Active suspension system control method, device and equipment and readable storage medium
By obtaining the height change information of the target components on the front car and determining the position and flatness of the road section, the problem of inaccurate identification of road depressions in the prior art is solved, more accurate suspension system control is achieved, and riding experience is improved.
Patent Information
- Application Number
- CN202510477611.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-16
- Publication Date
- 2025-06-13
AI Technical Summary
When existing active suspension systems encounter water or coverings in the road depressions, it is difficult to accurately identify the depressions, resulting in the inability to adjust the suspension correctly, affecting the ride experience.
By continuously obtaining the height of the target component in the front car perpendicular to the preset horizontal plane, when the height changes in a preset trend, the position and flatness information of the road section that causes the height to change in a preset trend are determined, and the active suspension system of the car is controlled based on this information.
It realizes that the road conditions ahead are more accurately identified without being affected by the visual characteristics of the road surface, and controls the active suspension system accordingly, improving the anti-interference ability and ensuring the ride experience.
Smart Images
Figure CN120134864A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of vehicle control, and particularly relates to a control method, device, equipment and computer-readable storage medium for an active suspension system. Background Art
[0002] With the maturity and popularization of active suspension technology, modern vehicle active suspension technology is widely applied to vehicles, enabling the vehicle to maintain a horizontal state when driving on bumpy roads, greatly improving the user's riding experience. The current solution is to install a high-precision binocular ground camera in front of the vehicle to collect images of the road surface in real time, and obtain the flatness information of the road surface based on the images, so as to actively adjust in advance to achieve the purpose of keeping the vehicle horizontal when passing through a potholed road surface. In this way, if there is water accumulation or other coverings in the sunken area of the road surface, it is difficult to identify the depression based on the image of the road surface, resulting in the inability to correctly adjust the suspension and affecting the riding experience. Summary of the Invention
[0003] To solve the above technical problems, the present application provides a control method, device, equipment and computer-readable storage medium for an active suspension system.
[0004] In a first aspect, an embodiment of the present application provides a control method for an active suspension system, and the control method for the active suspension system includes:
[0005] Continuously obtain the height of a target component on the front vehicle perpendicular to a preset horizontal plane;
[0006] When the height changes in a preset trend, determine the position and flatness information of the road section that causes the height to change in the preset trend;
[0007] Control the active suspension system of the vehicle based on the position and flatness information.
[0008] Combined with the first aspect, in an implementation manner, taking the road surface where the vehicle is located as the preset horizontal plane, the step of determining the position and flatness information of the road section that causes the height to change in the preset trend when the height changes in the preset trend includes:
[0009] When the height changes in a first trend, determine the first position and depression value of the road section that causes the height to change in the first trend, where the first trend is to decrease first and then increase;
[0010] When the height changes in a second trend, determine the second position and protrusion value of the road section that causes the height to change in the second trend, where the second trend is to increase first and then decrease.
[0011] Combined with the first aspect, in an implementation manner, the target component is the rear wheel.
[0012] In combination with the first aspect, in one embodiment, the active suspension system control method further includes:
[0013] When the light intensity of the environment where the vehicle is located is lower than a preset value, detect whether the vehicle in front is equipped with an active suspension system;
[0014] If the vehicle in front is not equipped with an active suspension system, use the taillight as the target component.
[0015] In combination with the first aspect, in one embodiment, the detecting whether the vehicle in front is equipped with an active suspension system includes:
[0016] Obtain the picture taken by the camera device of the vehicle in front;
[0017] Based on the picture, determine the vehicle model of the vehicle in front;
[0018] Detect whether the vehicle model exists in the preset model set;
[0019] If it does not exist, determine that the vehicle in front is not equipped with an active suspension system.
[0020] In the second aspect, an embodiment of the present application provides an active suspension system control device, and the active suspension system control device includes:
[0021] An acquisition module, configured to continuously acquire the height of the target component on the vehicle in front perpendicular to the preset horizontal plane;
[0022] A determination module, configured to determine the position and flatness information of the road section that causes the height to change in a preset trend when the height changes in a preset trend;
[0023] A control module, configured to control the active suspension system of the vehicle based on the position and flatness information.
[0024] In the third aspect, an embodiment of the present application provides an active suspension system, and the active suspension system includes the active suspension system control device as described in the second aspect.
[0025] In the fourth aspect, an embodiment of the present application provides a vehicle, and the vehicle includes the active suspension system as described in the third aspect.
[0026] In the fifth aspect, an embodiment of the present application provides an active suspension system control device, and the active suspension system control device includes a processor, a memory, and an active suspension system control program stored on the memory and executable by the processor. When the active suspension system control program is executed by the processor, the steps of the active suspension system control method as described in the first aspect are implemented.
[0027] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, on which an active suspension system control program is stored. When the active suspension system control program is executed by a processor, the steps of the active suspension system control method described in the first aspect are implemented.
[0028] The beneficial effects brought by the technical solution provided by the embodiment of the present application include:
[0029] In the embodiment of the present application, the height of the target component on the preceding vehicle perpendicular to the preset horizontal plane is continuously acquired; when the height changes in a preset trend, the position and flatness information of the road section that causes the height to change in the preset trend are determined; based on the position and flatness information, the active suspension system of the vehicle is controlled. Through the embodiment of the present application, the flatness information of the road surface ahead is determined based on the change of the target component on the preceding vehicle in the vertical direction, which is not affected by the visual features of the road surface and has stronger anti-interference ability. Therefore, the road surface condition ahead can be more accurately identified and the active suspension system of the vehicle can be controlled accordingly, ensuring the riding experience. BRIEF DESCRIPTION OF THE DRAWINGS
[0030] Figure 1 It is a schematic flowchart of an embodiment of the active suspension system control method of the present application;
[0031] Figure 2 It is a schematic diagram of the height change corresponding to consecutive image frames;
[0032] Figure 3 It is a schematic diagram of the functional modules of an embodiment of the active suspension system control device of the present application;
[0033] Figure 4 It is a schematic diagram of the hardware structure of the active suspension system control device involved in the solution of the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0034] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
[0035] To make the purpose, technical solution and advantages of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings.
[0036] In a first aspect, an embodiment of the present application provides an active suspension system control method.
[0037] In one embodiment, with reference toFigure 1 , Figure 1 is a schematic flowchart of an embodiment of the active suspension system control method of this application. As Figure 1 shown, the active suspension system control method includes:
[0038] Step S10, continuously obtain the height of the target component on the front vehicle perpendicular to the preset horizontal plane;
[0039] In this embodiment, the front camera of the vehicle can be used to continuously capture images along the direction of the vehicle's head, obtaining continuous image frames. When there is a vehicle A (i.e., the front vehicle) in front of the vehicle, the vehicle A will appear in a number of consecutive image frames. For example, if the vehicle A exists in image frames 1 to 100, then by analyzing each image frame, the height of the target component on the vehicle A perpendicular to the preset horizontal plane in each image frame can be determined. Among them, for the convenience of subsequent description, the height of the target component on the vehicle A perpendicular to the preset horizontal plane in image frame i is denoted as H i .
[0040] Among them, the target component is selected based on actual needs. For example, the target component can be selected as the rear bumper, rear wheel, taillight, etc.
[0041] Step S20, when the height changes in a preset trend, determine the position and flatness information of the road section that causes the height to change in the preset trend;
[0042] In this embodiment, when the front vehicle passes through a sunken or convex road surface, the height of its target component perpendicular to the preset horizontal plane will change in a specific trend. Based on this, when it is detected that the height of the target component on the front vehicle perpendicular to the preset horizontal plane changes in a preset trend, it can be determined whether the road section that causes the height to change in the preset trend is sunken or convex, and the sunken value and convex value can be determined.
[0043] In addition, as described above, H i corresponds to image frame i. By calculating image frame i through computer vision algorithms, the distance and azimuth of the front vehicle relative to the vehicle can be determined. Combining the positioning information of the vehicle (for example, obtaining its own longitude and latitude coordinates through the vehicle's GPS), the positioning information p of the front vehicle corresponding to image frame i can be determined i . When the H x to H y corresponding to image frames x to y change in a preset trend, the position of the road section that causes the height to change in the preset trend can be determined as p x to p y .
[0044] Step S30, control the active suspension system of the vehicle based on the position and flatness information.
[0045] In this embodiment, as described above, when determining px to p y Road segment R xy After the flatness information is obtained, the vehicle can pass through R xy Before, based on R xy The smoothness information controls the active suspension system of the vehicle, such as adjusting the suspension stiffness and / or height, so as to ensure that the vehicle passes R smoothly. xy .
[0046] In the embodiment of the present application, the height of the target component on the front vehicle perpendicular to the preset horizontal plane is continuously obtained; when the height changes in a preset trend, the position and flatness information of the road section causing the height to change in a preset trend are determined; based on the position and flatness information, the active suspension system of the vehicle is controlled. Through the embodiment of the present application, the flatness information of the road ahead is determined based on the change in the vertical direction of the target component on the front vehicle, which is not affected by the visual characteristics of the road surface and has a stronger anti-interference ability, thereby more accurately identifying the road ahead and controlling the active suspension system of the vehicle accordingly, ensuring the riding experience.
[0047] Further, in one embodiment, the road surface on which the vehicle is located is taken as a preset horizontal plane, and step S20 includes:
[0048] When the height changes in a first trend, determining a first position and a depression value of the road surface segment causing the height to change in the first trend, wherein the first trend is first decreasing and then increasing;
[0049] When the height changes in a second trend, a second position and a bulge value of the road surface segment causing the height to change in the second trend are determined, wherein the second trend is first rising and then falling.
[0050] In this embodiment, refer to Figure 2 , Figure 2 is a schematic diagram of the height change corresponding to the continuous image frames. Figure 2 As shown, the height H corresponding to the image frame 3 to the image frame 103 3 To H 103 If the first trend changes, it can be determined that the height H 3 To H 103 The first position of the road segment showing the first trend change is p 3 to p 103 . And H 3 To H 103 The minimum value H in min as the concavity value; or for H 3 To H 103 Take the average value P avg，1 As the concave value; it can also be H min or P avg，1 Make corrections and get the concave value.
[0051] As shown Figure 2 in the figure, the heights H 207 to H 307 corresponding to the image frames 207 to 307 change in a second trend, then it can be determined that the second position of the road surface section causing the heights H 207 to H 307 to change in the second trend is p 207 to p 307 . And taking the maximum value H 207 to H 307 in it as the protrusion value; or taking the average value P max of H 207 to H 307 as the protrusion value; it can also be to correct H avg，2 or P max or P avg，2 to obtain the protrusion value.
[0052] On this basis, it can be known which position in front of the vehicle has a depression and what the depression value is; or which position in front of the vehicle has a protrusion and what the protrusion value is. According to this information, the active suspension system of the vehicle can be controlled to ensure that the vehicle passes smoothly through the depression or protrusion position.
[0053] Further, in one embodiment, the target component is the rear wheel.
[0054] In this embodiment, considering that the active suspension system has been widely equipped on vehicles, that is, the vehicle in front is very likely to be equipped with an active suspension system, resulting in filtering out road noise through the active suspension system, that is, the vehicle in front has essentially passed through the depression or protrusion, but it cannot be reflected by the attitude change of the components on its vehicle body. Based on this, the rear wheel of the vehicle in front is preferentially used as the target component, and the undulation or pothole of the road surface is reflected by the attitude change of the rear wheel. For example, taking the middle position of the rear wheel of the vehicle in front as the detection point, and identifying the height of the detection point perpendicular to the preset horizontal plane based on the continuous image frames captured by the front view camera of the vehicle.
[0055] Among them, the model of the vehicle in front can be identified by the captured image of the vehicle in front, so as to judge whether the vehicle in front is equipped with an active suspension system based on the model.
[0056] Further, in one embodiment, the active suspension system control method further includes:
[0057] When the light intensity of the environment where the vehicle is located is lower than the preset value, detect whether the vehicle in front is equipped with an active suspension system;
[0058] If the vehicle in front is not equipped with an active suspension system, use the tail light as the target component.
[0059] In this embodiment, considering that when the light is dim, the clarity of the captured image is limited, and it may not be possible to accurately identify the wheels in the image, thus unable to determine the height of the wheels perpendicular to the preset horizontal plane. Therefore, when the light intensity of the environment where the vehicle is located (collected by the light sensor of the vehicle) is lower than the preset value, it is considered that the leading vehicle is also in a dim environment. Then, it is detected whether the leading vehicle is equipped with an active suspension system. Only when the leading vehicle is not equipped with an active suspension system, the taillight is used as the target component. In the case of dim light, the taillight is easier to identify from the picture compared to the wheels, thus ensuring the feasibility of this method and expanding the application scenarios.
[0060] Further, in one embodiment, the detecting whether the leading vehicle is equipped with an active suspension system includes:
[0061] Obtaining a picture of the leading vehicle taken by the imaging device; determining the vehicle model of the leading vehicle based on the picture; detecting whether the vehicle model exists in the preset model set; if not, determining that the leading vehicle is not equipped with an active suspension system.
[0062] In this embodiment, a vehicle model recognition model can be pre-trained. The picture of the leading vehicle taken is input into the vehicle model recognition model, and the output of the vehicle model recognition model is used as the vehicle model of the leading vehicle. Then, the models of the vehicles equipped with active suspension systems in the market are pre-put into the preset model set. If the vehicle model of the leading vehicle does not exist in the preset model set, it can be determined that the leading vehicle is not equipped with an active suspension system.
[0063] Further, it can also be that at least one component located on the vehicle body and at least one component not located on the vehicle body are used as target components. For example, using the rear bumper (located on the vehicle body), the rear wheel (not located on the vehicle body), and the taillight (located on the vehicle body) as target components. Then, for each image, the height of the rear bumper perpendicular to the preset horizontal plane (denoted as the first type of height), the height of the rear wheel perpendicular to the preset horizontal plane (denoted as the second type of height), and the height of the rear wheel perpendicular to the preset horizontal plane (denoted as the third type of height) can be determined. Among them, if there is a large difference between the road surface information determined according to the change trend of the second type of height and the road surface information determined according to the change trend of the first type of height / third type of height, it indicates that the leading vehicle filters the influence of road surface unevenness through the active suspension system, that is, it is determined that the leading vehicle is equipped with an active suspension system; on the contrary, if the road surface information determined according to the change trend of the second type of height is very close to the road surface information determined according to the change trend of the first type of height / third type of height, it is determined that the leading vehicle is not equipped with an active suspension system.
[0064] Further, the embodiments of the present application mainly use a front-view camera to continuously collect images, so as to continuously obtain the height of the target component on the preceding vehicle perpendicular to the preset horizontal plane. Considering that when the front-view camera changes in horizontal and vertical positions due to the bumpy road surface where the vehicle is located, the fluctuation of the entire detection screen will affect the accuracy of using the attitude of the preceding vehicle to judge the flatness information of the road surface. In response to this problem, the following three optimization schemes are designed to improve the judgment accuracy:
[0065] ①. A gyroscope sensor is arranged in the front-view camera to detect the position change of the front-view camera of the vehicle in the three-axis coordinates in real time, and then correct the collected image screen to ensure that the image screen remains horizontal based on the ground, so as to accurately judge the attitude of the preceding vehicle based on this.
[0066] ②. Before determining the height based on the image, an image correction algorithm is added. When it is detected that the overall vertical position of the image screen deviates from the horizontal road surface, digital correction is performed to ensure that the overall vertical position of the image screen relative to the horizontal road surface always remains without displacement or has a small displacement.
[0067] ③. The vehicle should achieve good active suspension adjustment through this method, so as to ensure that the front-view camera of the vehicle always remains horizontal in the vertical position. At the same time, an evaluation feedback mechanism is provided. After each suspension adjustment, the three-axis displacement of the gyroscope sensor is combined with the actual adjustment amount of the suspension to evaluate the effectiveness of this adjustment in real time, and this feedback information is transmitted back to the image correction algorithm to achieve negative feedback correction.
[0068] In a second aspect, the embodiments of the present application further provide an active suspension system control device.
[0069] In one embodiment, referring to Figure 3 , Figure 3 is a schematic diagram of the functional modules of an embodiment of the active suspension system control device of the present application. As Figure 3 shown, the active suspension system control device includes:
[0070] An acquisition module 10, configured to continuously acquire the height of the target component on the preceding vehicle perpendicular to the preset horizontal plane;
[0071] A determination module 20, configured to determine the position and flatness information of the road section that causes the height to change in a preset trend when the height changes in a preset trend;
[0072] A control module 30, configured to control the active suspension system of the vehicle based on the position and flatness information.
[0073] Further, in one embodiment, taking the road surface where the vehicle is located as the preset horizontal plane, the determination module 20 is specifically configured to:
[0074] When the height changes in a first trend, determine the first position and the depression value of the road surface section that causes the height to change in the first trend, where the first trend is to decrease first and then increase;
[0075] When the height changes in a second trend, determine the second position and the protrusion value of the road surface section that causes the height to change in the second trend, where the second trend is to increase first and then decrease.
[0076] Further, in one embodiment, the target component is the rear wheel.
[0077] Further, in one embodiment, the active suspension system control device further includes a component selection module, which is used for:
[0078] When the light intensity of the environment where the vehicle is located is lower than a preset value, detect whether the vehicle in front is equipped with an active suspension system;
[0079] If the vehicle in front is not equipped with an active suspension system, use the taillight as the target component.
[0080] Further, in one embodiment, the selection module is used for:
[0081] Obtain the picture taken by the camera device of the vehicle in front;
[0082] Determine the vehicle model of the vehicle in front based on the picture;
[0083] Detect whether the vehicle model exists in the preset model set;
[0084] If it does not exist, determine that the vehicle in front is not equipped with an active suspension system.
[0085] Wherein, the function implementation of each module in the above active suspension system control device corresponds to each step in the above embodiment of the active suspension system control method, and its function and implementation process will not be elaborated here one by one.
[0086] In a third aspect, an embodiment of the present application provides an active suspension system, and the active suspension system includes the active suspension system control device as described in the second aspect.
[0087] In a fourth aspect, an embodiment of the present application provides a vehicle, and the vehicle includes the active suspension system as described in the third aspect.
[0088] In a fifth aspect, an embodiment of the present application provides an active suspension system control device, and the active suspension system control device may be an automotive electronic control unit ECU.
[0089] Refer to Figure 4 , Figure 4This is a schematic diagram of the hardware structure of the active suspension system control device involved in the solution of the embodiment of the present application. In the embodiment of the present application, the active suspension system control device may include a processor, a memory, a communication interface, and a communication bus.
[0090] Among them, the communication bus can be of any type and is used to interconnect the processor, the memory, and the communication interface.
[0091] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces, etc., which are used to interconnect the components inside the active suspension system control device, as well as interfaces used to interconnect the active suspension system control device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.
[0092] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.
[0093] The processor can be a general-purpose processor, and the general-purpose processor can call the active suspension system control program stored in the memory and execute the active suspension system control method provided by the embodiment of the present application. For example, the general-purpose processor can be a central processing unit (CPU). Among them, for the method executed when the active suspension system control program is called, reference can be made to the various embodiments of the active suspension system control method of the present application, which will not be elaborated here.
[0094] Those skilled in the art can understand that Figure 4 the hardware structure shown in does not constitute a limitation to the present application, and may include more or fewer components than shown, or combine some components, or have different component arrangements.
[0095] In a sixth aspect, the embodiment of the present application further provides a computer-readable storage medium.
[0096] A control program for an active suspension system is stored on a computer-readable storage medium of the present application. When the control program for the active suspension system is executed by a processor, the steps of the active suspension system control method as described above are implemented.
[0097] Among them, the method implemented when the control program for the active suspension system is executed can refer to each embodiment of the active suspension system control method of the present application, which will not be elaborated here.
[0098] It should be noted that the serial numbers of the embodiments of the present application above are only for description and do not represent the superiority or inferiority of the embodiments.
[0099] The terms "including" and "having" and any variations thereof in the specification, claims and drawings of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products or devices. The descriptions of terms such as "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequential order, nor do they limit that "first", "second" and "third" are different types.
[0100] In the description of the embodiments of the present application, terms such as "exemplary", "for example" or "for instance" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of terms such as "exemplary", "for example" or "for instance" is intended to present related concepts in a specific manner.
[0101] In the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B; "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.
[0102] In some processes described in the embodiments of the present application, a plurality of operations or steps appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.
[0103] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes several instructions for causing a terminal device to execute the methods described in various embodiments of the present application.
[0104] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.
Claims
1. A control method for an active suspension system, characterized in that: The active suspension system control method comprises: Continuously obtain the height of the target component on the front vehicle perpendicular to the preset horizontal plane; When the height changes in a preset trend, determining the position and flatness information of the road section causing the height to change in the preset trend; An active suspension system of the vehicle is controlled based on the position and flatness information.
2. The active suspension system control method according to claim 1, characterized in that: Taking the road surface on which the vehicle is located as a preset horizontal plane, when the height changes in a preset trend, determining the position and flatness information of the road surface segment causing the height to change in the preset trend includes: When the height changes in a first trend, determining a first position and a depression value of the road surface segment causing the height to change in the first trend, wherein the first trend is first decreasing and then increasing; When the height changes in a second trend, a second position and a bulge value of the road surface segment causing the height to change in the second trend are determined, wherein the second trend is first rising and then falling.
3. The active suspension system control method according to claim 1, characterized in that: The target component is the rear wheel.
4. The active suspension system control method according to claim 3, characterized in that: The active suspension system control method further includes: When the light intensity of the vehicle's environment is lower than a preset value, detect whether the vehicle ahead is equipped with an active suspension system; If the preceding vehicle is not equipped with an active suspension system, the taillights are used as the target component.
5. The active suspension system control method according to claim 4, characterized in that: The detecting whether the preceding vehicle is equipped with an active suspension system comprises: Obtaining a picture taken by a camera device of the vehicle in front; determining the vehicle model of the preceding vehicle based on the image; Detecting whether the vehicle model exists in a preset model set; If not present, it is determined that the vehicle ahead is not equipped with an active suspension system.
6. An active suspension system control device, characterized in that: The active suspension system control device comprises: An acquisition module, used for continuously acquiring the height of the target component on the preceding vehicle perpendicular to a preset horizontal plane; A determination module, used for determining the position and flatness information of the road section causing the height to change in the preset trend when the height changes in the preset trend; A control module is used to control an active suspension system of the vehicle based on the position and flatness information.
7. An active suspension system, characterized in that: The active suspension system includes the active suspension system control device as claimed in claim 6.
8. A vehicle, characterized in that: The vehicle includes the active suspension system of claim 7.
9. An active suspension system control device, characterized in that: The active suspension system control device includes a processor, a memory, and an active suspension system control program stored in the memory and executable by the processor, wherein when the active suspension system control program is executed by the processor, the steps of the active suspension system control method as described in any one of claims 1 to 5 are implemented.
10. A computer-readable storage medium, characterized in that: An active suspension system control program is stored on the computer-readable storage medium, wherein when the active suspension system control program is executed by the processor, the steps of the active suspension system control method according to any one of claims 1 to 5 are implemented.