Vehicle suspension control method, system, device and medium based on multi-source data fusion

Abstract

The present invention discloses a vehicle suspension control method, system, device, and medium using multi-source data fusion. The method comprises: obtaining road image information in front of a target vehicle, and obtaining real-time road condition information based on the road image information; obtaining the current driving mode of the target vehicle, and determining corresponding suspension control weight parameters based on the current driving mode and real-time road condition information; obtaining vehicle height information, vehicle acceleration information, and vehicle steering angle of the target vehicle, and determining target suspension state parameters based on the vehicle height information, vehicle acceleration information, vehicle steering angle, and suspension control weight parameters; and adjusting and controlling the suspension system of the target vehicle based on the target suspension state parameters. The present invention improves the accuracy of vehicle suspension control and the user's driving experience, and can be widely applied in the field of vehicle control technology.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle suspension control method, system, device and medium for multi-source data fusion. Background Art

[0002] Vehicle suspension is the general term for all force-transmitting devices between the vehicle body and wheels. Its function is to transmit the vertical, longitudinal, and lateral forces exerted on the wheels by the road, as well as the torque caused by these reaction forces, to the vehicle body to ensure normal driving. Currently, most vehicles on the market are equipped with McPherson or double-wishbone suspension systems for the front wheels, and multi-link suspension systems for the rear wheels. The suspension system is primarily controlled by the hardness of the four-wheel springs, the amplitude of the front and rear stabilizer bars, the height of the front and rear suspension, the minimum clearance height of the chassis, and the adjustment of the vehicle's center of mass.

[0003] In the existing technology, most of the vehicle suspension control and adjustment are based on the vehicle body posture information collected by various sensors on the vehicle as input. However, this control method ignores the impact of different road conditions on vehicle performance, affecting the accuracy of vehicle suspension control and thus affecting the user's driving experience. Summary of the Invention

[0004] The purpose of the present invention is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0005] To this end, an object of an embodiment of the present invention is to provide a vehicle suspension control method using multi-source data fusion, which improves the accuracy of vehicle suspension control and the user's driving experience.

[0006] Another object of an embodiment of the present invention is to provide a vehicle suspension control system with multi-source data fusion.

[0007] In order to achieve the above technical objectives, the technical solutions adopted by the embodiments of the present invention include:

[0008] In a first aspect, an embodiment of the present invention provides a vehicle suspension control method using multi-source data fusion, comprising the following steps:

[0009] Acquire road image information in front of the target vehicle, and obtain real-time road condition information based on the road image information;

[0010] Obtaining a current driving mode of the target vehicle, and determining corresponding suspension control weight parameters according to the current driving mode and the real-time road condition information;

[0011] Obtaining vehicle height information, vehicle acceleration information, and vehicle steering angle of the target vehicle, and determining target suspension state parameters based on the vehicle height information, the vehicle acceleration information, the vehicle steering angle, and the suspension control weight parameter;

[0012] The suspension system of the target vehicle is adjusted and controlled according to the target suspension state parameter.

[0013] Furthermore, in one embodiment of the present invention, the acquiring of road image information ahead of the target vehicle and the identification of real-time road condition information based on the road image information specifically include:

[0014] Acquiring the road image information through a vehicle-mounted camera;

[0015] The road image information is input into a preset road condition recognition model to obtain the real-time road condition information.

[0016] Furthermore, in one embodiment of the present invention, obtaining the current driving mode of the target vehicle and determining corresponding suspension control weight parameters according to the current driving mode and the real-time road condition information specifically includes:

[0017] obtaining the current driving mode through a driving assistance system;

[0018] Determining the current traffic condition type according to the real-time traffic condition information;

[0019] According to the current driving mode and the current road condition type, the corresponding suspension control weight parameter is obtained by matching in a preset suspension control weight parameter mapping table;

[0020] The suspension control weight parameter mapping table is obtained by calibration through simulation data or actual vehicle test data.

[0021] Furthermore, in one embodiment of the present invention, the obtaining of the vehicle height information, vehicle acceleration information, and vehicle steering angle of the target vehicle specifically includes:

[0022] The vehicle height information is obtained by obtaining the left front wheel vehicle height, the right front wheel vehicle height, the left rear wheel vehicle height, and the right rear wheel vehicle height through vehicle height sensors provided on the four wheels of the target vehicle;

[0023] Obtaining the vehicle body longitudinal acceleration and the vehicle body lateral acceleration by an acceleration sensor provided on the target vehicle to obtain the vehicle body acceleration information;

[0024] The vehicle body steering angle is obtained by a steering angle sensor provided on the target vehicle.

[0025] Furthermore, in one embodiment of the present invention, the suspension control weight parameters include a first weight coefficient, a second weight coefficient and a third weight coefficient for calculating the hardness of the four-wheel springs, a fourth weight coefficient and a fifth weight coefficient for calculating the amplitude of the front and rear balance bars, and a sixth weight coefficient and a seventh weight coefficient for calculating the front and rear suspension heights of the vehicle, and the target suspension state parameters include the hardness of the left front wheel spring, the hardness of the right front wheel spring, the hardness of the left rear wheel spring, the hardness of the right rear wheel spring, the front balance bar amplitude, the rear balance bar amplitude, the front suspension height and the rear suspension height.

[0026] Furthermore, in one embodiment of the present invention, the target suspension state parameter is calculated by the following formula:

[0027] k front-left =k base ×(1+α1×a x +α2×θ+α3×h front-left )

[0028] k front-right =k base ×(1+α1×a x +α2×θ+α3×h front-right )

[0029] k rear-left =k base ×(1+α1×a x +α2×θ+α3×h rear-left )

[0030] k rear-right =k base ×(1+α1×a x +α2×θ+α3×h rear-right )

[0031] Δ front-sway-bar =Δ rear-sway-bar =β1×a y +β2×θ

[0032] h front-suspension =h front-measured +γ1×a x +γ2×θ

[0033] h rear-suspension =h rear-measured +γ1×α x +γ2×θ

[0034]

[0035] Among them, k front-left 、k front-right 、krear-left and k rear-right Respectively represents the hardness of the left front wheel spring, the hardness of the right front wheel spring, the hardness of the left rear wheel spring and the hardness of the right rear wheel spring, h front-left 、h front-right 、h rear-left and h rear-right Respectively represent the left front wheel vehicle height, right front wheel vehicle height, left rear wheel vehicle height and right rear wheel vehicle height, k base Indicates the hardness of the basic spring, α1, α2 and α3 represent the first weight coefficient, the second weight coefficient and the third weight coefficient respectively, a x and a y They represent the longitudinal acceleration and lateral acceleration of the vehicle body, θ represents the steering angle of the vehicle body, Δ front-sway-bar and Δ rear-sway-bar represent the front balance bar amplitude and the rear balance bar amplitude respectively, β1 and β2 represent the fourth weight coefficient and the fifth weight coefficient respectively, h front-suspension and h rear-suspension Represent the front suspension height and rear suspension height respectively, h front-measured and h rear-measured denote the front vehicle height and the rear vehicle height respectively, γ1 and γ2 denote the sixth weight coefficient and the seventh weight coefficient respectively.

[0036] Furthermore, in one embodiment of the present invention, the regulating and controlling the suspension system of the target vehicle according to the target suspension state parameter specifically includes:

[0037] adjusting the airbag pressures of the left front wheel air spring and the right front wheel air spring according to the hardness of the left front wheel spring, the hardness of the right front wheel spring, and the height of the front suspension;

[0038] adjusting the airbag pressures of the left rear wheel air spring and the right rear wheel air spring according to the hardness of the left rear wheel spring, the hardness of the right rear wheel spring, and the height of the rear suspension;

[0039] The positions of the front and rear balancing bars are adjusted according to the front and rear balancing bar amplitudes.

[0040] In a second aspect, an embodiment of the present invention provides a vehicle suspension control system with multi-source data fusion, including:

[0041] A road condition recognition module is used to obtain image information of the road ahead of the target vehicle and obtain real-time road condition information based on the image information;

[0042] a weight parameter determination module, configured to obtain a current driving mode of the target vehicle and determine corresponding suspension control weight parameters according to the current driving mode and the real-time road condition information;

[0043] a suspension state parameter calculation module, configured to obtain vehicle height information, vehicle acceleration information, and vehicle steering angle of the target vehicle, and determine target suspension state parameters based on the vehicle height information, the vehicle acceleration information, the vehicle steering angle, and the suspension control weight parameter;

[0044] The adjustment control module is used to adjust and control the suspension system of the target vehicle according to the target suspension state parameters.

[0045] In a third aspect, an embodiment of the present invention provides a vehicle suspension control device for multi-source data fusion, comprising:

[0046] at least one processor;

[0047] at least one memory for storing at least one program;

[0048] When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned vehicle suspension control method of multi-source data fusion.

[0049] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium storing a program executable by a processor, wherein the program executable by the processor is used to execute the above-mentioned vehicle suspension control method of multi-source data fusion when executed by the processor.

[0050] The advantages and benefits of the present invention will be described in part in the following description and will become apparent from the following description or learned through practice of the present invention:

[0051] An embodiment of the present invention obtains road image information in front of a target vehicle, obtains real-time road condition information based on the road image information, obtains the current driving mode of the target vehicle, determines corresponding suspension control weight parameters based on the current driving mode and the real-time road condition information, obtains vehicle height information, vehicle acceleration information, and vehicle steering angle of the target vehicle, determines target suspension state parameters based on the vehicle height information, vehicle acceleration information, vehicle steering angle, and suspension control weight parameters, and adjusts and controls the suspension system of the target vehicle based on the target suspension state parameters. An embodiment of the present invention determines corresponding suspension control weight parameters based on real-time road condition information and the current driving mode, and then determines target suspension state parameters based on the vehicle height information, vehicle acceleration information, and vehicle steering angle, thereby adjusting and controlling the suspension system of the target vehicle, achieving real-time dynamic adjustment of the suspension system under different road conditions, ensuring driving stability and comfort, and improving the accuracy of vehicle suspension control and the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following introduction is made to the drawings required for use in the embodiments of the present invention. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative work.

[0053] Figure 1 A flowchart of the steps of a vehicle suspension control method using multi-source data fusion provided by an embodiment of the present invention;

[0054] Figure 2 A structural block diagram of a vehicle suspension control system with multi-source data fusion provided by an embodiment of the present invention;

[0055] Figure 3 This is a structural block diagram of a vehicle suspension control device with multi-source data fusion provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and are not to be construed as limiting the present invention. The step numbers in the following embodiments are provided for ease of explanation only and do not limit the order of the steps. The order of execution of the steps in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0057] In the description of the present invention, "a plurality" means two or more. The terms "first" and "second" are used solely to distinguish technical features and are not to be construed as indicating or implying relative importance, or as implicitly indicating the number of the indicated technical features, or as implicitly indicating the order of the indicated technical features. Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art.

[0058] Reference Figure 1 The embodiment of the present invention provides a vehicle suspension control method based on multi-source data fusion, which specifically includes the following steps:

[0059] S101, obtaining road image information in front of a target vehicle, and obtaining real-time road condition information based on the road image information;

[0060] S102: Acquire the current driving mode of the target vehicle, and determine corresponding suspension control weight parameters according to the current driving mode and real-time road condition information;

[0061] S103, obtaining vehicle height information, vehicle acceleration information, and vehicle steering angle of the target vehicle, and determining target suspension state parameters based on the vehicle height information, vehicle acceleration information, vehicle steering angle, and suspension control weight parameters;

[0062] S104: Adjust and control the suspension system of the target vehicle according to the target suspension state parameters.

[0063] Specifically, the embodiment of the present invention determines the corresponding suspension control weight parameters based on real-time road condition information and the current driving mode, and then determines the target suspension state parameters in combination with the vehicle body height information, vehicle body acceleration information and vehicle body steering angle, thereby adjusting and controlling the suspension system of the target vehicle, realizing real-time dynamic adjustment of the suspension system under different road conditions, ensuring driving stability and comfort, and improving the accuracy of vehicle suspension control and the user's driving experience.

[0064] As an optional implementation, obtaining road image information in front of the target vehicle and identifying and obtaining real-time road condition information based on the road image information may include:

[0065] S1011. Acquire road image information through a vehicle-mounted camera;

[0066] S1012: Input the road image information into a preset road condition recognition model to obtain real-time road condition information.

[0067] Specifically, the vehicle's onboard camera scans the road ahead (e.g., 5-15 meters away) and uses a road condition recognition model to identify obstacles such as speed bumps and potholes, generating real-time road condition information. It should be noted that the road condition recognition model can use an existing model, as long as it can recognize road conditions. This embodiment of the present invention is not described in detail here.

[0068] As an optional implementation, the current driving mode of the target vehicle is obtained, and corresponding suspension control weight parameters are determined according to the current driving mode and real-time road condition information, which specifically includes:

[0069] S1021. Obtaining the current driving mode through the driving assistance system;

[0070] S1022. Determine the current traffic condition type based on the real-time traffic condition information;

[0071] S1023: Obtain corresponding suspension control weight parameters from a preset suspension control weight parameter mapping table according to the current driving mode and the current road condition type;

[0072] The suspension control weight parameter mapping table is obtained by calibrating simulation data or actual vehicle test data.

[0073] Specifically, the driving mode selected by the driver or the posture mode adaptively adjusted by the driving assistance system, such as comfort mode, sport mode, etc., is obtained through the driving assistance system; the current road condition type is determined based on the real-time road condition information identified in the above steps, such as bumpy road surface, road speed limit, etc.; the corresponding suspension control weight parameters are matched in the preset suspension control weight parameter mapping table according to the current driving mode and the current road condition type. It should be noted that the suspension control weight parameter mapping table records the corresponding suspension control weight parameters under different driving modes and different road condition types, which can be calibrated through simulation experiments or actual vehicle tests. For example, under driving mode A and road condition type B, a set of suspension control weight parameters C are used for simulation or actual vehicle testing, and the vehicle feedback after suspension control adjustment is used to evaluate whether the set of suspension control weight parameters C is suitable for driving mode A + road condition type B. The suspension control weight parameter mapping table can be calibrated through a large number of simulation experiments or actual vehicle tests.

[0074] As an optional embodiment, obtaining the vehicle height information, vehicle acceleration information, and vehicle steering angle of the target vehicle specifically includes:

[0075] S1031, obtaining vehicle height information by obtaining the vehicle height of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel using vehicle height sensors installed on the four wheels of the target vehicle;

[0076] S1032: Obtaining vehicle body longitudinal acceleration and vehicle body lateral acceleration through an acceleration sensor installed on the target vehicle to obtain vehicle body acceleration information;

[0077] S1033: Obtain a vehicle body steering angle through a steering angle sensor provided on the target vehicle.

[0078] Specifically, the vehicle body height change is monitored in real time through the vehicle body height sensor, the vehicle body longitudinal acceleration and body lateral acceleration are captured through the acceleration sensor, and the vehicle body steering angle is obtained through the steering angle sensor. These data are sent to the central processing unit to participate in the subsequent calculation of the suspension state parameters.

[0079] Further as an optional embodiment, the suspension control weight parameters include a first weight coefficient, a second weight coefficient and a third weight coefficient for calculating the hardness of the four-wheel springs, a fourth weight coefficient and a fifth weight coefficient for calculating the amplitude of the front and rear balance bars, and a sixth weight coefficient and a seventh weight coefficient for calculating the front and rear suspension heights of the vehicle, and the target suspension state parameters include the hardness of the left front wheel spring, the hardness of the right front wheel spring, the hardness of the left rear wheel spring, the hardness of the right rear wheel spring, the front balance bar amplitude, the rear balance bar amplitude, the front suspension height and the rear suspension height.

[0080] As an optional embodiment, the target suspension state parameter is calculated by the following formula:

[0081] k front-left =k base ×(1+α1×a x +α2×θ+α3×h front-left )

[0082] k front-right =k base ×(1+α1×a x +α2×θ+α3×h front-right )

[0083] k rear-left =k base ×(1+α1×a x +α2×θ+α3×h rear-left )

[0084] k rear-right =k base ×(1+α1×a x +α2×θ+α3×h rear-right )

[0085] Δ front-sway-bar =Δ rear-sway-bar =β1×a y +β2×θ

[0086] h front-suspension =h front-measured +β1×a x +γ2×θ

[0087] h rear-suspension =h rear-measured +γ1×a x +γ2×θ

[0088]

[0089] Among them, k front-left 、k front-right 、k rear-left and k rear-right Respectively represents the hardness of the left front wheel spring, the hardness of the right front wheel spring, the hardness of the left rear wheel spring and the hardness of the right rear wheel spring, h front-left 、h front-right 、h rear-left and h rear-right Respectively represent the left front wheel vehicle height, right front wheel vehicle height, left rear wheel vehicle height and right rear wheel vehicle height, k base Indicates the hardness of the basic spring, α1, α2 and α3 represent the first weight coefficient, the second weight coefficient and the third weight coefficient respectively, αx and a y They represent the longitudinal acceleration and lateral acceleration of the vehicle body, θ represents the steering angle of the vehicle body, Δ front-sway-bar and Δ rear-sway-bar represent the front balance bar amplitude and the rear balance bar amplitude respectively, β1 and β2 represent the fourth weight coefficient and the fifth weight coefficient respectively, h front-suspension and h rear-suspension Represent the front suspension height and rear suspension height respectively, h front-measured and h rear-measured denote the front vehicle height and the rear vehicle height respectively, γ1 and γ2 denote the sixth weight coefficient and the seventh weight coefficient respectively.

[0090] Specifically, the hardness of the four-wheel springs reflects the hardness of the suspension system, the front and rear suspension heights reflect the height of the suspension system, the front and rear balance bars are used to balance the suspension movements on the left and right sides of the vehicle, and the front and rear balance bar amplitudes are used to control the amplitude of the suspension movements on the left and right sides of the vehicle.

[0091] The embodiment of the present invention determines target suspension state parameters based on vehicle height information, vehicle acceleration information, vehicle steering angle, and suspension control weight parameters. It can predict vehicle dynamics and adjust the suspension state in advance when driving at high speeds to maintain vehicle body stability. At the same time, under complex road conditions, it can also respond quickly based on real-time data, optimize suspension settings, and improve driving stability and comfort.

[0092] In some optional embodiments, the minimum chassis clearance height can be determined based on the minimum value of the vehicle body height of the four wheels, and the position of the vehicle mass center in the front and rear directions and left and right directions can be calculated based on the mass of the front and rear parts of the vehicle, the distance from the front and rear parts of the vehicle to a reference point, the mass of the left and right parts of the vehicle, the distance from the left and right parts of the vehicle to a reference point, and the total mass of the vehicle.

[0093] As a further optional embodiment, regulating and controlling the suspension system of the target vehicle according to the target suspension state parameter specifically includes:

[0094] S1041. Adjust the airbag pressure of the left front wheel air spring and the right front wheel air spring according to the hardness of the left front wheel spring, the hardness of the right front wheel spring, and the height of the front suspension;

[0095] S1042, adjusting the airbag pressure of the left rear wheel air spring and the right rear wheel air spring according to the hardness of the left rear wheel spring, the hardness of the right rear wheel spring, and the height of the rear suspension;

[0096] S1043. Adjust the positions of the front and rear balancing bars according to the amplitudes of the front and rear balancing bars.

[0097] Specifically, for an air suspension system, an air pump is used to adjust the airbag pressure of an air spring, thereby adjusting the suspension height and stiffness. The airbag pressures of the left and right front wheel air springs are adjusted according to the hardness of the left and right front wheel springs and the front suspension height, so that the hardness of the left and right front wheel springs reaches the corresponding target values. At the same time, the left and right front wheel suspension heights are adjusted by changing the airbag pressures so that the average of the two reaches the target value of the front suspension height. The airbag pressures of the left and right rear wheel air springs are adjusted according to the hardness of the left and right rear wheel springs and the rear suspension height, so that the hardness of the left and right rear wheel springs reaches the corresponding target values. At the same time, the left and right rear wheel suspension heights are adjusted by changing the airbag pressures so that the average of the two reaches the target value of the rear suspension height. The positions of the front and rear stabilizer bars are adjusted according to the front and rear stabilizer bar amplitudes, so that the amplitudes of the left and right movement of the vehicle suspension at the front and rear sides reach the target values ​​of the front and rear stabilizer bar amplitudes.

[0098] The above describes the method steps of an embodiment of the present invention. It is understood that this embodiment of the present invention determines corresponding suspension control weight parameters based on real-time road condition information and the current driving mode, and then determines target suspension state parameters based on vehicle height information, vehicle acceleration information, and vehicle steering angle. This allows for adjustment and control of the target vehicle's suspension system, enabling real-time dynamic adjustment of the suspension system under varying road conditions, ensuring driving stability and comfort, and improving the accuracy of vehicle suspension control and the user's driving experience.

[0099] Reference Figure 2 , an embodiment of the present invention provides a vehicle suspension control system with multi-source data fusion, comprising:

[0100] A road condition recognition module is used to obtain the road image information in front of the target vehicle and obtain real-time road condition information based on the road image information recognition;

[0101] A weight parameter determination module is used to obtain the current driving mode of the target vehicle and determine the corresponding suspension control weight parameters based on the current driving mode and real-time road condition information;

[0102] a suspension state parameter calculation module, configured to obtain vehicle height information, vehicle acceleration information, and vehicle steering angle of a target vehicle, and determine target suspension state parameters based on the vehicle height information, vehicle acceleration information, vehicle steering angle, and suspension control weight parameters;

[0103] The adjustment control module is used to adjust and control the suspension system of the target vehicle according to the target suspension state parameters.

[0104] The contents of the above method embodiments are all applicable to the present system embodiments. The functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0105] Reference Figure 3 , an embodiment of the present invention provides a vehicle suspension control device with multi-source data fusion, comprising:

[0106] at least one processor;

[0107] at least one memory for storing at least one program;

[0108] When the at least one program is executed by the at least one processor, the at least one processor implements the vehicle suspension control method of multi-source data fusion.

[0109] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0110] An embodiment of the present invention further provides a computer-readable storage medium storing a program executable by a processor. When the program is executed by the processor, it is used to perform the above-mentioned vehicle suspension control method using multi-source data fusion.

[0111] A computer-readable storage medium according to an embodiment of the present invention can execute a vehicle suspension control method with multi-source data fusion provided by an embodiment of the method of the present invention, can execute any combination of implementation steps of the embodiment of the method, and has the corresponding functions and beneficial effects of the method.

[0112] The embodiment of the present invention also discloses a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs Figure 1 The method shown.

[0113] In some optional embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the above-mentioned boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided in an exemplary manner for the purpose of providing a more comprehensive understanding of the technology. The disclosed method is not limited to the operation and logic flow presented herein. Optional embodiments are contemplated in which the order of the various operations is changed and the sub-operations described as a part of a larger operation are performed independently.

[0114] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the above-mentioned functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in separate physical devices or software modules. It is also understood that a detailed discussion of the actual implementation of each module is not necessary for understanding the present invention. More specifically, given the properties, functions, and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the module will be understood within the routine skills of an engineer. Therefore, a person skilled in the art can implement the present invention set forth in the claims using ordinary skills without undue experimentation. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0115] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the above methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0116] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0117] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable media on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0118] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0119] In the above description of this specification, reference to the terms "one embodiment / example," "another embodiment / example," or "certain embodiments / examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0120] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

[0121] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A vehicle suspension control method based on multi-source data fusion, characterized in that: The following steps are involved: Acquire road image information in front of the target vehicle, and obtain real-time road condition information based on the road image information; Obtaining a current driving mode of the target vehicle, and determining corresponding suspension control weight parameters according to the current driving mode and the real-time road condition information; Obtaining vehicle height information, vehicle acceleration information, and vehicle steering angle of the target vehicle, and determining target suspension state parameters based on the vehicle height information, the vehicle acceleration information, the vehicle steering angle, and the suspension control weight parameter; regulating and controlling a suspension system of the target vehicle according to the target suspension state parameter; The suspension control weight parameters include a first weight coefficient, a second weight coefficient, and a third weight coefficient for calculating the hardness of the four-wheel springs, a fourth weight coefficient and a fifth weight coefficient for calculating the amplitudes of the front and rear stabilizer bars, and a sixth weight coefficient and a seventh weight coefficient for calculating the front and rear suspension heights of the vehicle. The target suspension state parameters include the hardness of the left front wheel spring, the hardness of the right front wheel spring, the hardness of the left rear wheel spring, the hardness of the right rear wheel spring, the amplitude of the front stabilizer bar, the amplitude of the rear stabilizer bar, the front suspension height, and the rear suspension height. The target suspension state parameter is calculated by the following formula: in, 、 、 as well as Respectively represent the hardness of the left front wheel spring, the hardness of the right front wheel spring, the hardness of the left rear wheel spring and the hardness of the right rear wheel spring. 、 、 as well as They represent the left front wheel vehicle height, right front wheel vehicle height, left rear wheel vehicle height and right rear wheel vehicle height respectively. Indicates the hardness of the basic spring. 、 as well as represent the first weight coefficient, the second weight coefficient and the third weight coefficient respectively, and They represent the longitudinal acceleration and lateral acceleration of the vehicle body respectively. Indicates the steering angle of the vehicle body. and Respectively represent the front balance bar amplitude and the rear balance bar amplitude, and denote the fourth and fifth weight coefficients respectively, and Represent the front suspension height and rear suspension height respectively, and Respectively represent the front vehicle height and rear vehicle height, and They represent the sixth weight coefficient and the seventh weight coefficient respectively.

2. The vehicle suspension control method based on multi-source data fusion according to claim 1, characterized in that: The step of acquiring the road image information in front of the target vehicle and identifying and obtaining the real-time road condition information based on the road image information specifically includes: Acquiring the road image information through a vehicle-mounted camera; The road image information is input into a preset road condition recognition model to obtain the real-time road condition information.

3. The vehicle suspension control method based on multi-source data fusion according to claim 1, characterized in that: The obtaining of the current driving mode of the target vehicle and determining corresponding suspension control weight parameters according to the current driving mode and the real-time road condition information specifically includes: obtaining the current driving mode through a driving assistance system; Determining the current traffic condition type according to the real-time traffic condition information; According to the current driving mode and the current road condition type, the corresponding suspension control weight parameter is obtained by matching in a preset suspension control weight parameter mapping table; The suspension control weight parameter mapping table is obtained by calibration through simulation data or actual vehicle test data.

4. The vehicle suspension control method based on multi-source data fusion according to claim 1, characterized in that: The obtaining of the vehicle height information, vehicle acceleration information, and vehicle steering angle of the target vehicle specifically includes: The vehicle height information is obtained by obtaining the left front wheel vehicle height, the right front wheel vehicle height, the left rear wheel vehicle height, and the right rear wheel vehicle height through vehicle height sensors provided on the four wheels of the target vehicle; Obtaining the vehicle body longitudinal acceleration and the vehicle body lateral acceleration by an acceleration sensor provided on the target vehicle to obtain the vehicle body acceleration information; The vehicle body steering angle is obtained by a steering angle sensor provided on the target vehicle.

5. The vehicle suspension control method based on multi-source data fusion according to claim 1, characterized in that: The regulating and controlling the suspension system of the target vehicle according to the target suspension state parameter specifically includes: adjusting the airbag pressures of the left front wheel air spring and the right front wheel air spring according to the hardness of the left front wheel spring, the hardness of the right front wheel spring, and the height of the front suspension; adjusting the airbag pressures of the left rear wheel air spring and the right rear wheel air spring according to the hardness of the left rear wheel spring, the hardness of the right rear wheel spring, and the height of the rear suspension; The positions of the front and rear balancing bars are adjusted according to the front and rear balancing bar amplitudes.

6. A vehicle suspension control system based on multi-source data fusion, characterized in that: include: A road condition recognition module is used to obtain image information of the road ahead of the target vehicle and obtain real-time road condition information based on the image information; a weight parameter determination module, configured to obtain a current driving mode of the target vehicle and determine corresponding suspension control weight parameters according to the current driving mode and the real-time road condition information; a suspension state parameter calculation module, configured to obtain vehicle height information, vehicle acceleration information, and vehicle steering angle of the target vehicle, and determine target suspension state parameters based on the vehicle height information, the vehicle acceleration information, the vehicle steering angle, and the suspension control weight parameter; an adjustment control module, configured to adjust and control the suspension system of the target vehicle according to the target suspension state parameters; The suspension control weight parameters include a first weight coefficient, a second weight coefficient, and a third weight coefficient for calculating the hardness of the four-wheel springs, a fourth weight coefficient and a fifth weight coefficient for calculating the amplitudes of the front and rear stabilizer bars, and a sixth weight coefficient and a seventh weight coefficient for calculating the front and rear suspension heights of the vehicle. The target suspension state parameters include the hardness of the left front wheel spring, the hardness of the right front wheel spring, the hardness of the left rear wheel spring, the hardness of the right rear wheel spring, the amplitude of the front stabilizer bar, the amplitude of the rear stabilizer bar, the front suspension height, and the rear suspension height. The target suspension state parameter is calculated by the following formula: in, 、 、 as well as Respectively represent the hardness of the left front wheel spring, the hardness of the right front wheel spring, the hardness of the left rear wheel spring and the hardness of the right rear wheel spring. 、 、 as well as They represent the left front wheel vehicle height, right front wheel vehicle height, left rear wheel vehicle height and right rear wheel vehicle height respectively. Indicates the hardness of the basic spring. 、 as well as represent the first weight coefficient, the second weight coefficient and the third weight coefficient respectively, and They represent the longitudinal acceleration and lateral acceleration of the vehicle body respectively. Indicates the steering angle of the vehicle body. and Respectively represent the front balance bar amplitude and the rear balance bar amplitude, and denote the fourth and fifth weight coefficients respectively, and Represent the front suspension height and rear suspension height respectively, and Respectively represent the front vehicle height and rear vehicle height, and They represent the sixth weight coefficient and the seventh weight coefficient respectively.

7. A vehicle suspension control device with multi-source data fusion, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the vehicle suspension control method using multi-source data fusion as claimed in any one of claims 1 to 5.

8. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to execute the vehicle suspension control method based on multi-source data fusion as claimed in any one of claims 1 to 5 when executed by the processor.

Images