the distance sensor detects that there is an obstacle 200 behind the vehicle 100, when the lowest point of the obstacle 200 is lower than the highest point of the vehicle body 110, the controller adjusts the height of the vehicle body 110 by controlling the suspension 120 so that the highest point of the vehicle body 110 is not higher than the lowest point of the obstacle 200.

[0089] See also Fig.10 As shown, the present application provides a control method for a vehicle 100, wherein the vehicle 100 includes a vehicle body 110 and a suspension 120 disposed on the vehicle body 110, wherein the suspension 120 is used to lift the vehicle body 110, and the control method includes:

[0090] S10, obtaining position information between the vehicle body 110 and the obstacle 200 in the direction of travel of the vehicle 100;

[0091] S20 , controlling the suspension 120 to descend according to the position information, so that the highest point of the vehicle body 110 is not higher than the lowest point of the obstacle 200 .

[0092] When there is an obstacle 200 in the direction of travel of the vehicle 100, the position information between the vehicle 100 and the obstacle 200 is obtained. When the lowest point of the obstacle 200 is lower than the highest point of the vehicle body 110, the controller adjusts the height of the vehicle body 110 by controlling the suspension 120 so that the highest point of the vehicle body 110 is not higher than the lowest point of the obstacle 200, thereby automatically adjusting the height of the vehicle body 110 of the vehicle 100 and reducing the risk of collision or scratching between the vehicle body 110 and the obstacle 200, thereby achieving high-altitude obstacle avoidance of the vehicle 100 and improving the driving safety of the vehicle 100.

[0093] See also Fig.11 As shown, in an optional embodiment, S10, obtaining position information between the vehicle body 110 and the obstacle 200 in the traveling direction includes:

[0094] S11, projecting a measuring light beam outward from the vehicle body 110 along the traveling direction, wherein the measuring light beam has a maximum distance sensing point within the measuring range, and the maximum distance sensing point is not lower than the highest point of the vehicle body 110;

[0095] S20, controlling the suspension 120 to descend according to the position information, including:

[0096] S21, when the maximum distance sensing point detects the obstacle 200, the suspension 120 is controlled to descend.

[0097] When the maximum distance sensing point of the measuring beam can detect the obstacle 200, the controller determines that the distance between the obstacle 200 and the vehicle body 110 is too close, and there is a risk of collision or scratch between the obstacle 200 and the vehicle body 110. The controller controls the suspension 120 to descend according to the detection result of the distance sensor so that the highest point of the vehicle body 110 is not higher than the lowest point of the obstacle 200, thereby achieving high-altitude obstacle avoidance for the vehicle 100 and improving the driving safety of the vehicle 100.

[0098] See also Fig.12 As shown, in an optional embodiment, S20, controlling the suspension 120 to descend according to the position information includes:

[0099] S22, controlling the suspension 120 to descend until the maximum distance sensing point cannot detect the obstacle 200;

[0100] S23, controlling the suspension 120 to stop.

[0101] In some embodiments, Figure 1-2 As shown, the maximum distance sensing point of the distance sensor is flush with the highest point of the vehicle body 110. The controller controls the suspension 120 to descend according to the detection result of the distance sensor. When the suspension 120 is controlled to descend until the maximum distance sensing point cannot detect the obstacle 200, the highest point of the vehicle body 110 is not higher than the lowest point of the obstacle 200. In some embodiments, Figure 3-4 As shown, the maximum distance sensing point of the distance sensor is higher than the highest point of the vehicle body 110. The distance sensor is configured to form a first safety distance L1 between the maximum distance sensing point and the horizontal plane where the highest point of the vehicle body 110 is located in the vertical direction. The controller controls the suspension 120 to descend according to the detection result of the distance sensor. When the distance sensor cannot detect the existence of an obstacle 200 in the direction of travel of the vehicle 100, there is a first safety distance L1 between the lowest point of the obstacle 200 and the highest point of the vehicle body 110 in the height direction of the vehicle body 110, which further reduces the risk of collision or scratching between the obstacle 200 and the vehicle body 110, is conducive to high-altitude obstacle avoidance of the vehicle 100, and improves the driving safety of the vehicle 100.

[0102] See also Fig.13 As shown, in an optional embodiment, S20, controlling the suspension 120 to descend according to the position information includes:

[0103] S24, controlling the suspension 120 to descend until the maximum distance sensing point cannot detect the obstacle 200;

[0104] S25, controlling the suspension 120 to continue descending to the first safety height L3;

[0105] S26, controlling the suspension 120 to stop.

[0106] In some embodiments, Fig. 9 As shown, the maximum distance sensing point of the distance sensor is flush with the highest point of the vehicle body 110. The controller controls the suspension 120 to descend according to the detection result of the distance sensor. When the suspension 120 is controlled to descend to the maximum distance sensing point where the obstacle 200 cannot be detected, the suspension 120 is controlled to continue to descend to a first safety height. In the height direction of the vehicle body 110, there is a first safety height L3 between the lowest point of the obstacle 200 and the highest point of the vehicle body 110. In other embodiments, the maximum distance sensing point of the distance sensor is higher than the highest point of the vehicle body 110. The distance sensor is configured such that a first safety distance L1 is formed between the maximum distance sensing point and the horizontal plane where the highest point of the vehicle body 110 is located in the vertical direction. The controller controls the suspension 120 to descend according to the detection result of the distance sensor. When the distance sensor cannot detect the existence of the obstacle 200 in the direction of travel of the vehicle 100, the suspension 120 is controlled to continue to descend to the first safety height L3. In the height direction of the vehicle body 110, the distance between the lowest point of the obstacle object 200 and the highest point of the vehicle body 110 is the sum of the first safety distance L1 and the first safety height L3, which further reduces the risk of collision or scratch between the obstacle object 200 and the vehicle body 110, is beneficial to the high-altitude obstacle avoidance of the vehicle 100, and improves the driving safety of the vehicle 100.

[0107] See also Fig.14 As shown, in an optional embodiment, when the maximum distance sensing point detects an obstacle 200, S20, the suspension 120 is controlled to descend according to the position information, including:

[0108] S27, when the maximum distance sensing point detects the obstacle 200, the speed of the vehicle 100 and the distance between the obstacle 200 and the vehicle body 110 along the traveling direction are obtained, and the starting position of the suspension 120 descending is obtained;

[0109] S28, determining a descending speed of the suspension 120 according to the vehicle speed and the distance;

[0110] S29, from the starting position, the suspension 120 is controlled to descend according to the descending speed.

[0111] Specifically, the vehicle 100 is also provided with a speed sensor for detecting the vehicle speed, and the speed sensor is electrically connected to the controller. The vehicle 100 also includes a height sensor, which is provided on the vehicle body 110 and is used to detect the height of the vehicle body 110. When the vehicle speed is faster, the lowering speed of the suspension 120 is controlled to be faster, so that the suspension 120 can be lowered before the vehicle 100 contacts the obstacle 200, avoiding collision or scratching between the obstacle 200 and the vehicle body 110; when the height of the vehicle body 110 is higher, the distance that the suspension 120 needs to be lowered is greater, so the lowering speed of the suspension 120 is controlled to be faster. Through the above settings, according to different vehicle conditions during the driving process of the vehicle 100, the adjustment speed of the suspension 120 can be adaptively adjusted, further reducing the risk of collision or scratching between the obstacle 200 and the vehicle body 110, which is beneficial to the high-altitude obstacle avoidance of the vehicle 100 and improves the driving safety of the vehicle 100.

[0112] See also Fig.15 As shown, in an optional embodiment, along the width direction of the vehicle body 110, the measuring range of the measuring light beam is greater than the maximum width of the vehicle body 110;

[0113] When the maximum distance sensing point detects the obstacle 200, S20, the suspension 120 is controlled to descend according to the position information, including:

[0114] S210, when the maximum distance sensing point detects an obstacle object 200 within the limited area R, the suspension 120 is controlled to descend; wherein the limited area R is the area between the extension lines of the two end points of the vehicle body 110 along the width direction along the traveling direction.

[0115] In this embodiment, when the obstacle 200 is detected within the limited area R, the controller determines that there is a risk of collision or scratching between the obstacle 200 and the vehicle body 110. The controller controls the suspension 120 to descend according to the detection result of the distance sensor so that the highest point of the vehicle body 110 is not higher than the lowest point of the obstacle 200, thereby achieving high-altitude obstacle avoidance for the vehicle 100 and improving the driving safety of the vehicle 100.

[0116] In a preferred embodiment, the vehicle 100 is provided with an alarm device, and the measuring range of the measuring light beam is greater than the maximum width of the vehicle body 110. When the obstacle 200 is detected outside the limited area R, that is, when the obstacle 200 is detected outside the maximum width of the vehicle body 110 along the width direction of the vehicle body 110, the controller controls the alarm device to remind the driver to pay attention to the obstacle 200.

[0117] In a specific implementation, the vehicle 100 is provided with an alarm device, and the measuring range of the measuring light beam is greater than the maximum width of the vehicle body 110. When the obstacle 200 is detected outside the limited area R, that is, when the obstacle 200 is detected outside the maximum width of the vehicle body 110 along the width direction of the vehicle body 110, the controller controls the alarm device to remind the driver to pay attention to the obstacle 200.

[0118] In a specific implementation, the maximum distance sensing point of the distance sensor is higher than the highest point of the vehicle body 110. A first safety distance L1 is formed between the maximum distance sensing point and the horizontal plane where the highest point of the vehicle body 110 is located in the vertical direction. When there is an obstacle 200 in the limited area R, the position information between the vehicle 100 and the obstacle 200 is obtained. When the lowest point of the obstacle 200 is lower than the highest point of the vehicle body 110, the controller controls the suspension 120 to descend according to the detection result of the distance sensor. When the distance sensor cannot detect the existence of the obstacle 200 in the direction of travel of the vehicle 100, in the height direction of the vehicle body 110, the highest point of the vehicle body 110 is lower than the obstacle 200, and there is a first safety distance L1 between the highest point of the vehicle body 110 and the lowest point of the obstacle 200. When there is an obstacle 200 outside the limited area R, the controller controls the alarm device to remind the driver to pay attention to the obstacle 200.

[0119] See also Fig.16 As shown, in an optional embodiment, S10, obtaining the position information between the position sensor 130 and the obstacle 200 in the traveling direction of the vehicle body 110 includes:

[0120] S12, obtaining image information of the obstacle 200;

[0121] S20, controlling the lifting of the suspension 120 according to the position information includes:

[0122] S211, when the lowest point of the obstacle 200 in the image information is lower than the calibration position, the suspension 120 is controlled to descend until the lowest point of the obstacle 200 in the image information is not lower than the calibration position, so that the highest point of the vehicle body 110 is not higher than the lowest point of the obstacle 200.

[0123] The vehicle 100 may be provided with an image sensor for acquiring an image in the direction of travel of the vehicle 100. A calibration position is set on the image. When the lowest point of the obstacle 200 is lower than the calibration position, there is a risk of collision or scratching between the obstacle 200 and the vehicle body 110. When the lowest point of the obstacle 200 is higher than the calibration position, there is no risk of collision or scratching between the obstacle 200 and the vehicle body 110. When there is an obstacle 200 in the direction of travel of the vehicle 100, the obstacle 200 appears on the image. When the lowest point of the calibration object is lower than the calibration position, the suspension 120 is controlled to descend until the lowest point of the calibration object is not lower than the calibration position, thereby reducing the risk of collision or scratching between the vehicle body 110 and the obstacle 200, thereby achieving high-altitude obstacle avoidance of the vehicle 100 and improving the driving safety of the vehicle 100.

[0124] It should be noted that the technical solutions or technical features described in the above embodiments can be combined or supplemented with each other without causing conflicts. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the drawings; all modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application should be included in the scope of protection of this application.

Claims

1. A vehicle, characterized in that: include: Car body; A suspension, arranged on the vehicle body, and used for lifting and lowering the vehicle body; A position sensor, the position sensor is arranged on the vehicle body and is used to detect the position information between the vehicle body and the obstacle in the traveling direction; A controller is electrically connected to the suspension and the position sensor, and is used for controlling the suspension to descend according to the position information so that the highest point of the vehicle body is not higher than the lowest point of the obstacle object.

2. The vehicle according to claim 1, characterized in that The position sensor comprises a distance sensor; along the height direction of the vehicle body, the maximum distance sensing point of the distance sensor within the measurement range is not lower than the highest point of the vehicle body; The controller controls the suspension to descend in response to the obstacle object being detected by the maximum distance sensing point of the distance sensor.

3. The vehicle according to claim 2, characterized in that The maximum distance sensing point is higher than the highest point of the vehicle body, and the distance sensor is configured such that a first safety distance is formed between the maximum distance sensing point and a horizontal plane where the highest point of the vehicle body is located along a vertical direction.

4. The vehicle according to claim 2, characterized in that Along the width direction of the vehicle body, the maximum distance sensing point of the distance sensor within the measurement range is located on the outer side of the vehicle body; The distance sensor is configured such that a second safety distance is formed between the maximum distance sensing point along a horizontal direction perpendicular to the traveling direction and a vertical plane where a side end point of the vehicle body along a width direction is located.

5. The vehicle according to claim 2, characterized in that The vehicle body includes a cockpit and a cargo compartment, There is one distance sensor, which is arranged in the cockpit or the cargo hold; or there are multiple position sensors, and the cockpit and the cargo hold are respectively provided with at least one position sensor; the maximum distance sensing point of the distance sensor is not lower than the highest point of the cockpit and the highest point of the cargo hold.

6. The vehicle according to claim 5, characterized in that The highest point of the cockpit and the highest point of the cargo hold are not at the same height; The distance sensor disposed at the lower highest point of the cockpit or the cargo hold has a measuring direction facing outward and obliquely upward; The distance sensor arranged at the higher highest point of the cockpit and the cargo hold has its measuring direction facing outward and obliquely upward or arranged in a horizontal direction, and is located at the same height as the higher highest point of the cockpit and the cargo hold.

7. The vehicle according to claim 6, characterized in that The distance sensor is a point sensor, and there are multiple sensors. The cockpit and the cargo hold are respectively provided with multiple distance sensors; Among the plurality of distance sensors disposed in the cockpit, at least one is directed toward the front of the cockpit, at least one is directed toward the left front of the cockpit, and at least one is directed toward the right front of the cockpit; Among the multiple distance sensors arranged in the cargo hold, at least one is facing directly rearward of the cargo hold, at least one is facing left rearward of the cargo hold, and at least one is facing right rearward of the cargo hold.

8. The vehicle according to claim 6, characterized in that The distance sensors are scanning sensors, two of which are respectively arranged in the cockpit and the cargo hold and facing opposite directions; along the width direction of the vehicle body, the measurement range of the scanning sensor is greater than the maximum width of the cockpit and the maximum width of the cargo hold.

9. The vehicle according to claim 2, characterized in that The distance sensor is arranged with its measuring direction facing outward and obliquely upward or in a horizontal direction and is located at the same height as the highest point of the vehicle body.

10. The vehicle according to claim 9, characterized in that The distance sensor is a point sensor, there are multiple sensors, and they are distributed on the vehicle body; At least one is directed toward the front of the vehicle body, at least one is directed toward the left front of the vehicle body, and at least one is directed toward the right front of the vehicle body; At least one is directed toward the rear of the vehicle body, at least one is directed toward the left rear of the vehicle body, and at least one is directed toward the right rear of the vehicle body.

11. The vehicle according to claim 9, characterized in that The distance sensor is a scanning sensor, two of which are respectively arranged at the front end and the rear end of the vehicle body and facing in opposite directions; Along the width direction of the vehicle body, the measuring range of the scanning sensor is greater than the maximum width of the vehicle body.

12. A method for controlling a vehicle, the vehicle comprising a vehicle body and a suspension arranged on the vehicle body, the suspension being used to lift the vehicle body, characterized in that: The control method comprises: Acquiring position information between the vehicle body and an obstacle in the direction of vehicle travel; The suspension is controlled to descend according to the position information so that the highest point of the vehicle body is not higher than the lowest point of the obstacle object.

13. The control method according to claim 12, characterized in that: Acquiring position information between the vehicle body and an obstacle in the traveling direction, including: projecting a measuring light beam outward from the vehicle body along the traveling direction, wherein the measuring light beam has a maximum distance sensing point within a measuring range, and the maximum distance sensing point is not lower than the highest point of the vehicle body; The controlling the suspension to descend according to the position information includes: when the maximum distance sensing point detects an obstacle object, controlling the suspension to descend.

14. The control method according to claim 13, characterized in that: The step of controlling the suspension to descend according to the position information comprises: Controlling the suspension to descend until no obstacle is detected at the maximum distance sensing point; The suspension is controlled to stop.

15. The control method according to claim 13, characterized in that: The step of controlling the suspension to descend according to the position information comprises: Controlling the suspension to descend until no obstacle is detected at the maximum distance sensing point; Controlling the suspension to continue descending to a first safe height; The suspension is controlled to stop.

16. The control method according to claim 13, characterized in that: When the maximum distance sensing point detects an obstacle object, controlling the suspension to descend according to the position information includes: When the maximum distance sensing point detects an obstacle, the vehicle speed and the distance between the obstacle and the vehicle body along the traveling direction are obtained, and the starting position of the suspension lowering is obtained; Determining a descending speed for controlling the suspension to descend according to the vehicle speed and the distance; From the starting position, the suspension is controlled to descend according to the descending speed.

17. The control method according to claim 13, characterized in that: Along the width direction of the vehicle body, the measuring range of the measuring light beam is greater than the maximum width of the vehicle body; When the maximum distance sensing point detects an obstacle object, controlling the suspension to descend according to the position information includes: When the maximum distance sensing point detects an obstacle within a limited area, the suspension is controlled to descend; wherein the limited area is the area between the extension lines of the two end points of the vehicle body along the width direction along the traveling direction.

18. The control method according to claim 12, characterized in that: The obtaining of the position information between the vehicle body and the obstacle in the direction of vehicle travel includes: Acquiring image information of the obstacle object; The step of controlling the suspension to descend according to the position information comprises: When the lowest point of the obstacle in the image information is lower than the calibrated position, the suspension is controlled to descend until the lowest point of the obstacle in the image information is not lower than the calibrated position, so that the highest point of the vehicle body is not higher than the lowest point of the obstacle.

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