Vehicle and control method for a vehicle

Abstract

The application provides a vehicle and a control method thereof, comprising: a vehicle body; a suspension arranged on the vehicle body, the suspension being used for lifting and lowering the vehicle body; a position sensor arranged on the vehicle body and used for detecting position information between the vehicle body and an obstacle object in a running direction; and a controller electrically connected with the suspension and the position sensor, the controller being used for controlling the suspension to lower 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. The height of the vehicle body is automatically adjusted, the risk of collision or scratching between the vehicle body and the obstacle object is reduced, the high obstacle avoidance of the vehicle is realized, and the driving safety of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and more particularly to a vehicle and a method for controlling a vehicle. Background Technology

[0002] In related technologies, obstacles at height in the direction of vehicle travel, such as height restriction poles, low roofs of underground parking garages, and horizontal tree branches on the roadside, need to be identified manually. The vehicle height is reduced by manually deflating the tires or manually adjusting the adjustable suspension to avoid collisions or scrapes between the vehicle and the obstacles at height. Summary of the Invention

[0003] This application provides a vehicle that automatically adjusts its body height to achieve high-altitude obstacle avoidance, and a method for controlling the vehicle.

[0004] This application provides a vehicle, including:

[0005] Body;

[0006] A suspension system is installed on the vehicle body, and the suspension system is used to raise and lower the vehicle body.

[0007] A position sensor, which is disposed on the vehicle body, is used to detect the position information of the vehicle body relative to an obstacle in the direction of travel;

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

[0009] When there is an obstacle in the direction of the vehicle's travel, the position sensor obtains the position information between the vehicle and the obstacle. When the lowest point of the obstacle is lower than the highest point of the vehicle, the controller adjusts the vehicle height by controlling the suspension so that the highest point of the vehicle is not higher than the lowest point of the obstacle. This achieves automatic adjustment of the vehicle's height, reducing the risk of collision or scraping between the vehicle and the obstacle, thereby realizing 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 its 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 detection of an obstacle at 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 such that the maximum distance sensing point forms a first safe distance with the 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 of the distance sensor within the measurement range is located on the outer side of the vehicle body;

[0014] The distance sensor is configured such that a second safe distance is formed between the maximum distance sensing point along a horizontal direction perpendicular to the direction of travel and the vertical plane containing the side endpoint of the vehicle body along the width direction.

[0015] Optionally, the vehicle body includes a driver's cabin and a cargo compartment.

[0016] The distance sensor is a single sensor, located in the cockpit or the cargo hold; or the position sensor is a plurality of sensors, with at least one position sensor located in both the cockpit and the cargo hold; 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, located at the lower of the highest points in the cockpit and the cargo hold, is positioned with its measurement direction facing outwards and diagonally upwards.

[0019] The distance sensor, which is positioned at the higher of the highest points in the cockpit and the cargo hold, is positioned outward and obliquely upward or horizontally, and is at the same height as the highest point of the higher of the highest points in the cockpit and the cargo hold.

[0020] Optionally, the distance sensor is a point sensor, and there are multiple of them. The cockpit and the cargo hold are each equipped with multiple distance sensors.

[0021] Of the plurality of distance sensors located in the cockpit, at least one faces directly in front of the cockpit, at least one faces to the left front of the cockpit, and at least one faces to the right front of the cockpit.

[0022] Of the plurality of distance sensors located in the cargo hold, at least one faces directly behind the cargo hold, at least one faces the left rear of the cargo hold, and at least one faces the right rear of the cargo hold.

[0023] Optionally, the distance sensor is a scanning sensor, and there are two of them, one in the driver's cab and one in the cargo compartment, 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 driver's cab and the maximum width of the cargo compartment.

[0024] Optionally, the distance sensor is positioned with its measurement direction facing outward and diagonally upward, or along the horizontal direction where the highest point of the vehicle body is located, and 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 of them distributed on the vehicle body;

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

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

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

[0029] This application also provides a vehicle control method, the vehicle including a body and a suspension disposed on the body, the suspension being used to raise and lower the body, the control method including:

[0030] Obtain the positional information between the vehicle body and obstacles in the direction of vehicle travel;

[0031] The suspension is lowered according to the location information so that the highest point of the vehicle body is not higher than the lowest point of the obstacle.

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

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

[0034] Controlling the suspension to descend based on the location information includes: controlling the suspension to descend when the maximum distance sensing point detects an obstacle.

[0035] Optionally, controlling the suspension descent includes:

[0036] The suspension is lowered until the maximum distance sensing point is no longer detected as an obstacle.

[0037] Control the suspension to stop.

[0038] Optionally, controlling the suspension descent includes:

[0039] The suspension is lowered until the maximum distance sensing point is no longer detected as an obstacle.

[0040] The suspension is controlled to continue descending to the first safe height;

[0041] Control the suspension to stop.

[0042] Optionally, when the maximum distance sensing point detects an obstacle, controlling the suspension to descend based on 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 direction of travel are obtained, and the starting position of the suspension descent is obtained.

[0044] Based on the vehicle speed and the distance, determine the starting position and descent speed for controlling the suspension descent;

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

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

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

[0048] When the maximum distance sensing point detects an obstacle within a defined area, the suspension is controlled to descend; wherein, the defined area is the region between the two endpoints of the vehicle body along the width direction and the extension lines along the travel direction.

[0049] Optionally, acquiring the position information between the position sensor and an obstacle in the vehicle's direction of travel includes:

[0050] Acquire image information of obstacles;

[0051] The step of controlling the suspension lifting based on the position information includes:

[0052] When the lowest point of the obstacle in the image information is lower than the calibration position, the suspension is controlled to descend until the lowest point of the obstacle in the image information is not lower than the calibration position, so that the highest point of the vehicle body is not higher than the lowest point of the calibration object. Attached Figure Description

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

[0054] Figure 1-2 The diagram shown is a schematic representation of one embodiment of the vehicle described in this application.

[0055] Figure 3-4 The diagram shown is a schematic diagram of another embodiment of the vehicle of this application.

[0056] Figure 5 The diagram shown is a top view of one embodiment of the vehicle described in this application.

[0057] Figure 6 The diagram shown is a top view of another embodiment of the vehicle described in this application.

[0058] Figure 7-8 The diagram shown is a schematic diagram of another embodiment of the vehicle of this application.

[0059] Figure 9 The diagram shown is a schematic diagram of yet another embodiment of the vehicle described in this application.

[0060] Figure 10 The diagram shown is a schematic representation of an embodiment of the vehicle control method of this application.

[0061] Figure 11 The diagram shown is a schematic representation of another embodiment of the vehicle control method of this application.

[0062] Figure 12 The diagram shown is a schematic diagram of yet another embodiment of the vehicle control method of this application.

[0063] Figure 13 The diagram shown is a schematic diagram of yet another embodiment of the vehicle control method of this application.

[0064] Figure 14 The diagram shown is a schematic diagram of yet another embodiment of the vehicle control method of this application.

[0065] Figure 15 The diagram shown is a schematic diagram of yet another embodiment of the vehicle control method of this application.

[0066] Figure 16 The diagram shown is a schematic diagram of yet another embodiment of the vehicle control method of this application.

[0067] Explanation of reference numerals in the attached figures:

[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] 200 obstacles. Detailed Implementation

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

[0072] If the embodiments of this application contain terms relating to directional indications or positional relationships (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 relationships and movements between components in a specific posture (as shown in the attached figures); if the specific posture changes, the directional indications or positional relationships will also change accordingly. Furthermore, the terms "first" and "second" used in the embodiments of this application are only for descriptive convenience and should not be construed as indicating or implying relative importance.

[0073] This application provides a vehicle and a method for controlling the vehicle. The vehicle and the method for controlling the vehicle of this application will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the features of the following embodiments and implementations can be combined with each other.

[0074] See Figure 1-8 As shown, 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 mounted on the body 110 and is used to raise and lower the body 110. The position sensor 130 is mounted on the body 110 and is used to detect the position information of the body 110 relative to the obstacle 200 in the direction of travel. The controller is electrically connected to the suspension 120 and the position sensor 130, and is used to control the suspension 120 to descend based on the position information, so that the highest point of the body 110 is not higher than the lowest point of the obstacle 200. Vehicle 100 can be a commercial vehicle, such as a bus, truck, van, semi-trailer tractor, incomplete bus vehicle, or incomplete van vehicle.

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

[0076] See Figure 1-4 and Figure 5-6 As shown, in an optional embodiment, the position sensor 130 includes a distance sensor. Along the height direction of the vehicle body 110, the maximum distance sensing point of the distance sensor within its 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, posing a risk of collision or scraping between the obstacle 200 and the vehicle body 110. Based on the detection result of the distance sensor, the controller controls the suspension 120 to descend 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.

[0077] See 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. The distance sensor is configured such that a first safety distance L1 is formed between the maximum distance sensing point in the vertical direction and the horizontal plane where the highest point of the vehicle body 110 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 scraping between the obstacle 200 and the vehicle body 110. The controller controls the suspension 120 to descend based on the detection result of the distance sensor. When the distance sensor does not detect the obstacle 200 in the direction of travel of the vehicle 100, a first safety distance L1 exists 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, further reducing the risk of collision or scraping between the obstacle 200 and the vehicle body 110, which is beneficial for the high-altitude obstacle avoidance of the vehicle 100 and improves the driving safety of the vehicle 100.

[0078] See Figure 6 As shown, in an optional embodiment, along the width direction of the vehicle body 110, the maximum distance sensing point of the distance sensor within its measurement range is located outside the vehicle body 110. The distance sensor is configured such that a second safety distance L2 is formed between the maximum distance sensing point along a horizontal direction perpendicular to the direction of travel and the vertical plane containing the side endpoint of the vehicle body 110 along its width direction. When the maximum distance sensing point of the distance sensor can detect an obstacle 200, the controller determines that the distance between the obstacle 200 and the vehicle body 110 is too close, posing a risk of collision or scraping between the obstacle 200 and the vehicle body 110. The controller controls the suspension 120 to descend based on the detection result of the distance sensor. When the distance sensor does not detect an obstacle 200 in the direction of travel of the vehicle 100, a second safety distance L2 exists between the obstacle 200 and the vehicle body 110 in the width direction of the vehicle body 110, further reducing the risk of collision or scraping between the obstacle 200 and the vehicle body 110, which is beneficial for 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 also includes an alarm device electrically connected to the controller. When the distance sensor detects an obstacle 200, particularly when the obstacle 200 is detected in the width direction of the vehicle body 110, the alarm device alerts the driver to adjust the vehicle 100, which helps the vehicle 100 avoid obstacles and improves the driving safety of the vehicle 100.

[0080] See Figure 1-4As shown, in an optional embodiment, the vehicle 100 is a truck, and the body 110 includes a cab 111 and a cargo compartment 112. When there is only one distance sensor, the distance sensor is located in either the cab 111 or the cargo compartment 112. In a preferred embodiment, the distance sensor is located at the higher of the highest points of the cab 111 and the cargo compartment 112. The distance sensor can be configured as a scanning sensor, which is rotatable. When the vehicle 100 moves forward, it detects the area in front of the vehicle 100; when the vehicle 100 reverses, it detects the area behind the vehicle 100. The maximum distance sensing point of the distance sensor is not lower than the higher of the highest points of the cab 111 and the cargo compartment 112. When there are multiple position sensors 130, at least one position sensor 130 is provided in both the cab 111 and the cargo compartment 112. The maximum distance sensing point of the distance sensor is not lower than the highest point of both the cab 111 and the cargo compartment 112. In some embodiments, when the driver's cab 111 is provided with only one distance sensor, the distance sensor provided in the driver's cab 111 is preferably a scanning sensor. The scanning sensor is rotatable and detects the area in front of the driver's cab 111 when the vehicle 100 moves forward and detects the area behind the driver's cab 111 when the vehicle 100 reverses. The maximum distance sensing point of the distance sensor provided in the driver's cab 111 is not lower than the highest point of the driver's cab 111. In other embodiments, when the cargo compartment 112 is provided with only one distance sensor, the distance sensor provided in the cargo compartment 112 is preferably a scanning sensor. The scanning sensor is rotatable and detects the area in front of the cargo compartment 112 when the vehicle 100 moves forward and detects the area behind the cargo compartment 112 when the vehicle 100 reverses. The maximum distance sensing point of the distance sensor provided in the cargo compartment 112 is not lower than the highest point of the cargo compartment 112. The controller controls the suspension 120 to descend based on the detection results of the distance sensor. When the distance sensor does not detect an obstacle 200 in the direction of travel of the vehicle 100, the risk of collision or scraping between the obstacle 200 and the cab 111 and cargo compartment 112 is reduced, which is beneficial for high-altitude obstacle avoidance of various parts of the vehicle 100 and improves the driving safety of the vehicle 100.

[0081] See 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 distance sensor located at the lower of the highest points of the cockpit 111 and cargo hold 112 has its measurement direction facing outwards and obliquely upwards. Alternatively, the distance sensor located at the higher of the highest points of the cockpit 111 and cargo hold 112 has its measurement direction horizontal and is at the same height as the highest point of the higher of the cockpit 111 and cargo hold 112.

[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 installed in the cockpit 111 can be arranged horizontally, with its position at the same height as the highest point of the cockpit 111; simultaneously, the distance sensor installed in the cargo hold 112 is arranged outwards and obliquely upwards, and the maximum distance sensing point of the distance sensor installed 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 installed in the cockpit 111 can be installed at any position in the cockpit 111, facing outwards and obliquely upwards, and the maximum distance sensing point of the distance sensor installed in the cockpit 111 is not lower than the highest point of the cockpit 111; simultaneously, the distance sensor installed in the cargo hold 112 is arranged outwards and obliquely upwards, and the maximum distance sensing point of the distance sensor installed in the cargo hold 112 is not lower than the highest point of the cockpit 111. In some embodiments, when the highest point of the cockpit 111 is lower than the highest point of the cargo hold 112, the distance sensor installed in the cockpit 111 faces outward and is obliquely upward, and the maximum distance sensing point of the distance sensor installed in the cockpit 111 is not lower than the highest point of the cargo hold 112; the distance sensor installed in the cargo hold 112 can be installed horizontally, and its installation 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 installed in the cockpit 111 faces outward and is obliquely upward, and the maximum distance sensing point of the distance sensor installed in the cockpit 111 is not lower than the highest point of the cargo hold 112; the distance sensor installed in the cargo hold 112 can be installed at any position in the cargo hold 112, facing outward and obliquely upward, and the maximum distance sensing point of the distance sensor installed in the cargo hold 112 is not lower than the highest point of the cargo hold 112. With the above settings, when any one of the multiple distance sensors on 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, posing a risk of collision or scraping. Based on the detection results from the distance sensors, the controller controls the suspension 120 to descend, ensuring that no part of the vehicle body 110 is higher than the lowest point of the obstacle 200, thereby achieving high-altitude obstacle avoidance for the vehicle 100 and improving its driving safety. Simultaneously, by acquiring the positional relationship between the obstacle 200 and the vehicle 100 through any one of the multiple distance sensors and adjusting it via the controller, high-altitude obstacle avoidance for the vehicle 100 can be achieved, reducing adjustment steps and facilitating rapid obstacle avoidance.

[0083] See Figure 5As shown, in an optional embodiment, the distance sensors are point sensors, and there are multiple of them. The driver's cab 111 and the cargo hold 112 are each equipped with multiple distance sensors. Among the multiple distance sensors in the driver's cab 111, at least one faces directly forward of the driver's cab 111, at least one faces the left front of the driver's cab 111, and at least one faces the right front of the driver's cab 111. Specifically, along the width direction of the vehicle body 110, among the sensors facing the left front of the driver's cab 111 and the right front of the driver's cab 111, at least one point sensor has its maximum distance sensing point at the left front of the driver's cab 111, which is greater than the maximum width of the driver's cab 111, and at least one point sensor has its maximum distance sensing point at the right front of the driver's cab 111, which is also greater than the maximum width of the driver's cab 111. Among the multiple distance sensors in the cargo hold 112, at least one faces directly rear of the cargo hold 112, at least one faces the left rear of the cargo hold 112, and at least one faces the right rear of the cargo hold 112. Of the sensors along the width direction of the vehicle body 110, those facing the left rear and right rear of the cargo compartment 112, at least one point sensor has its maximum distance sensing point located at the left rear of the cargo compartment 112, which is greater than the maximum width of the cargo compartment 112; and at least one point sensor has its maximum distance sensing point located at the right rear of the cargo compartment 112, which is also greater than the maximum width of the cargo compartment 112. With this configuration, the distance sensor located in the driver's cab 111 detects obstacles 200 in front of the vehicle 100, and the distance sensor located in the cargo compartment 112 detects obstacles 200 behind the vehicle 100. This reduces the number of distance sensors required on the vehicle 100 and facilitates their installation.

[0084] See Figure 6 As shown, in an optional embodiment, the distance sensors are scanning sensors, and there are two of them, respectively located in the driver's cab 111 and the cargo compartment 112, facing opposite directions. The distance sensor located in the driver's cab 111 faces forward of the vehicle 100, while the distance sensor located in the cargo compartment 112 faces rearward of the vehicle 100. Along the width direction of the vehicle body 110, the measurement range of the scanning sensors is greater than the maximum width of both the driver's cab 111 and the cargo compartment 112. With this arrangement, the distance sensor located in the driver's cab 111 detects obstacles 200 in front of the vehicle 100, and the distance sensor located in the cargo compartment 112 detects obstacles 200 behind the vehicle 100, reducing the number of distance sensors required on the vehicle 100 and facilitating their installation.

[0085] See Figure 7-9As shown, in an optional embodiment, when the driver's cab 111 and cargo compartment 112 of vehicle 100 are at the same height, the distance sensor's measurement direction is outward and obliquely upward. Alternatively, the distance sensor's measurement direction is horizontal, and its position is at the same height as the highest point of the vehicle body 110. The controller lowers the suspension 120 based on the distance sensor's detection results, ensuring that the vehicle body 110 is not higher than the lowest point of the obstacle 200, thereby achieving high-altitude obstacle avoidance for vehicle 100 and improving the driving safety of vehicle 100.

[0086] In an optional embodiment, the distance sensors are point sensors, and there are multiple point sensors distributed on the vehicle body 110. At least one is facing the front of the vehicle body 110, at least one is facing the left front of the vehicle body 110, at least one is facing the right front of the vehicle body 110, at least one is facing the rear of the vehicle body 110, at least one is facing the left rear of the vehicle body 110, and at least one is facing the right rear of the vehicle body 110. Specifically, along the width direction of the vehicle body 110, among the sensors facing the left front and right front of the vehicle body 110, the maximum distance sensing point of at least one point sensor is greater than the maximum width of the vehicle body 110 at the left front, and the maximum distance sensing point of at least one point sensor is greater than the maximum width of the vehicle body 110 at the right front. Similarly, among the sensors facing the left rear and right rear of the vehicle body 110, the maximum distance sensing point of at least one point sensor is greater than the maximum width of the vehicle body 110 at the left rear, and the maximum distance sensing point of at least one point sensor is greater than the maximum width of the vehicle body 110 at the right rear. With the above configuration, the distance sensor installed in the driver's cab 111 detects the obstacle 200 in front of the vehicle 100, and the distance sensor installed in the cargo compartment 112 detects the obstacle 200 behind the vehicle 100, reducing the number of distance sensors installed on the vehicle 100 and making the installation of distance sensors easier.

[0087] In an optional embodiment, the distance sensors are scanning sensors, two in number, respectively located at the front and rear ends of the vehicle body 110, facing opposite directions. Along the width direction of the vehicle body 110, the measurement range of the scanning sensors is greater than the maximum width of the vehicle body 110. With this arrangement, the distance sensor located in the driver's cabin 111 detects obstacles 200 in front of the vehicle 100, and the distance sensor located in the cargo compartment 112 detects obstacles 200 behind the vehicle 100, reducing the number of distance sensors required on the vehicle 100 and facilitating their installation.

[0088] In practice, when vehicle 100 moves forward, distance sensors positioned in front of, to the left front of, and to the right front of vehicle 100 are activated to detect the presence of obstacles 200 in front of vehicle 100. When a distance sensor detects an obstacle 200 in front of vehicle 100, and the lowest point of obstacle 200 is lower than the highest point of vehicle body 110, the controller adjusts the height of vehicle body 110 by controlling suspension 120, ensuring that the highest point of vehicle body 110 is not higher than the lowest point of obstacle 200. When vehicle 100 reverses, distance sensors positioned behind, to the left rear of vehicle 100, and to the right rear of vehicle 100 are activated to detect the presence of obstacles 200 behind vehicle 100. When a distance sensor detects an obstacle 200 behind vehicle 100, and the lowest point of obstacle 200 is lower than the highest point of vehicle body 110, the controller adjusts the height of vehicle body 110 by controlling suspension 120, ensuring that the highest point of vehicle body 110 is not higher than the lowest point of obstacle 200.

[0089] See Figure 10 As shown, this application provides a control method for a vehicle 100. The vehicle 100 includes a body 110 and a suspension 120 disposed on the body 110. The suspension 120 is used to raise and lower the body 110. The control method includes:

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

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

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

[0093] See Figure 11 As shown, in an optional embodiment, S10, obtaining position information between the vehicle body 110 and the obstacle object 200 in the direction of travel includes:

[0094] S11, a measuring beam is projected outward from the vehicle body 110 along the direction of travel. The measuring 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 based on position information, including:

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

[0097] When the maximum distance sensing point of the measuring beam can detect obstacle 200, the controller determines that the distance between obstacle 200 and vehicle body 110 is too close, posing a risk of collision or scraping between them. Based on the detection results from the distance sensor, the controller controls the suspension 120 to descend, ensuring that the highest point of vehicle body 110 is not higher than the lowest point of obstacle 200, thereby achieving high-altitude obstacle avoidance for vehicle 100 and improving its driving safety.

[0098] See Figure 12 As shown, in an optional embodiment, S20, controlling the suspension 120 to descend based on the position information includes:

[0099] S22, control the suspension 120 to descend to the maximum distance sensor point where no obstacle object 200 is detected;

[0100] S23, control the suspension to stop at 120.

[0101] In some embodiments, such as Figure 1-2 As shown, the maximum distance sensing point of the distance sensor is aligned with the highest point of the vehicle body 110. The controller lowers the suspension 120 based on the distance sensor's detection results. When the suspension 120 lowers to the point where the obstacle 200 is no longer detected at the maximum distance sensing point, the highest point of the vehicle body 110 is not higher than the lowest point of the obstacle 200. In some embodiments, such as... 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 such that a first safe distance L1 is formed between the maximum distance sensing point in the vertical direction and the horizontal plane where the highest point of the vehicle body 110 is located. The controller controls the suspension 120 to descend based on the detection results of the distance sensor. When the distance sensor does not detect an obstacle 200 in the direction of travel of the vehicle 100, a first safe distance L1 exists 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. This further reduces the risk of collision or scraping between the obstacle 200 and the vehicle body 110, which is beneficial for the high-altitude obstacle avoidance of the vehicle 100 and improves the driving safety of the vehicle 100.

[0102] See Figure 13 As shown, in an optional embodiment, S20, controlling the suspension 120 to descend based on the position information includes:

[0103] S24, control the suspension 120 to descend to the maximum distance sensor point where no obstacle object 200 is detected;

[0104] S25, control the suspension 120 to continue descending to the first safe height L3;

[0105] S26, control the suspension to stop at 120.

[0106] In some embodiments, such as Figure 9 As shown, the maximum distance sensing point of the distance sensor is aligned with the highest point of the vehicle body 110. The controller controls the suspension 120 to descend based on the distance sensor's detection results. When the suspension 120 descends to the point where the obstacle 200 is no longer detected at the maximum distance sensing point, the controller controls the suspension 120 to continue descending to a first safe height. In the height direction of the vehicle body 110, a first safe height L3 exists 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 safe distance L1 is formed between the maximum distance sensing point in the vertical direction and the horizontal plane containing the highest point of the vehicle body 110. The controller controls the suspension 120 to descend based on the distance sensor's detection results. When the distance sensor no longer detects an obstacle 200 in the direction of travel of the vehicle 100, the controller controls the suspension 120 to continue descending to the first safe height L3. In the height direction of the vehicle body 110, the distance between the lowest point of the obstacle 200 and the highest point of the vehicle body 110 is the sum of the first safe distance L1 and the first safe height L3, which further reduces the risk of collision or scraping between the obstacle 200 and the vehicle body 110, which is conducive to the high-altitude obstacle avoidance of the vehicle 100 and improves the driving safety of the vehicle 100.

[0107] See Figure 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 based on the position information, including:

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

[0109] S28, based on vehicle speed and distance, determines the descent speed of the control suspension 120;

[0110] S29, from the starting position, control the suspension 120 to descend according to the descent speed.

[0111] Specifically, vehicle 100 is also equipped with a speed sensor for detecting vehicle speed, which is electrically connected to the controller. Vehicle 100 also includes a height sensor, which is located on the vehicle body 110 and used to detect the height of the vehicle body 110. The faster the vehicle speed, the faster the suspension 120 descends, allowing it to descend before the vehicle 100 contacts the obstacle 200, thus preventing collisions or scrapes between the obstacle 200 and the vehicle body 110. Conversely, the higher the vehicle body 110, the greater the distance the suspension 120 needs to descend, thus requiring a faster descent speed. Through these settings, the adjustment speed of the suspension 120 can be adaptively adjusted according to different vehicle conditions during operation, further reducing the risk of collisions or scrapes between the obstacle 200 and the vehicle body 110, facilitating obstacle avoidance at high altitudes and improving the driving safety of vehicle 100.

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

[0113] When the maximum distance sensor detects an obstacle 200, S20, the suspension 120 is controlled to descend based on the position information, including:

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

[0115] In this embodiment, when an obstacle 200 is detected within the defined area R, the controller determines that there is a risk of collision or scraping between the obstacle 200 and the vehicle body 110. Based on the detection results of the distance sensor, the controller controls the suspension 120 to descend 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.

[0116] In a preferred embodiment, the vehicle 100 is equipped with an alarm device, and the measurement range of the measuring beam is greater than the maximum width of the vehicle body 110. When an obstacle 200 is detected outside the defined area R, that is, when an 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 practice, vehicle 100 is equipped with an alarm device, and the measuring beam's measurement range is greater than the maximum width of vehicle body 110. When an obstacle 200 is detected outside the defined area R, that is, when an obstacle 200 is detected on the outer side of the maximum width of vehicle body 110 along the width direction of vehicle body 110, the controller activates the alarm device to alert the driver to the obstacle 200.

[0118] In practical 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 in the vertical direction and the horizontal plane where the highest point of the vehicle body 110 is located. When an obstacle 200 exists within the defined area R, the position information between the vehicle 100 and the obstacle 200 is acquired. 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 based on the detection result of the distance sensor. When the distance sensor does not detect an 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 a first safety distance L1 exists between the highest point of the vehicle body 110 and the lowest point of the obstacle 200. When an obstacle 200 exists outside the defined area R, the controller controls the alarm device to remind the driver to pay attention to the obstacle 200.

[0119] See Figure 16 As shown, in an optional embodiment, S10, acquiring the position information between the position sensor 130 and the obstacle 200 in the direction of travel of the vehicle body 110 includes:

[0120] S12, acquire image information of obstacle object 200;

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

[0122] S211, when the lowest point of the obstacle 200 in the image information is lower than the calibrated 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 calibrated position, so that the highest point of the vehicle body 110 is not higher than the lowest point of the obstacle 200.

[0123] Vehicle 100 may be equipped with an image sensor to acquire images along its travel direction. A calibration position is set on the image. When the lowest point of obstacle 200 is lower than the calibration position, there is a risk of collision or scraping between obstacle 200 and vehicle body 110. When the lowest point of obstacle 200 is higher than the calibration position, there is no risk of collision or scraping between obstacle 200 and vehicle body 110. When obstacle 200 is present in the travel direction of vehicle 100, 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, reducing the risk of collision or scraping between vehicle body 110 and obstacle 200, thereby achieving high-altitude obstacle avoidance for vehicle 100 and improving the driving safety of vehicle 100.

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

Claims

1. A vehicle, characterized in that, include: Body; A suspension system is installed on the vehicle body, and the suspension system is used to raise and lower the vehicle body. A position sensor, which is disposed on the vehicle body, is used to detect the position information of the vehicle body relative to an obstacle in the direction of travel; A controller, electrically connected to the suspension and the position sensor, is used to control the suspension to descend based on the position information, so that the highest point of the vehicle body is not higher than the lowest point of the obstacle. The position sensor includes a distance sensor; Along the width direction of the vehicle body, the maximum distance sensing point of the distance sensor within its measurement range is located on the outer side of the vehicle body; The distance sensor is configured such that a second safe distance is formed between the maximum distance sensing point along a horizontal direction perpendicular to the direction of travel and the vertical plane containing the side endpoint of the vehicle body along the width direction.

2. The vehicle according to claim 1, characterized in that, 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 detection of an obstacle at 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 the maximum distance sensing point forms a first safe distance with the horizontal plane where the highest point of the vehicle body is located along the vertical direction.

4. The vehicle according to claim 1, characterized in that, The vehicle body includes a driver's cabin and a cargo compartment. The distance sensor is a single sensor, located in the cockpit or the cargo hold; or the position sensor is a plurality of sensors, with at least one position sensor located in both the cockpit and the cargo hold; 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.

5. The vehicle according to claim 4, characterized in that, The highest point of the cockpit is not at the same height as the highest point of the cargo hold; The distance sensor, located at the lower of the highest points in the cockpit and the cargo hold, is positioned with its measurement direction facing outwards and diagonally upwards. The distance sensor, located at the higher of the highest points in the cockpit and the cargo hold, is positioned outward and obliquely upward or horizontally, and is at the same height as the highest point of the higher of the cockpit and the cargo hold.

6. The vehicle according to claim 5, characterized in that, The distance sensor is a point sensor, and there are multiple of them. The cockpit and the cargo hold are each equipped with multiple distance sensors. Of the plurality of distance sensors located in the cockpit, at least one faces directly in front of the cockpit, at least one faces to the left front of the cockpit, and at least one faces to the right front of the cockpit. Of the plurality of distance sensors located in the cargo hold, at least one faces directly behind the cargo hold, at least one faces the left rear of the cargo hold, and at least one faces the right rear of the cargo hold.

7. The vehicle according to claim 5, characterized in that, The distance sensor is a scanning sensor, and there are two of them, which are respectively installed in the cockpit and the cargo compartment and face 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 compartment.

8. The vehicle according to claim 2, characterized in that, The distance sensor is positioned outward and diagonally upward or horizontally, and is at the same height as the highest point of the vehicle body.

9. The vehicle according to claim 8, characterized in that, The distance sensors are point sensors, and there are multiple of them, which are distributed and installed on the vehicle body; At least one facing the front of the vehicle body, at least one facing the front left of the vehicle body, and at least one facing the front right of the vehicle body; At least one facing directly behind the vehicle body, at least one facing the left rear of the vehicle body, and at least one facing the right rear of the vehicle body.

10. The vehicle according to claim 8, characterized in that, The distance sensor is a scanning sensor, and there are two of them, which are respectively set at the front and rear of the vehicle body 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 vehicle body.

11. A vehicle control method as described in any one of claims 1-10, characterized in that, The control method includes: Obtain the positional information between the vehicle body and obstacles in the direction of vehicle travel; The suspension is lowered according to the location information so that the highest point of the vehicle body is not higher than the lowest point of the obstacle.

12. The control method according to claim 11, characterized in that, Acquiring positional information between the vehicle body and an obstacle in the direction of travel includes: projecting a measuring beam outward from the vehicle body along the direction of travel, wherein the measuring beam has a maximum distance sensing point within the measurement range, and the maximum distance sensing point is not lower than the highest point of the vehicle body; The step of controlling the suspension to descend based on the location information includes: controlling the suspension to descend when the maximum distance sensing point detects an obstacle.

13. The control method according to claim 12, characterized in that, The step of controlling the suspension descent based on the position information includes: The suspension is lowered until the maximum distance sensing point is no longer detected as an obstacle. Control the suspension to stop.

14. The control method according to claim 12, characterized in that, The step of controlling the suspension descent based on the position information includes: The suspension is lowered until the maximum distance sensing point is no longer detected as an obstacle. The suspension is controlled to continue descending to the first safe height; Control the suspension to stop.

15. The control method according to claim 12, characterized in that, When the maximum distance sensing point detects an obstacle, the step of controlling the suspension to descend based on 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 direction of travel are obtained, and the starting position of the suspension descent is obtained. Based on the vehicle speed and the distance, determine the descent speed for controlling the suspension to descend; From the starting position, the suspension is controlled to descend according to the descent speed.

16. The control method according to claim 12, characterized in that, Along the width direction of the vehicle body, the measurement range of the measuring beam is greater than the maximum width of the vehicle body; When the maximum distance sensing point detects an obstacle, the step of controlling the suspension to descend based on the position information includes: When the maximum distance sensing point detects an obstacle within a defined area, the suspension is controlled to descend; wherein, the defined area is the region between the two endpoints of the vehicle body along the width direction and the extension lines along the travel direction.

17. The control method according to claim 11, characterized in that, The step of obtaining the position information between the vehicle body and an obstacle in the direction of vehicle travel includes: Acquire image information of the obstacle object; The step of controlling the suspension descent based on the position information includes: 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.

Images