Intelligent rear-end collision prevention suspension control method and system

Abstract

The invention relates to the technical field of vehicle suspension control, in particular to an intelligent rear-end collision prevention suspension control method and system. The intelligent rear-end collision prevention suspension control method comprises the steps that based on the running state of a vehicle, road condition information in front of the vehicle is obtained in real time at a preset frequency; controlling the vehicle to brake based on the condition that the road condition information meets a braking condition; based on the braking state of the vehicle, the distance between the vehicle and a rear vehicle is obtained; based on the fact that the vehicle distance is smaller than the safe vehicle-following distance, obtaining the cab height of the rear vehicle; controlling a rear suspension of the vehicle to be lifted based on the cab height being lower than a first threshold value; and controlling a rear suspension of the vehicle to be lowered based on the cab height being higher than the first threshold. The intelligent rear-end collision prevention suspension control system is applied to the intelligent rear-end collision prevention suspension control method, and therefore the problem that when a commercial vehicle suddenly brakes, rear-end collision of a rear vehicle is likely to cause shearing damage is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle suspension control, and in particular to a method and system for controlling a suspension with intelligent rear-end collision prevention. Background Art

[0002] Commercial vehicles generally refer to large vehicles such as trucks and trailers. They have a large load capacity and their wheels are designed to be large, so the height of the commercial vehicle chassis from the ground is relatively high. When a vehicle rear-ends a vehicle, the car behind the commercial vehicle is easily subjected to shear force, which increases the damage. Shear damage caused by a car rear-ending a commercial vehicle means that the height of the car is relatively low compared to the commercial vehicle. When the collision occurs, the lower half of the car's cab enters the bottom space of the commercial vehicle, and the upper half hits the rear of the commercial vehicle. Therefore, shear damage is a more serious rear-end collision injury.

[0003] However, when a commercial vehicle brakes suddenly on the highway, it is common for the vehicle behind to rear-end the commercial vehicle. How to avoid shear damage caused by rear-end collision as much as possible is a technical problem that needs to be solved urgently. Summary of the invention

[0004] In order to solve the problem that shearing damage is easily caused by rear-end collision with the rear vehicle when the commercial vehicle brakes suddenly, the present invention provides a method and system for controlling a suspension with intelligent rear-end collision prevention.

[0005] In a first aspect, the present invention provides a control system with an intelligent rear-end collision prevention suspension, and the control method with an intelligent rear-end collision prevention suspension comprises: Step S10, based on the vehicle being in a driving state, obtaining road condition information in front of the vehicle in real time at a preset frequency; the vehicle includes a body, front wheels, rear wheels, a front suspension and a rear suspension; the front suspension is detachably connected to the body and the front wheels respectively; the rear suspension is detachably connected to the body and the rear wheels respectively; Step S20, controlling the vehicle to brake based on the road condition information satisfying the braking condition; Step S30, based on the vehicle being in a braking state, obtaining a distance between the vehicle and a vehicle behind; Step S40, based on the vehicle distance being less than the safe following distance, obtaining the cab height of the vehicle behind; Step S50, based on the cab height being lower than a first threshold, controlling the rear suspension of the vehicle to be raised; Step S60: Based on the cab height being higher than the first threshold, controlling the rear suspension of the vehicle to be lowered.

[0006] In some embodiments, step S20 includes: Step S21, controlling the front suspension of the vehicle to raise to a first adjustment height based on the road condition information satisfying a braking condition; Step S22: based on the completion of the first height adjustment of the front suspension, controlling the vehicle braking.

[0007] In some embodiments, step S21 includes: Step S211, obtaining the vehicle speed and target braking distance of the vehicle based on whether the road condition information satisfies the braking condition; Step S222: Based on the ratio of the vehicle speed to the target braking distance exceeding a preset range, the front suspension of the vehicle is controlled to be raised to a first adjustment height; the first adjustment height is positively correlated with the ratio.

[0008] In some embodiments, step S50 includes: Step S51, based on the fact that the cab height is lower than a first threshold, adjusting the proportional value according to reference information; the reference information includes the first adjustment height; the proportional value is positively correlated with the first adjustment height; Step S52: Based on the completion of the proportional value adjustment, the rear suspension of the vehicle is controlled to be raised to a second adjustment height; the second adjustment height is calculated according to the following formula: H2=H*(1+K); where 0<K≤Kmax<1; H2=H*(1+Kmax); where 0<Kmax<K<1; Among them, H2 is the second adjustment height; H is the reference adjustment height; K is the ratio value; Kmax is the preset upper limit value of the ratio value.

[0009] In some embodiments, step S60 includes: Step S61, based on the fact that the cab height is higher than the first threshold, adjusting the proportional value according to the reference information; Step S62: Based on the completion of the proportional value adjustment, the rear suspension of the vehicle is controlled to descend to a second adjustment height; the second adjustment height is calculated according to the following formula: H2=H*(1-K);where, 0<K<1.

[0010] In some embodiments, the reference information further includes a cargo weight of the vehicle; and the ratio value is positively correlated with the cargo weight.

[0011] In some embodiments, the reference information further includes a center of gravity offset of the vehicle; The center of gravity offset is the distance value of the center of gravity of the vehicle offset from the middle position of the front suspension and the rear suspension; when the center of gravity of the vehicle is located between the middle position and the front suspension, the ratio value is negatively correlated with the center of gravity offset; when the center of gravity of the vehicle is located between the middle position and the rear suspension, the ratio value is positively correlated with the center of gravity offset.

[0012] In some embodiments, the intelligent anti-rear-end collision suspension control method further includes: Step S70, based on the ratio value being greater than the preset upper limit value, controlling the front suspension of the vehicle to descend to a third adjustment height until the ratio value is less than or equal to the preset upper limit value.

[0013] In some embodiments, step S60 includes: Step S61, based on the fact that the cab height is higher than the first threshold and lower than a second threshold, controlling the rear suspension of the vehicle to be lowered; the second threshold is higher than the first threshold; Step S62, based on the cab height being higher than the second threshold, the rear suspension adjustment amount of the vehicle is controlled to be 0, and the control method process ends.

[0014] In a second aspect, the present invention provides an intelligent anti-rear-end collision suspension control system, wherein the intelligent anti-rear-end collision suspension control system is applied to any of the intelligent anti-rear-end collision suspension control methods described in the first aspect, and the intelligent anti-rear-end collision suspension control system comprises: A first acquisition module, wherein the first acquisition module acquires the road condition information ahead of the vehicle in real time at a preset frequency based on the vehicle being in a driving state; A first control module, the first control module is electrically connected to the first acquisition module; the first control module controls the vehicle to brake based on the road condition information satisfying the braking condition; a second acquisition module, the second acquisition module being electrically connected to the first control module; the second acquisition module acquiring the distance between the vehicle and the vehicle behind based on the fact that the vehicle is in a braking state; a third acquisition module, the third acquisition module being electrically connected to the second acquisition module; the third acquisition module acquiring the height of the cab of the rear vehicle based on the vehicle distance being less than the safe following distance; A second control module, the second control module is electrically connected to the third acquisition module; the second control module controls the rear suspension of the vehicle to be raised based on the cab height being lower than a first threshold; the rear suspension is detachably connected to the vehicle body and the rear wheels respectively; the second control module controls the rear suspension of the vehicle to be lowered based on the cab height being higher than the first threshold.

[0015] In order to solve the problem of shearing damage caused by rear-end collision when a commercial vehicle brakes suddenly, the present invention has the following advantages: When a commercial vehicle brakes suddenly, the height of the rear suspension can be adjusted according to different working conditions. When the vehicle behind is a small vehicle, the rear suspension is raised to raise the rear of the vehicle body in advance, so that the cab of the vehicle behind can be fully inserted under the commercial vehicle, thereby avoiding half of the cab being hit by the rear of the commercial vehicle and causing shear damage as much as possible. When the vehicle behind is a medium-sized vehicle, the rear suspension is lowered to lower the rear of the vehicle body in advance, so that the cab of the vehicle behind can fully hit the rear of the commercial vehicle, which can also achieve the purpose of avoiding shear damage as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a flow chart of an intelligent anti-rear-end collision suspension control method according to an embodiment is shown; Figure 2 A schematic diagram of functional modules of an intelligent rear-end collision prevention suspension control system according to an embodiment is shown; Figure 3 A schematic diagram of a vehicle is shown according to an embodiment.

[0017] Figure numerals: 10 having an intelligent anti-rear-end collision suspension control system; 11 a first acquisition module; 12 a second acquisition module; 13 a third acquisition module; 14 a first control module; 15 a second control module; 20 a vehicle body; 30 a front suspension; 40 a front wheel; 50 a rear suspension; 60 a rear wheel. DETAILED DESCRIPTION

[0018] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0019] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0020] In order to meet the function of transportation, commercial vehicles are generally large in size and high in height. The wheels of commercial vehicles are also larger than ordinary wheels. Therefore, the height of the chassis of commercial vehicles is higher from the ground. When a car rear-ends a vehicle, it often happens that the car cab partially enters the bottom of the commercial vehicle and partially hits the rear of the commercial vehicle. The shear force caused by the height difference between the car cab and the commercial vehicle chassis often increases the damage caused by the accident. Therefore, in this embodiment, a method for controlling an intelligent anti-rear-end collision suspension is provided. This method is applied to commercial vehicles, such as Figure 1 As shown, the intelligent anti-rear-end collision suspension control method includes steps S10 to S60, and each step is described in detail as follows: In step S10, based on the vehicle being in a driving state, the advanced driver assistance system ADAS (ADAS) can be used to obtain the road condition information in front of the vehicle in real time at a preset frequency, and whether deceleration or braking is required can be determined based on the road condition information.

[0021] Step S20, based on the road condition information satisfying the braking condition, the vehicle is controlled to brake until the vehicle stops or the road condition information ahead meets the driving condition. It should be understood that the braking condition may be weather conditions such as high obstacles ahead or low visibility, and the driving condition may be that the road ahead is unobstructed and has high visibility within the detection range ahead.

[0022] Step S30, based on the vehicle being in a braking state, the distance between the vehicle and the vehicle behind is obtained, so that the possibility of a rear-end collision can be determined based on the distance. The distance can be detected and obtained by a distance sensor installed at the rear of the commercial vehicle.

[0023] Step S40: Based on the vehicle distance being less than the safe following distance, it is determined that a rear-end collision may occur, and the cab height of the vehicle behind is obtained. The cab height of the vehicle behind can also be obtained by a distance sensor mounted on the rear of the commercial vehicle, such as a laser radar.

[0024] Step S50, based on the cab height being lower than the first threshold, the rear suspension 50 of the vehicle is controlled to be raised. The rear suspension 50 is detachably connected to the vehicle body 20 and the rear wheel 60, respectively. The first threshold may be the height of the rear suspension 50 of the vehicle after it is raised, that is, the height of the rear suspension 50 after it is raised is higher than the cab height of the rear vehicle. If a rear-end collision occurs, the cab of the rear vehicle will not hit the rear of the commercial vehicle, but will enter under the commercial vehicle to hit it, thereby avoiding shear damage caused by the collision between the cab and the rear of the commercial vehicle, thereby reducing the damage that may be caused by the accident.

[0025] Step S60, based on the cab height being higher than the first threshold, the rear suspension 50 of the vehicle is controlled to be lowered. The first threshold may be the height of the rear suspension 50 of the vehicle after it is raised, that is, the height of the cab of the rear vehicle is higher than the limit value of the height of the rear suspension 50 of the commercial vehicle. Raising the rear suspension 50 will still cause shear damage after a rear-end collision. Therefore, the rear suspension 50 is lowered so that the cab of the rear vehicle is completely higher than the rear suspension 50. If a rear-end collision occurs, the cab of the rear vehicle will not enter under the commercial vehicle, but will hit the rear of the commercial vehicle in its entirety, thereby avoiding shear damage caused by hitting only half of the vehicle, thereby reducing the damage that may be caused by a rear-end collision.

[0026] The height of the rear vehicle is evaluated by a camera, and the height of the commercial vehicle rear suspension 50 is adjusted according to the evaluation result. In the event of a rear-end collision, the cab of the rear vehicle will not partially collide with the rear of the commercial vehicle and partially enter the bottom of the commercial vehicle, thereby avoiding shear damage to the cab of the rear vehicle.

[0027] In this embodiment, step S20 may include step S21 to step S22, and each step is described in detail as follows: Step S21: Based on the road condition information satisfying the braking condition, the front suspension 30 of the vehicle can be controlled to raise to a first adjustment height. The front suspension 30 is detachably connected to the vehicle body 20 and the front wheel 40 respectively.

[0028] Step S22, based on the completion of the first adjustment height adjustment of the front suspension 30, the vehicle brakes are controlled.

[0029] When the vehicle is in emergency braking, the vehicle body 20 continues to move forward due to inertia, and the force acting on the front of the vehicle causes the front of the vehicle to tilt forward, and the cab will also tilt forward, which may affect the driver's balance and interfere with normal driving operations. Therefore, the present invention pre-raises the front suspension 30 before braking, thereby offsetting a part of the forward tilting action during braking, so as to ensure the driver's body balance and comfort as much as possible, thereby improving the safety and stability of the braking process to a certain extent.

[0030] In this embodiment, step S21 may include step S211 to step S222, and each step is described in detail as follows: Step S211, based on the road condition information satisfying the braking condition, obtain the vehicle speed and target braking distance. According to the vehicle speed and target braking distance, the deceleration during the braking process can be deduced. The greater the deceleration, the greater the forward tilt of the vehicle head.

[0031] Step S222: Based on the ratio of the vehicle speed to the target braking distance exceeding the preset range, that is, the braking deceleration reaches a certain value through the ratio, and the front of the vehicle tilting forward will have a greater adverse effect on the driver's body balance, the front suspension 30 of the vehicle is controlled to raise the first adjustment height to reduce the effect of the front of the vehicle tilting forward on the driver's body balance. The first adjustment height is positively correlated with the ratio. The greater the ratio of the vehicle speed to the target braking distance, the greater the braking deceleration, the greater the front of the vehicle tilting forward, and the correspondingly greater the first adjustment height of the front suspension 30 of the vehicle is raised, so as to better ensure the body balance and comfort of the driver.

[0032] In this embodiment, step S50 includes: Step S51: Based on the cab height being lower than a first threshold, the ratio value may be adjusted according to reference information, wherein the reference information includes a first adjustment height, and the ratio value is positively correlated with the first adjustment height.

[0033] When the commercial vehicle brakes, the front suspension 30 is raised to a first adjustment height, and the corresponding rear suspension 50 is affected by the entire vehicle body 20 and will drop to a certain height. After the proportional value is introduced, the corresponding part of the height can be offset in the calculation of the raised height of the rear suspension 50.

[0034] The first threshold may be the maximum height value that the rear suspension 50 of the commercial vehicle can adjust. If the cab of the rear vehicle is lower than the highest point of the suspension, the rear suspension 50 of the commercial vehicle can be raised, so that the rear vehicle can completely enter the bottom of the commercial vehicle in the event of a rear-end collision to avoid shear damage.

[0035] Step S52: Based on the completion of the proportional value adjustment, the rear suspension 50 of the vehicle is controlled to raise to a second adjustment height. The second adjustment height is calculated according to the following formula: H2=H*(1+K); where 0<K≤Kmax<1; H2=H*(1+Kmax); where 0<Kmax<K<1; Among them, H2 is the second adjustment height; H is the reference adjustment height, which can be the amplitude of the rear suspension 50 that can be adjusted to extend or compress, that is, the rear suspension 50 can be extended and retracted within the range of 2H; K is the ratio value; Kmax is the preset upper limit of the ratio value, and the lifting height of the head of the vehicle body 20 has a small impact on the tail, so Kmax can be, for example, 0.1~0.3. When the ratio value reaches the preset upper limit, the amplitude of the rear suspension 50 reaches the maximum adjustable amplitude that can be achieved by the mechanical structure. That is, the maximum amplitude that the suspension can actively raise or lower is between 1.1H~1.3H.

[0036] The proportional value is determined according to the first adjustment height. When the proportional value does not exceed the preset upper limit value, the second adjustment height is directly calculated based on the proportional value K. When the first adjustment height is high and the K value exceeds the preset upper limit of the proportional value, the rear suspension 50 cannot reach the corresponding height, and the preset upper limit value Kmax is used to calculate the height of the rear suspension 50.

[0037] The H*1 part in the formula can compensate for the height of the rear vehicle's cab being higher than the rear suspension 50, and H*K can compensate for the height of the front suspension 30 being raised and the rear suspension 50 being lowered during braking. Thus, raising the rear suspension 50 to the second adjustment height can prevent the rear vehicle's cab from hitting the rear end of the commercial vehicle, thus avoiding shear damage.

[0038] In this embodiment, step S60 includes: Step S61, based on the cab height being higher than a first threshold, adjusting the proportional value according to reference information; Step S62, based on the completion of the proportional value adjustment, the rear suspension 50 of the vehicle is controlled to drop to a second adjustment height; the second adjustment height is calculated according to the following formula: H2=H*(1-K);where, 0<K<1.

[0039] The height of the rear vehicle's cab is higher than the first threshold, that is, even if the height of the commercial vehicle's rear suspension 50 is raised to the maximum adjustable range, it is still impossible to avoid the rear end of the vehicle from colliding with the rear vehicle's cab. Therefore, the rear suspension 50 is controlled to descend so that the rear vehicle's cab completely collides with the rear end of the vehicle to prevent the rear vehicle from partially entering under the vehicle and causing shear damage.

[0040] In the formula, H is the reference adjustment height, which can be the extent to which the rear suspension 50 can be extended or compressed from the initial position, that is, the rear suspension 50 can be extended or contracted within a range of 2H. The -H*K portion can compensate for the height reduction of the rear suspension 50 during braking, so as to avoid the calculated value exceeding the adjustable range of the rear suspension 50 that has been partially reduced.

[0041] In this embodiment, the reference information may also include the cargo weight of the vehicle.

[0042] The heavier the cargo, the higher the height at which the rear suspension 50 is forced to drop, so the proportional value is positively correlated with the cargo weight.

[0043] The factors that cause the position of the rear suspension 50 of the commercial vehicle to rise are negatively correlated with the proportional value. When the rear suspension 50 needs to rise, the compensation amount is reduced, and when the rear suspension 50 needs to rise, the compensation amount is increased; the factors that cause the position of the rear suspension 50 of the commercial vehicle to fall are positively correlated with the proportional value. When the rear suspension 50 needs to rise, the compensation amount is increased, and when the rear suspension 50 needs to rise, the compensation amount is reduced.

[0044] In this embodiment, the reference information may further include the center of gravity offset of the vehicle.

[0045] The heavier the cargo, the higher the height at which the rear suspension 50 is forced to drop, so the proportional value is positively correlated with the cargo weight.

[0046] The center of gravity offset is the distance value that the center of gravity of the vehicle is offset from the middle position of the front suspension 30 and the rear suspension 50. When the center of gravity of the vehicle is between the middle position and the front suspension 30, the rear suspension 50 of the vehicle rises, and the ratio value is negatively correlated with the center of gravity offset; when the center of gravity of the vehicle is between the middle position and the rear suspension 50, the rear suspension 50 of the vehicle falls, and the ratio value is positively correlated with the center of gravity offset.

[0047] If the center of gravity offset of the cargo center of gravity of the commercial vehicle is close to the rear of the vehicle, the original height of the rear of the vehicle body 20 from the ground is low, and the proportional value can be increased accordingly. In the case where the cab of the rear vehicle is relatively low, the proportional value increases, thereby increasing the distance of the rear of the commercial vehicle being raised, so that the vehicle with a relatively low cab can fully enter the bottom of the commercial vehicle and avoid shearing damage as much as possible. In the case where the cab of the rear vehicle is high, the proportional value increases, thereby actively controlling the amplitude of the descent of the rear of the commercial vehicle to be reduced, thereby achieving the purpose of energy saving. If the center of gravity offset of the cargo of the commercial vehicle is close to the front of the vehicle, the height of the rear of the vehicle body 20 from the ground is high, so the proportional value can be adjusted down. In the case where the cab of the rear vehicle is relatively low, due to the reduction of the proportional value, the rise of the rear of the vehicle body 20 is reduced, which can achieve the effect of energy saving. In the case where the cab of the rear vehicle is high, due to the low proportional value, the descent of the rear of the vehicle body 20 is increased, thereby achieving the effect of avoiding shearing damage as much as possible. Therefore, by adjusting the correlation between the center of gravity offset of the commercial vehicle cargo and the proportional value, the active adjustment range of the rear suspension 50 of the commercial vehicle can be accurately adjusted to achieve the purpose of energy saving.

[0048] In this embodiment, the intelligent anti-rear-end collision suspension control method further includes: Step S70, based on the ratio value being greater than the preset upper limit value, controlling the front suspension 30 of the vehicle to descend to a third adjustment height until the ratio value is less than or equal to the preset upper limit value.

[0049] When the height of the rear vehicle's cab is lower than the first threshold and the rear suspension 50 of the commercial vehicle needs to be raised, if the ratio value is greater than the preset upper limit value, the calculated height of the rear suspension 50 will exceed the adjustable range of the rear suspension 50. Therefore, the front suspension 30 can be controlled to drop to the third adjustment height, so that the corresponding ratio value positively correlated with the height of the front suspension 30 is reduced to less than or equal to the preset upper limit value, so that the second adjustment height can be reduced to the adjustable range, thereby ensuring that the rear vehicle's cab can completely enter the bottom of the commercial vehicle in the event of a rear-end collision to avoid shearing injuries.

[0050] In this embodiment, step S60 further includes: Step S61: Based on the fact that the cab height is higher than the first threshold and lower than the second threshold, the cab height is higher than the maximum height that the rear suspension 50 of the commercial vehicle can reach, and the cab's lowest height is lower than the rear suspension 50. Therefore, the rear suspension 50 of the commercial vehicle is controlled to be lowered so that the cab can completely hit the rear of the commercial vehicle and avoid shearing damage when a rear-end collision occurs. The second threshold is higher than the first threshold.

[0051] Step S62, based on the cab height being higher than the second threshold, the adjustment amount of the rear suspension 50 of the vehicle is controlled to be 0, and the control method process ends.

[0052] When the cab height is higher than the second threshold and a rear-end collision occurs, the cab's lowest height is also higher than the commercial vehicle's rear suspension 50. The cab can completely impact the rear of the commercial vehicle without partially entering the bottom of the commercial vehicle and causing shear damage. Therefore, the adjustment amount of the vehicle's rear suspension 50 can be controlled to be 0.

[0053] In this embodiment, a smart rear-end collision prevention suspension control system 10 is provided. The smart rear-end collision prevention suspension control system 10 can be applied to any of the smart rear-end collision prevention suspension control methods in the above embodiments. Figure 2 As shown, the intelligent anti-rear-end collision suspension control system 10 may include a first acquisition module 11 , a first control module 14 , a second acquisition module 12 , a third acquisition module 13 and a second control module 15 .

[0054] Based on the vehicle being in a driving state, the first acquisition module 11 can acquire the road condition information in front of the vehicle in real time at a preset frequency, so as to determine whether braking is required.

[0055] The first control module 14 is electrically connected to the first acquisition module 11. Through the information acquired by the first acquisition module 11, the first control module 14 can control the vehicle to brake based on the road condition information satisfying the braking condition.

[0056] The second acquisition module 12 is electrically connected to the first control module 14. The second acquisition module 12 acquires the distance between the vehicle and the vehicle behind it based on the fact that the vehicle is in a braking state, so as to determine whether there is a possibility of a rear-end collision.

[0057] The third acquisition module 13 is electrically connected to the second acquisition module 12. The third acquisition module 13 acquires the cab height of the rear vehicle based on the possibility that a rear-end collision may occur because the vehicle distance is less than the safe following distance.

[0058] The second control module 15 is electrically connected to the third acquisition module 13. The second control module 15 controls the rear suspension 50 of the vehicle to be raised based on the fact that the height of the cab of the rear vehicle obtained by the third acquisition module 13 is lower than the first threshold, that is, the height of the cab is lower than the highest height of the rear suspension 50 of the vehicle, so that the cab can completely enter the bottom of the vehicle to collide when a rear-end collision occurs, thereby avoiding shearing damage. The rear suspension 50 is detachably connected to the vehicle body 20 and the rear wheel 60, respectively.

[0059] The second control module 15 is based on the fact that the height of the cab of the rear vehicle obtained by the third acquisition module 13 is higher than the first threshold, that is, the height of the cab is higher than the maximum height of the rear suspension 50 of the vehicle. At this time, the rear suspension 50 of the vehicle can be controlled to be lowered so that the cab can completely hit the rear of the vehicle in the event of a rear-end collision to avoid shear damage.

[0060] Each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated module may be implemented in the form of hardware or in the form of software functional modules.

[0061] It should be understood that the “present embodiment” mentioned in the present invention is based on the technical point of the current paragraph, and multiple “present embodiments” may be the same embodiment or different embodiments.

[0062] In this embodiment, a vehicle is also provided, the vehicle comprising the intelligent anti-rear-end collision suspension control system 10 in the above embodiment. Figure 3 As shown, the vehicle may include a vehicle body 20, a front suspension 30, a front wheel 40, a rear suspension 50, and a rear wheel 60. The intelligent anti-rear-end collision suspension control system 10 is installed on the vehicle body 20. The front suspension 30 is detachably connected to the vehicle body 20. The axle of the front wheel 40 is detachably connected to the front suspension 30. The rear suspension 50 is detachably connected to the vehicle body 20. The axle of the rear wheel 60 is detachably connected to the rear suspension 50.

[0063] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present disclosure, and in actual applications, various changes may be made thereto in form and detail without departing from the scope of the present disclosure.

Claims

1. A method for controlling an intelligent rear-end collision prevention suspension, characterized in that: The intelligent anti-rear-end collision suspension control method comprises: Step S10, based on the vehicle being in a driving state, obtaining road condition information in front of the vehicle in real time at a preset frequency; the vehicle includes a body, front wheels, rear wheels, a front suspension and a rear suspension; the front suspension is detachably connected to the body and the front wheels respectively; the rear suspension is detachably connected to the body and the rear wheels respectively; Step S20, controlling the vehicle to brake based on the road condition information satisfying the braking condition; Step S30, based on the vehicle being in a braking state, obtaining a distance between the vehicle and a vehicle behind; Step S40, based on the vehicle distance being less than the safe following distance, obtaining the cab height of the vehicle behind; Step S50, based on the cab height being lower than a first threshold, controlling the rear suspension of the vehicle to be raised; Step S60: Based on the cab height being higher than the first threshold, controlling the rear suspension of the vehicle to be lowered.

2. The intelligent anti-rear-end collision suspension control method according to claim 1, characterized in that: The step S20 comprises: Step S21, controlling the front suspension of the vehicle to raise to a first adjustment height based on the road condition information satisfying a braking condition; Step S22: based on the completion of the first height adjustment of the front suspension, controlling the vehicle braking.

3. The intelligent anti-rear-end collision suspension control method according to claim 2, characterized in that: The step S21 comprises: Step S211, obtaining the vehicle speed and target braking distance of the vehicle based on whether the road condition information satisfies the braking condition; Step S222: Based on the ratio of the vehicle speed to the target braking distance exceeding a preset range, the front suspension of the vehicle is controlled to be raised to a first adjustment height; the first adjustment height is positively correlated with the ratio.

4. The intelligent anti-rear-end collision suspension control method according to claim 3, characterized in that: The step S50 comprises: Step S51, based on the fact that the cab height is lower than a first threshold, adjusting the proportional value according to reference information; the reference information includes the first adjustment height; the proportional value is positively correlated with the first adjustment height; Step S52: Based on the completion of the proportional value adjustment, the rear suspension of the vehicle is controlled to be raised to a second adjustment height; the second adjustment height is calculated according to the following formula: H2=H*(1+K); where 0<K≤Kmax<1; H2=H*(1+Kmax); where 0<Kmax<K<1; Among them, H2 is the second adjustment height; H is the reference adjustment height; K is the ratio value; Kmax is the preset upper limit value of the ratio value.

5. The intelligent anti-rear-end collision suspension control method according to claim 4, characterized in that: The step S60 comprises: Step S61, based on the fact that the cab height is higher than the first threshold, adjusting the proportional value according to the reference information; Step S62: Based on the completion of the proportional value adjustment, the rear suspension of the vehicle is controlled to descend to a second adjustment height; the second adjustment height is calculated according to the following formula: H2=H*(1-K);where, 0<K<1.

6. The intelligent anti-rear-end collision suspension control method according to claim 5, characterized in that: The reference information also includes the cargo weight of the vehicle; and the ratio value is positively correlated with the cargo weight.

7. The intelligent anti-rear-end collision suspension control method according to claim 5, characterized in that: The reference information also includes the center of gravity offset of the vehicle; The center of gravity offset is the distance value of the center of gravity of the vehicle offset from the middle position of the front suspension and the rear suspension; when the center of gravity of the vehicle is located between the middle position and the front suspension, the ratio value is negatively correlated with the center of gravity offset; when the center of gravity of the vehicle is located between the middle position and the rear suspension, the ratio value is positively correlated with the center of gravity offset.

8. The intelligent anti-rear-end collision suspension control method according to claim 4, characterized in that: The intelligent anti-rear-end collision suspension control method further comprises: Step S70, based on the ratio value being greater than the preset upper limit value, controlling the front suspension of the vehicle to descend to a third adjustment height until the ratio value is less than or equal to the preset upper limit value.

9. The intelligent anti-rear-end collision suspension control method according to claim 1, characterized in that: The step S60 comprises: Step S61, based on the fact that the cab height is higher than the first threshold and lower than a second threshold, controlling the rear suspension of the vehicle to be lowered; the second threshold is higher than the first threshold; Step S62, based on the cab height being higher than the second threshold, the rear suspension adjustment amount of the vehicle is controlled to be 0, and the control method process ends.

10. An intelligent anti-rear-end collision suspension control system, characterized in that: An intelligent anti-rear-end collision suspension control method applied to any one of claims 1-9; The intelligent anti-rear-end collision suspension control system comprises: A first acquisition module, wherein the first acquisition module acquires the road condition information ahead of the vehicle in real time at a preset frequency based on the vehicle being in a driving state; A first control module, the first control module is electrically connected to the first acquisition module; the first control module controls the vehicle to brake based on the road condition information satisfying the braking condition; a second acquisition module, the second acquisition module being electrically connected to the first control module; the second acquisition module acquiring the distance between the vehicle and the vehicle behind based on the fact that the vehicle is in a braking state; a third acquisition module, the third acquisition module being electrically connected to the second acquisition module; the third acquisition module acquiring the height of the cab of the rear vehicle based on the vehicle distance being less than the safe following distance; A second control module, the second control module is electrically connected to the third acquisition module; the second control module controls the rear suspension of the vehicle to be raised based on the cab height being lower than a first threshold; the rear suspension is detachably connected to the vehicle body and the rear wheels respectively; the second control module controls the rear suspension of the vehicle to be lowered based on the cab height being higher than the first threshold.

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