Passenger car air suspension multi-mode decision-making and switching system and method and computer system

Abstract

The invention discloses a multi-mode decision-making and switching system for an air suspension of a passenger vehicle, which is characterized in that a vehicle-mounted sensor and a computing platform are used for acquiring related signals reflecting the actual running condition of the vehicle on line, and the signals are sent to a data preprocessing module; the data preprocessing module carries out time synchronization and data setting on the input multi-dimensional information and then sends the information to the air suspension mode decision module; the air suspension mode decision module determines the optimal vehicle body height and the damper damping mode at which the air suspension system should work according to the driver style information, the vehicle speed information, the road surface type information and the road curvature information on the basis of a formulated multi-mode switching rule; and the air suspension mode switching module automatically switches the working modes of the air suspension system according to the decision result of the air suspension mode decision module. The method has the advantages that the accuracy, safety and flexibility of air suspension mode decision making under different traffic environments and driver conditions are improved.

Description

Technical Field

[0001] The present invention relates to the field of passenger car air suspension, and in particular to a passenger car air suspension multi-mode decision and switching system and method and a computer system. Background Art

[0002] Air suspension not only has excellent shock absorption performance, but also actively adjusts the vehicle height and shock absorber damping according to driving conditions, thereby improving the vehicle's ride comfort and handling stability. For example, when driving at high speed on a straight road, by appropriately lowering the vehicle height and shock absorber damping, the vehicle's driving stability is improved while reducing wind resistance and fuel consumption; when driving on a curved road, lowering the vehicle height reduces the vehicle's roll amplitude when cornering, and appropriately increasing the shock absorber damping effectively suppresses the vehicle's roll, thereby improving the vehicle's handling stability; when driving on special roads, such as waterlogged, damaged, and gravel roads, raising the vehicle height increases the ground clearance and improves the vehicle's passability, while appropriately reducing the shock absorber damping to improve the suspension's ability to absorb bumps, thereby improving comfort and stability.

[0003] However, current research often ignores the problem of coordinated control of vehicle height and damping during the control process of air suspension when designing the air suspension system, making it difficult to meet the control performance requirements of the air suspension system under a wide range of driving conditions. At the same time, the impact of factors such as driver style on air suspension mode decisions is not fully considered, and the personalized needs of drivers with different styles, such as comfort and controllability, cannot be met.

[0004] Therefore, it is particularly important to develop an air suspension mode decision system that can improve the vehicle's passability, handling stability and economy under different traffic environments and fully consider the personalized preferences of various drivers. This is where the present application focuses on improvement. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a multi-mode decision-making and switching system and method for passenger car air suspension and a computer system to improve the accuracy, safety and flexibility of air suspension mode decisions under different traffic environments and driver conditions.

[0006] In order to solve the above problems, the present invention provides a multi-mode decision and switching system for passenger car air suspension, comprising: The data preprocessing module receives multi-dimensional signals reflecting the actual operating status of the vehicle obtained online by the on-board sensors and the on-board computing platform, performs time synchronization and data setting, and then sends them to the air suspension mode decision module; An air suspension mode decision module receives the data sent by the data preprocessing module, formulates a multi-mode switching rule, and logically determines the optimal vehicle height suspension module and shock absorber damping suspension mode of the air suspension system according to the driver style information, vehicle speed information, road surface type information, and road curvature information; The air suspension mode switching module automatically switches the working mode of the air suspension system according to the decision result of the air suspension mode decision module.

[0007] The present invention defines the air suspension mode as "vehicle body height suspension mode" and "shock absorber damping suspension mode", wherein the "vehicle body height suspension mode" is divided into three modes of "low position", "middle position" and "high position" according to the vehicle body height; the "shock absorber damping suspension mode" is divided into three modes of "comfort", "balance" and "sports" according to the softness and hardness of the shock absorber damping.

[0008] The driver style information is the driver style type identified by the driver style recognition model within a period of time, including three style types: "conservative", "normal" and "aggressive".

[0009] The road type information is the result of the machine vision recognition algorithm, which is divided into "conventional (dry and flat) road surface", "slippery (water, snow and ice) road surface" and "special (bumpy and undulating) road surface". The road curvature is the result of the curvature of the road ahead of the vehicle predicted by the machine vision recognition algorithm, which is divided into small curvature road and large curvature road according to the curvature size.

[0010] The vehicle speed signal is the longitudinal vehicle speed result collected by the vehicle-mounted sensor, which is divided into three types: "low speed", "medium speed" and "high speed".

[0011] The present invention provides a method for a multi-mode decision and switching system of an air suspension of a passenger vehicle, comprising the following steps: Step S1: During the driving process of the passenger car, the on-board sensors and the on-board computing platform are used to obtain time series data information reflecting the traffic environment, the actual operation status of the vehicle and the driver's behavior, including the driver's style, longitudinal speed, road curvature and road surface type; Step S2: Synchronize the time and frequency of the data according to the acquired time series data information; Align the multi-dimensional input data from different sources according to their timestamps, and adjust all input data to a standard frequency so that the multi-dimensional data at the same time point reflects the real state of the vehicle and its environment at the same time; Step S3: performing data adjustment on the time-synchronized data information; Data conditioning is to convert the original physical quantity or state information into a discrete numerical format that can be recognized and processed by the system to adapt to the needs of the subsequent logical judgment model; Step S4: formulating a switching rule of the air suspension mode, which is used to describe the optimal vehicle height and shock absorber damping mode that the system should work in under different driver styles, vehicle speeds, road types and road curvatures; Step S5: establishing a multi-mode decision system for the air suspension system according to the switching rules described in step S4, performing logical judgment according to the multi-dimensional input information after the data preprocessing in step S3, and realizing instant selection of the optimal air suspension mode under different driving scenarios; Step S6: automatically switching the working mode of the air suspension system according to the air suspension mode decision result described in step S5; To prevent frequent switching of air suspension modes, the duration threshold is set to 3±0.5 seconds; if the target air suspension mode is inconsistent with the current system working mode and the duration exceeds the threshold, the system switches to the target air suspension mode, otherwise it remains in the current working mode.

[0012] The present invention provides a computer system, comprising a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method of the multi-mode decision-making and switching system of the passenger car air suspension.

[0013] The beneficial effects of the present invention are: 1) An air suspension mode decision and switching system and method that comprehensively considers factors such as different driver styles and road types, divides the air suspension control process into coordinated control of vehicle height and shock absorber damping, and ensures that the personalized preferences of various drivers for comfort and controllability are met while maintaining certain vehicle performance under different road conditions; 2) Improve the accuracy, safety and flexibility of air suspension mode decisions under different traffic environments and driver conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a flow chart of the passenger vehicle air suspension system mode decision system and method according to the present invention; Figure 2 A joint simulation model of a mode decision system for an air suspension system of a passenger vehicle according to the present invention; Figure 3 (a), (b), and (c) are Figure 2 Input information of the decision system joint simulation model; FIG4 (a) and (b) are decision output results of the joint simulation model of the present invention under the condition of conservative driver style type; FIG5 (a) and (b) are decision output results of the joint simulation model of the present invention under the condition of normal driver style type; FIG6 (a) and (b) are the decision output results of the joint simulation model of the present invention under the condition of aggressive driver style type. DETAILED DESCRIPTION

[0015] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0016] The present invention provides a multi-mode decision-making and switching system for a passenger vehicle air suspension, comprising: The data preprocessing module receives multi-dimensional signals reflecting the actual operating status of the vehicle obtained online by the on-board sensors and the on-board computing platform, performs time synchronization and data setting, and then sends them to the air suspension mode decision module; An air suspension mode decision module receives the data sent by the data preprocessing module, formulates a multi-mode switching rule, and logically determines the optimal vehicle height suspension module and shock absorber damping suspension mode of the air suspension system according to the driver style information, vehicle speed information, road surface type information, and road curvature information; The air suspension mode switching module automatically switches the working mode of the air suspension system according to the decision result of the air suspension mode decision module.

[0017] like Figure 1 As shown, the present invention provides a method for a multi-mode decision and switching system of an air suspension of a passenger vehicle, comprising the following steps: Step S1: Obtain the vehicle longitudinal speed through the CAN communication mechanism of the vehicle sensor , obtain the current driver's style type through the ROS (Robotics Operating System) topic communication mechanism of the vehicle computing platform , the curvature of the road ahead of the vehicle Type of road surface The above data also includes the timestamp record of each data point, which constitutes the basic data support for subsequent data processing and mode decision-making tasks; Step S2: Process the original data as follows: Step S21: time synchronization; Align data from different sources according to their timestamps, so that multi-dimensional data at the same time point reflects the true status of the vehicle and its environment at the same moment; Step S22: frequency synchronization; Considering the actual engineering needs, the specific embodiment of the present invention sets that all input data needs to be adjusted to the standard frequency of 10Hz. When it is detected that the original sampling frequency of the data source is different from 10Hz, the frequency alignment operation is performed on these data according to the preset rules. Specifically, for data streams below 10Hz, linear interpolation is used to fit the data points to increase the frequency to 10Hz; and for data streams above 10Hz, redundant data points are selectively removed to reduce the frequency to 10Hz; Step S23: data setting; The data is converted into a discrete numerical format that can be recognized and processed by the system. The relationship between the actual input and the system input of the air suspension system mode decision system of the specific embodiment of the present invention is shown in Table 1, and the relationship between the decision system output and the actual output is shown in Table 2; Table 1: Relationship between actual input and system input of air suspension system mode decision system

[0018] Table 2: Relationship between system output and actual output of air suspension system mode decision system

[0019] Step S3: Formulate the switching rules of the air suspension mode as shown in Table 3; It is worth mentioning that on slippery roads, the grip of passenger cars is significantly reduced, increasing the risk of skidding and loss of control. At this time, ensuring the safety and stability of the vehicle becomes the top priority. Similarly, for special roads with ups and downs, in order to maintain vehicle stability and ride comfort, the air suspension needs to respond quickly to absorb vibrations and maintain the level of the vehicle body. At this time, the optimal suspension mode should be able to maximize the vibration reduction effect and maintain vehicle stability. At this time, the choice of suspension mode does not depend on the driver's personal style; Table 3: Switching rules for air suspension modes

[0020] Step S4: establishing a multi-mode decision system for the air suspension system, and realizing instant selection of the optimal air suspension mode under different driving scenarios according to the multi-dimensional input data processed in step S2; Step S5: automatically switching the working mode of the air suspension system according to the air suspension mode decision result described in step S4. To prevent frequent switching of the air suspension mode, the duration threshold is set to 3 seconds. If the target air suspension mode is inconsistent with the current system working mode and the duration exceeds the threshold, the target air suspension mode is switched, otherwise the current working mode is maintained.

[0021] like Figure 1 As shown, the method flow chart of the multi-mode decision and switching system of the passenger car air suspension provided by the present invention; Figure 2 As shown in the figure, the passenger car air suspension system mode decision system joint simulation model based on Carsim / Simulink / Stateflow is constructed, wherein the vehicle model is constructed based on Carsim software, and provides the vehicle longitudinal speed information for the decision system joint simulation model; the road model provides the curvature of the road ahead of the vehicle and the road surface type information for the decision system joint simulation model; and the driver model provides the driver style information for the decision system joint simulation model. The joint simulation time is set to 300s, and the input of the decision system joint simulation model is shown in Figure 3 (a), (b), and (c), which includes the time-varying road surface type, road curvature and vehicle speed. The driver style is input as the fourth dimension. When the driver style is conservative, the output of the decision system joint simulation model, the height suspension mode and the damping suspension mode are shown in Figure 4 (a) and (b); when the driver style is normal, the output of the decision system joint simulation model, the height suspension mode and the damping suspension mode are shown in Figure 5 (a) and (b); when the driver style is aggressive, the output of the decision system joint simulation model, the height suspension mode and the damping suspension mode are shown in Figure 6 (a) and (b). In summary, the constructed passenger car air suspension multi-mode decision-making system accurately switches the suspension mode according to the corresponding input signals, and different driver styles have an important impact on the output of the decision.

[0022] The present invention provides a computer system, comprising a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method of the multi-mode decision-making and switching system of the passenger car air suspension.

[0023] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-mode decision and switching system for passenger car air suspension, characterized in that: include The data preprocessing module receives multi-dimensional signals reflecting the actual operating status of the vehicle obtained online by the on-board sensors and the on-board computing platform, performs time synchronization and data setting, and then sends them to the air suspension mode decision module; An air suspension mode decision module receives the data sent by the data preprocessing module, formulates a multi-mode switching rule, and logically determines the optimal vehicle height suspension module and shock absorber damping suspension mode of the air suspension system according to the driver style information, vehicle speed information, road surface type information, and road curvature information; The air suspension mode switching module automatically switches the working mode of the air suspension system according to the decision result of the air suspension mode decision module.

2. A method for a multi-mode decision and switching system for a passenger vehicle air suspension according to claim 1, characterized in that: The following steps are involved: Step S1: During the driving process of the passenger car, the time series data information reflecting the traffic environment, the actual operation status of the vehicle and the driver's behavior is obtained through the vehicle-mounted sensors and the vehicle-mounted computing platform; Step S2: Performing time synchronization and frequency synchronization on the time series data information; Align the multi-dimensional input data from different sources according to their timestamps, and adjust all input data to a standard frequency so that the multi-dimensional data at the same time point reflects the real state of the vehicle and its environment at the same time; Step S3: performing data adjustment on the time-synchronized data information; Data conditioning is the process of converting the original physical quantity or state information into a discrete numerical format that can be recognized and processed by the system; Step S4: formulating a switching rule for the air suspension mode; Step S5: establishing a multi-mode decision system for the air suspension system according to the switching rules of the air suspension mode described in step S4, performing logical judgment according to the multi-dimensional input information after the data preprocessing in step S3, and realizing instant selection of the optimal air suspension mode under different driving scenarios; Step S6: Automatically switch the working mode of the air suspension system according to the air suspension mode decision result described in step S5.

3. The method of the passenger vehicle air suspension multi-mode decision and switching system according to claim 2, characterized in that: The time series data information in step S1 includes driver style, longitudinal vehicle speed, road curvature and road surface type.

4. The method of the passenger vehicle air suspension multi-mode decision and switching system according to claim 2, characterized in that: In step S6, a duration threshold is set to 3±0.5 seconds. If the target air suspension mode is inconsistent with the current system working mode and the duration exceeds the threshold, the system switches to the target air suspension mode, otherwise the current working mode is maintained.

5. A computer system comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 2 to 4.

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