Intelligent suspension control system based on complex road condition recognition

Abstract

The invention discloses an intelligent suspension control system based on complex road condition recognition, relates to the technical field of automobile damping adjustment, and solves the technical problems that the system is difficult to adapt to complex and changeable road conditions, suspension parameters cannot be accurately adjusted in real time according to actual road conditions, and the performance of a vehicle under the complex road conditions is limited. After the road condition information acquisition module acquires data of various sensors, the road condition comprehensive identification and analysis module deeply analyzes the data and judges that a vehicle is in a curve or straight driving state, and when the vehicle is driven on the curve, the curve intelligent analysis module determines whether the vehicle is in a curve or straight driving state according to information such as the steering angle, the quality, the vehicle speed and the turning radius of the vehicle. The turning centrifugal force and the heeling moment are calculated by means of a vehicle dynamics model, the adaptive heeling rigidity and damping requirements are determined accordingly, current suspension parameters are compared, the hydraulic oil and damping hydraulic oil flow and pressure adjusting amount are calculated, and precise suspension regulation and control, vehicle heeling reduction and curve control stability strengthening are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile shock absorption adjustment, and in particular to an intelligent suspension control system based on complex road condition recognition. Background Art

[0002] With the continuous development of the automobile industry and consumers' increasing requirements for vehicle driving comfort and handling stability, the intelligent control of vehicle suspension systems has become a research hotspot.

[0003] The patent with publication number CN116691257B discloses an active intelligent hydraulic suspension control system for vehicle posture adjustment, which relates to the technical field of automobile shock absorber, including an engine, a gearbox, a steering angle sensor, two axles, a hydraulic suspension, a driving mode control switch, a vehicle speed sensor, an acceleration sensor, a yaw gyroscope, an electronic control unit, a boost pump, a hydraulic oil tank, an energy storage device, a power regulator, a solenoid valve and other external pipelines. The output end of the engine is connected to the input end of the gearbox, and a transmission shaft is connected between the opposite sides of the two axles. The output end of the gearbox is connected to the input end of an axle. During the driving process of the vehicle, multiple sensors are used to simultaneously collect corresponding data information, and then the electronic control unit integrates and processes the data, and sends a control command signal to the hydraulic suspension control system through a pre-set program to realize the active intelligent posture adjustment function of the vehicle.

[0004] However, traditional suspension systems mostly use fixed stiffness and damping designs, which are difficult to adapt to complex and changing road conditions. Under different road conditions, such as bumpy roads, undulating roads, raised roads when driving in a straight line, and when driving on curves, the vehicle's requirements for suspension stiffness and damping vary significantly, and the suspension parameters cannot be accurately adjusted in real time according to actual road conditions, resulting in limited performance of the vehicle under complex road conditions. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides an intelligent suspension control system based on complex road condition recognition, which solves the problem that it is difficult to adapt to complex and changeable road conditions and cannot accurately adjust suspension parameters in real time according to actual road conditions, resulting in limited performance of the vehicle under complex road conditions.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an intelligent suspension control system based on complex road condition recognition, comprising:

[0007] The road condition information acquisition module is used to acquire the driving road information of the vehicle and transmit the acquired road information to the road condition comprehensive identification and analysis module;

[0008] A road condition comprehensive identification and analysis module is used to analyze the acquired road information, and to determine the current driving state of the vehicle by analyzing the steering angle sensor data in the road information to generate a steering result and a non-steering result, and then transmit the steering result to the curve intelligent analysis module, and transmit the non-steering result to the straight line intelligent analysis module;

[0009] The curve intelligent analysis module is used to analyze the steering results obtained. By obtaining and analyzing the turning angle of the vehicle during steering, and combining the vehicle's own stiffness and damping for analysis, the suspension is controlled to generate curve control information, and then the curve control information is transmitted to the control information output module;

[0010] A straight-line intelligent analysis module is used to analyze the non-steering results obtained, obtain different sensor data on the vehicle, identify the current road conditions based on the obtained sensor data, and analyze the identified road conditions based on the obtained data to control the suspension of the entire vehicle to generate straight-line control information, and then transmit the straight-line control information to the control information output module;

[0011] A control information output module is used to transmit the acquired curve control information and straight line control information to the corresponding electronic control unit.

[0012] As a further solution of the present invention, the road condition comprehensive identification module analyzes the road information in the following specific manner:

[0013] The steering angle sensor data in the vehicle is obtained, and the obtained steering data is identified and judged. The steering data is judged against the preset value. If the steering angle data is greater than the preset value, it indicates that the vehicle has a corresponding steering operation, and a steering result is generated. Conversely, if the steering angle data is less than the preset value, it indicates that the vehicle has no steering operation, and a non-steering result is generated.

[0014] As a further solution of the present invention, the specific method in which the curve intelligent analysis module analyzes the turning result is:

[0015] Obtain the corresponding steering angle of the vehicle, and establish a corresponding two-dimensional coordinate system with the central axis of the vehicle in the vertical direction as the Y-axis and the horizontal direction of the center of the vehicle as the X-axis, and substitute the steering angle into the two-dimensional coordinate system to obtain the steering direction, and obtain the current stiffness and current damping of the vehicle, and obtain the flow and pressure values ​​of the corresponding hydraulic oil and damping hydraulic oil based on the current stiffness and current damping values;

[0016] Then the vehicle dynamics model is established according to the formula The centrifugal force Fc of the vehicle turning is calculated, where m is the vehicle mass, v is the vehicle speed, and r is the turning radius. roll =Fc h rc Calculate the vehicle's roll moment M roll , where h rc is the roll center height, and the restoring moment M of the suspension is calculated at the same time s =K roll θ, where K roll is the roll stiffness of the vehicle, θ is the roll angle of the vehicle;

[0017] At the same time, the stiffness of the vehicle suspension when it is not turning is obtained and recorded as k s , and get the distance between the suspensions Where b is the wheelbase, according to the suspension force F s =k s Δx and roll moment balance Get the roll stiffness And calculate the individual suspension stiffness

[0018] The difference between the current stiffness and the suspension stiffness is calculated as Δk, and the pressure difference of the hydraulic oil ΔP is calculated according to the formula Δk = f(ΔP). At the same time, the calculated pressure difference is substituted into the formula The hydraulic oil flow difference Q1 is calculated, where C d is the flow coefficient, A is the opening area of ​​the solenoid valve, ρ is the hydraulic oil density, and the adjusted hydraulic oil flow Qc is calculated according to the calculated hydraulic oil flow difference Q1 and the current hydraulic oil flow. At the same time, the hydraulic oil control information is generated, and the damping control information is analyzed based on the roll angle.

[0019] As a further solution of the present invention, the specific manner in which the curve intelligent analysis module analyzes the damping control information based on the roll angular velocity is:

[0020] Establish the relationship model between damping force and vehicle roll, and obtain the roll angular velocity corresponding to the vehicle roll as And according to the formula Calculate the vehicle roll damping F d , C a is the damping coefficient, then obtain the current vehicle damping F1, and based on the calculated vehicle roll damping F d The difference between the two is calculated, and the flow rate of the damping oil and the channel size are adjusted according to the obtained damping difference, and the damping control information is generated.

[0021] As a further solution of the present invention, the specific method in which the straight line intelligent analysis module analyzes the non-turning result is:

[0022] Acquire vehicle height data corresponding to the vehicle height sensor, and simultaneously acquire wheel acceleration corresponding to the wheel acceleration sensor, and then analyze the obtained vehicle height data and wheel acceleration data;

[0023] Get the number of vehicle height changes within time t, and calculate the frequency of vehicle height changes. At the same time, get the specific value of vehicle height changes. Then get the number of wheel acceleration changes, and calculate the corresponding acceleration change frequency. Substitute the obtained parameters into the formula Calculate the road condition evaluation value R, where N h为 Number of vehicle height changes within time t, Δh i is the i-th vehicle height change value, N z is the number of wheel acceleration changes within time t, Δy j is the jth wheel acceleration change value, a1, a2, a3, and a4 are weight coefficients, and the vertical force F is calculated based on the obtained road condition evaluation value. z .

[0024] The specific method in which the straight line intelligent analysis module calculates the vertical force based on the obtained road condition evaluation value is as follows:

[0025] The obtained road condition evaluation value R is matched with the evaluation interval to generate road condition information. Then, the vertical force acting on the vehicle during driving is calculated based on the obtained road condition information and recorded as F z , and analyze the suspension stiffness and damping based on the obtained vertical force.

[0026] As a further solution of the present invention, the specific method in which the linear intelligent analysis module analyzes the suspension stiffness according to the obtained vertical force is:

[0027] Establish the dynamic equation of the vehicle in the vertical direction and convert the obtained vertical force F z and suspension stiffness as variables into the equation, the specific equation is Further, the suspension stiffness λ corresponding to the vertical direction is obtained according to the equation, where m s For the body mass, is the vertical acceleration of the vehicle body, c is the damping, and are the vertical velocities of the vehicle body and wheels, z s and z u are the vertical displacements of the vehicle body and wheels, λ is the suspension stiffness, and F z is the vertical force acting on the road surface;

[0028] The suspension stiffness λ is calculated according to the above formula, and the current suspension stiffness is obtained at the same time. The difference between the two is calculated to obtain the stiffness adjustment value, and the stiffness control information is generated.

[0029] The specific method of the linear intelligent analysis module to analyze the damping according to the obtained vertical force is as follows:

[0030] Based on the obtained wheel vertical speed At the same time, according to the formula The corresponding damping force is calculated, and based on the current damping force, the difference between the two is calculated to obtain the adjusted damping value, and the damping control information is generated at the same time.

[0031] The present invention provides an intelligent suspension control system based on complex road condition recognition. Compared with the prior art, it has the following beneficial effects:

[0032] The present invention obtains multiple sensor data through the road condition information acquisition module, and uses the road condition comprehensive identification and analysis module to conduct in-depth analysis of the data to identify curved driving or straight driving. The curved intelligent analysis module calculates the centrifugal force, roll moment, etc. of the vehicle when turning according to the vehicle's steering angle, mass, speed, turning radius and other information, combined with the vehicle dynamics model, and then obtains the appropriate roll stiffness and damping requirements. By comparing with the current suspension parameters, the flow and pressure adjustment values ​​of the hydraulic oil and the damping hydraulic oil are calculated to achieve precise control of the suspension, effectively reduce the vehicle roll, and improve the controllability and stability of curved driving;

[0033] The straight-line intelligent analysis module calculates the vehicle height change frequency, wheel acceleration change frequency and road condition assessment value based on the vehicle height sensor and wheel acceleration sensor data, identifies different straight-line road conditions, calculates the vertical force of the vehicle for different road conditions, and then determines the appropriate suspension stiffness and damping to improve the comfort and stability of straight-line driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a block diagram of the system principle of the present invention. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] For example, see Figure 1 The present application provides an intelligent suspension control system based on complex road condition recognition, including a road condition information acquisition module, a road condition comprehensive recognition and analysis module, a straight line intelligent analysis module, a curve intelligent analysis module and a control information output module.

[0037] The road condition information collection module is used to obtain the vehicle's driving road information and transmit the obtained road information to the road condition comprehensive identification and analysis module. The driving road information is obtained through sensors installed at different positions of the vehicle. The specific transmitted road information mainly corresponds to different sensor data.

[0038] The comprehensive road condition identification and analysis module is used to analyze the acquired road information. By analyzing the steering angle sensor data in the road information, it determines the current driving state of the vehicle and generates steering results and non-steering results. The steering results are then transmitted to the curve intelligent analysis module, and the non-steering results are transmitted to the straight line intelligent analysis module.

[0039] The steering angle sensor data in the vehicle is obtained, and the obtained steering data is identified and judged. The steering data is judged against the preset value, and the specific value of the preset value is set by the operator. If the steering angle data is greater than the preset value, it means that the vehicle has a corresponding steering operation, and a steering result is generated. Conversely, if the steering angle data is less than the preset value, it means that the vehicle has no steering operation, and a non-steering result is generated.

[0040] The intelligent curve analysis module is used to analyze the steering results obtained. It obtains and analyzes the turning angle of the vehicle during steering, analyzes the vehicle's own stiffness and damping, controls the suspension to generate curve control information, and then transmits the curve control information to the control information output module.

[0041] Obtain the corresponding steering angle of the vehicle, and establish a corresponding two-dimensional coordinate system with the central axis of the vehicle in the vertical direction as the Y-axis and the horizontal direction of the center of the vehicle as the X-axis, and substitute the steering angle into the two-dimensional coordinate system to obtain the steering direction, and the steering direction here includes left steering and right steering. Specifically, the vehicle roll direction is determined according to the corresponding steering mode, and the current stiffness and current damping of the vehicle are obtained at the same time, and the flow and pressure values ​​of the corresponding hydraulic oil and damping hydraulic oil are obtained based on the current stiffness and current damping values;

[0042] Then the vehicle dynamics model is established and according to the formula The centrifugal force Fc of the vehicle turning is calculated, where m is the vehicle mass, v is the vehicle speed, and r is the turning radius. Due to the centrifugal force, the vehicle will tilt and the vehicle posture will change. According to the formula M roll =F c h rc Calculate the vehicle's roll moment M roll , where h rc is the roll center height. In order to balance the roll moment, the suspension needs to provide a restoring moment M s =Kroll θ, where K roll is the roll stiffness of the vehicle, θ is the roll angle of the vehicle;

[0043] At the same time, the stiffness of the vehicle suspension when it is not turning is obtained and recorded as k s , and get the distance between the suspensions Where b is the wheelbase. When the vehicle rolls, the deformation of each suspension Δx is related to the roll angle θ and the wheelbase b. According to the suspension force F s =k s Δx and roll moment balance Further, the roll stiffness can be obtained This allows the individual suspension stiffness to be derived

[0044] For example, for a car with a mass of m = 1500 kg, a speed of v = 60 km / h (converted to 16.67 m / s), a turning radius of r = 50 m, and a roll center height h rc =0.5m, wheelbase b = 1.5m, tire stiffness k t =200000N / m, first calculate the centrifugal force Fc according to the formula to get 8335N, the roll moment M roll is 4167.5N·m, and then the roll angle of the vehicle is assumed to be 5° (converted to radians θ = 0.0873rad). According to the formula M s =K roll The roll stiffness can be calculated to be 47737 N·m / rad, and is obtained by It can be calculated that the stiffness of a single suspension is 42433 N·m.

[0045] Then, the difference between the current stiffness and the suspension stiffness is calculated and recorded as Δk. The specific difference is obtained by subtracting the calculated suspension stiffness from the current suspension stiffness, and the pressure difference ΔP of the hydraulic oil is calculated according to the formula Δk=f(ΔP), where f is a function related to the structure of the suspension hydraulic system, and the function in this application is a linear function. Where α is a constant, the specific value is set by the operator, Q is the hydraulic oil flow, and the calculated pressure difference is substituted into the formula The hydraulic oil flow difference Q1 is calculated, where C d is the flow coefficient, A is the opening area of ​​the solenoid valve, ρ is the hydraulic oil density, and the adjusted hydraulic oil flow Qc is calculated based on the calculated hydraulic oil flow difference Q1 and the current hydraulic oil flow. The specific calculation formula is Qc=Q-Q1, and the hydraulic oil control information is generated at the same time;

[0046] At the same time, the relationship model between the damping force and the vehicle roll is established, and the roll angular velocity corresponding to the vehicle roll is obtained and recorded as And according to the formula Calculate the vehicle roll damping F d , C a is the damping coefficient, then obtain the current vehicle damping F1, and based on the calculated vehicle roll damping F d Calculate the difference between the two, and the specific calculation formula is F1-F d At the same time, the flow rate and channel size of the damping oil are adjusted according to the obtained damping difference, and the damping control information is generated. In the specific hydraulic suspension system, the ECU adjusts the flow rate and channel size of the damping oil by controlling the solenoid valve, thereby changing the damping size. For example, if pulse width modulation (PWM) technology is used, the ECU adjusts the duty cycle of the solenoid valve according to the calculated target damping size. If the target damping increases, the ECU will increase the duty cycle of the solenoid valve to allow more damping oil to pass through and increase the damping force; otherwise, the duty cycle will be reduced.

[0047] Assume that the calculated roll damping needs to be increased by 600N in a short period of time. It is known that through pressure adjustment alone, every increase of 1MPa pressure can increase the damping force by 200N, and through flow adjustment alone, every decrease of 10% duty cycle can increase the damping force by 100N. Then the required damping force increase can be achieved by increasing the pressure by 3MPa and reducing the duty cycle by 30% at the same time.

[0048] The obtained damping control information and hydraulic oil control information are integrated to obtain the curve control information, and the curve control information is transmitted to the control information output module.

[0049] A control information output module is used to transmit the acquired curve control information to the corresponding ECU (electronic control unit) for regulation through the ECU.

[0050] Embodiment 2: This embodiment is implemented on the basis of Embodiment 1, and the difference from Embodiment 1 is as follows:

[0051] Straight-line intelligent analysis module: This module is used to analyze the non-steering results obtained by acquiring different sensor data on the vehicle and identifying the current road conditions based on the obtained sensor data. At the same time, based on the obtained identified road conditions, the module controls the overall suspension of the vehicle to generate straight-line control information, and then transmits the straight-line control information to the control information output module.

[0052] Obtain the vehicle height data corresponding to the vehicle height sensor. The vehicle height sensor is usually installed at the connection between the vehicle body and the suspension, such as near the top of the suspension tower of each wheel, to measure the height change of the vehicle body relative to the wheel. When the vehicle passes over a bump (such as a speed bump), the vehicle height sensor will detect that the vehicle height rises instantly, and then drops after passing. At the same time, the wheel acceleration corresponding to the wheel acceleration sensor is obtained, and then the obtained vehicle height data and wheel acceleration data are analyzed;

[0053] Get the number of vehicle height changes within time t, and calculate the frequency of vehicle height changes. The specific value of time t is set by the operator. For example, if the vehicle height changes 5 times within 10 seconds, the further calculated change frequency is 2s / time. At the same time, get the specific value of vehicle height change, then get the number of wheel acceleration changes, and calculate the corresponding acceleration change frequency. Substitute the obtained parameters into the formula Calculate the road condition evaluation value R, where N h为 Number of vehicle height changes within time t, Δh i is the i-th vehicle height change value, N z is the number of wheel acceleration changes within time t, Δy j is the jth wheel acceleration change value, a1, a2, a3, and a4 are weight coefficients respectively;

[0054] The obtained road condition evaluation value R is matched with the evaluation interval to generate road condition information, and the specific value of the evaluation interval here is set by the operator according to different road conditions. For example, the generated road condition information includes raised road conditions, undulating road conditions, and bumpy road conditions. Then, the vertical force acting on the vehicle during driving is calculated according to the obtained road condition information and recorded as F z , and the vertical force obtained here is based on different vehicle vertical dynamics models.

[0055] For example, when a vehicle passes through a small pothole, the wheel acceleration sensor detects the vertical acceleration of the wheel. At the same time, the wheel mass of the vehicle is obtained and recorded as m v , then the impact force on the wheel The impact force will be transmitted to the vehicle body through the suspension. According to the deformation and speed of the suspension, the suspension spring force F is calculated. s and the damping force F d For example, if the height of the vehicle body drops by Δz in a short period of time and the suspension stiffness is λ, then the change in spring force is F s =λΔz, and the vertical velocity of the vehicle body changes to The damping coefficient is c, and the damping force is The vertical force acting on the road surface is expressed by the dynamic equation

[0056] For the analysis of the raised road conditions, when the vehicle approaches the speed bump, the speed is v. Assume that the height of the speed bump is h and the length is L (approximately regarded as a slope). According to the law of conservation of energy and the vehicle kinematics equation, the motion state of the wheels and the vehicle body when the vehicle passes over the speed bump can be calculated. When the wheel climbs up the speed bump, the vertical acceleration of the wheel will change. Assuming that the time it takes for the wheel to climb up the speed bump is t1, the acceleration change during this period can be obtained through the wheel acceleration sensor. According to the kinematics equation, (Assuming the speed bump has a uniform slope and the acceleration is a constant), the vertical acceleration of the wheel can be calculated Impact force on the wheel Then it is transmitted to the vehicle body through the suspension. Similar to bumpy road conditions, the suspension spring force F is calculated based on the deformation and speed of the suspension. s and the damping force F d , and finally through the kinetic equation Calculate the vertical force acting on the road surface.

[0057] For the analysis of undulating road conditions, for undulating road conditions, such as wavy roads, the shape of the road surface can be approximately described by a sine function or other periodic functions. Assume that the road surface height change function is y = Dsin (ωt), where D is the road surface undulation amplitude, ω is the undulation frequency, and when the wheel is driving on this road surface, the wheel vertical acceleration It can be obtained by taking the second-order derivative of the road height function, that is, (Assuming that the wheel is always in good contact with the road), similarly, according to the wheel mass m v Calculate the impact force on the wheel Then it is transmitted to the vehicle body through the suspension. According to the deformation and speed of the suspension, the suspension spring force F is calculated. s and the damping force F d , and finally through the kinetic equation Calculate the vertical force acting on the road surface.

[0058] At the same time, the dynamic equation of the vehicle in the vertical direction is established, and the vertical force F z and suspension stiffness as variables into the equation, the specific equation is Further, the suspension stiffness λ corresponding to the vertical direction is obtained according to the equation, where m s For the body mass, is the vertical acceleration of the vehicle body, c is the damping, and are the vertical velocities of the vehicle body and wheels, z s and z u are the vertical displacements of the vehicle body and wheels, λ is the suspension stiffness, and F zis the vertical force acting on the road surface;

[0059] The suspension stiffness λ is calculated according to the above formula, and the current suspension stiffness is obtained at the same time, and the difference between the two is calculated to obtain the stiffness adjustment value, and the stiffness control information is generated;

[0060] Then based on the obtained wheel vertical speed At the same time, according to the formula The corresponding damping force is calculated, and the current damping force is analyzed to calculate the difference between the two to obtain the adjusted damping value, and the damping control information is generated at the same time;

[0061] The obtained stiffness control information and damping control information are combined to obtain linear control information, which is then transmitted to a control information output module.

[0062] Embodiment 3, as the embodiment 3 of the present invention, focuses on combining the implementation processes of embodiment 1 and embodiment 2 for implementation.

[0063] Some of the data in the above formulas are dimensionless and numerically calculated. Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0064] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. Intelligent suspension control system based on complex road condition recognition, characterized in that: include: The road condition information acquisition module is used to acquire the driving road information of the vehicle and transmit the acquired road information to the road condition comprehensive identification and analysis module; A road condition comprehensive identification and analysis module is used to analyze the acquired road information, and to determine the current driving state of the vehicle by analyzing the steering angle sensor data in the road information to generate a steering result and a non-steering result, and then transmit the steering result to the curve intelligent analysis module, and transmit the non-steering result to the straight line intelligent analysis module; The curve intelligent analysis module is used to analyze the steering results obtained. By obtaining and analyzing the turning angle of the vehicle during steering, and combining the vehicle's own stiffness and damping for analysis, the suspension is controlled to generate curve control information, and then the curve control information is transmitted to the control information output module; A straight-line intelligent analysis module is used to analyze the non-steering results obtained, obtain different sensor data on the vehicle, identify the current road conditions based on the obtained sensor data, and analyze the identified road conditions based on the obtained data to control the suspension of the entire vehicle to generate straight-line control information, and then transmit the straight-line control information to the control information output module; A control information output module is used to transmit the acquired curve control information and straight line control information to the corresponding electronic control unit.

2. The intelligent suspension control system based on complex road condition recognition according to claim 1 is characterized in that: The specific method in which the road condition comprehensive identification module analyzes road information is as follows: The steering angle sensor data in the vehicle is obtained, and the obtained steering data is identified and judged. The steering data is judged against the preset value. If the steering angle data is greater than the preset value, it indicates that the vehicle has a corresponding steering operation, and a steering result is generated. Conversely, if the steering angle data is less than the preset value, it indicates that the vehicle has no steering operation, and a non-steering result is generated.

3. The intelligent suspension control system based on complex road condition recognition according to claim 1 is characterized in that: The specific method in which the curve intelligent analysis module analyzes the steering result is as follows: Obtain the corresponding steering angle of the vehicle, and establish a corresponding two-dimensional coordinate system with the central axis of the vehicle in the vertical direction as the Y-axis and the horizontal direction of the center of the vehicle as the X-axis, and substitute the steering angle into the two-dimensional coordinate system to obtain the steering direction, and obtain the current stiffness and current damping of the vehicle, and obtain the flow and pressure values ​​of the corresponding hydraulic oil and damping hydraulic oil based on the current stiffness and current damping values; Then the vehicle dynamics model is established according to the formula The centrifugal force Fc of the vehicle turning is calculated, where m is the vehicle mass, v is the vehicle speed, and r is the turning radius. roll =F c h rc Calculate the vehicle's roll moment M roll , where h rc is the roll center height, and the restoring moment M of the suspension is calculated at the same time s =K roll θ, where K roll is the roll stiffness of the vehicle, θ is the roll angle of the vehicle; At the same time, the stiffness of the vehicle suspension when it is not turning is obtained and recorded as k s , and get the distance between the suspensions Where b is the wheelbase, according to the suspension force F s =k s Δx and roll moment balance Get the roll stiffness And calculate the individual suspension stiffness The difference between the current stiffness and the suspension stiffness is calculated as Δk, and the pressure difference of the hydraulic oil ΔP is calculated according to the formula Δk = f(ΔP). At the same time, the calculated pressure difference is substituted into the formula The hydraulic oil flow difference Q1 is calculated, where C d is the flow coefficient, A is the opening area of ​​the solenoid valve, ρ is the hydraulic oil density, and the adjusted hydraulic oil flow Qc is calculated according to the calculated hydraulic oil flow difference Q1 and the current hydraulic oil flow. At the same time, the hydraulic oil control information is generated, and the damping control information is analyzed based on the roll angle.

4. The intelligent suspension control system based on complex road condition recognition according to claim 3 is characterized in that: The specific method of the curve intelligent analysis module analyzing the damping control information based on the roll angular velocity is as follows: Establish the relationship model between damping force and vehicle roll, and obtain the roll angular velocity corresponding to the vehicle roll as And according to the formula Calculate the vehicle roll damping F d , C a is the damping coefficient, then obtain the current vehicle damping F1, and based on the calculated vehicle roll damping F d The difference between the two is calculated, and the flow rate of the damping oil and the channel size are adjusted according to the obtained damping difference, and the damping control information is generated.

5. The intelligent suspension control system based on complex road condition recognition according to claim 1 is characterized in that: The specific method in which the straight line intelligent analysis module analyzes the non-steering results is as follows: Acquire vehicle height data corresponding to the vehicle height sensor, and simultaneously acquire wheel acceleration corresponding to the wheel acceleration sensor, and then analyze the obtained vehicle height data and wheel acceleration data; Get the number of vehicle height changes within time t, and calculate the frequency of vehicle height changes. At the same time, get the specific value of vehicle height changes. Then get the number of wheel acceleration changes, and calculate the corresponding acceleration change frequency. Substitute the obtained parameters into the formula Calculate the road condition evaluation value R, where N h为 Number of vehicle height changes within time t, Δh i is the i-th vehicle height change value, N z is the number of wheel acceleration changes within time t, Δy j is the jth wheel acceleration change value, a1, a2, a3, and a4 are weight coefficients, and the vertical force F is calculated based on the obtained road condition evaluation value. z .

6. The intelligent suspension control system based on complex road condition recognition according to claim 5 is characterized in that: The specific method in which the straight line intelligent analysis module calculates the vertical force according to the obtained road condition evaluation value is: The obtained road condition evaluation value R is matched with the evaluation interval to generate road condition information. Then, the vertical force acting on the vehicle during driving is calculated based on the obtained road condition information and recorded as F z , and analyze the suspension stiffness and damping based on the obtained vertical force.

7. The intelligent suspension control system based on complex road condition recognition according to claim 6 is characterized in that: The specific method of the straight line intelligent analysis module to analyze the suspension stiffness according to the obtained vertical force is: Establish the dynamic equation of the vehicle in the vertical direction and convert the obtained vertical force F z and suspension stiffness as variables into the equation, the specific equation is And calculate the suspension stiffness λ corresponding to the vertical direction, where m s For the body quality, is the vertical acceleration of the vehicle body, c is the damping, and are the vertical velocities of the vehicle body and wheels, z s and z u are the vertical displacements of the vehicle body and wheels, λ is the suspension stiffness, and F z is the vertical force acting on the road surface; The suspension stiffness λ is calculated according to the above formula, and the current suspension stiffness is obtained at the same time. The difference between the two is calculated to obtain the stiffness adjustment value, and the stiffness control information is generated.

8. The intelligent suspension control system based on complex road condition recognition according to claim 6 is characterized in that: The specific method of the straight line intelligent analysis module to analyze the damping according to the obtained vertical force is: Based on the obtained wheel vertical speed At the same time, according to the formula The corresponding damping force is calculated, and based on the current damping force, the difference between the two is calculated to obtain the adjusted damping value, and the damping control information is generated at the same time.

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