Active damping adjusting method for hydraulic suspension system

Abstract

The invention discloses an active damping adjustment method for a hydraulic suspension system, which comprises the following steps of: receiving vehicle camera and radar signals, and receiving vehicle state information during vehicle running; a computer image recognition technology is used, object information of a front road surface is extracted, the object information comprises normal objects and special objects, the normal objects are excluded from a subsequent damping algorithm, and the special objects are reserved to the subsequent damping algorithm; the pavement information comprises pavement material information and pavement quality information; and before the vehicle arrives at the road surface of which the information is collected, the target damping finally used by the suspension is calculated according to the vehicle state information, the object information and the road surface information, the opening degree of an inner control electromagnetic valve of the hydraulic suspension is adjusted, and the damping of the hydraulic suspension is set to be a specified value. According to the invention, damping pre-adjustment can be realized in advance, and the comfort level of vehicle driving can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of automotive suspensions, and particularly to a method for actively adjusting the damping of a hydraulic suspension system. Background Art

[0002] The hydraulic suspension system is a key component of automotive suspension technology. It transmits force and motion through the flow of hydraulic oil to achieve vehicle shock absorption and buffering. The hydraulic suspension system has significant advantages in improving the comprehensive performance of vehicles, especially suitable for high-end vehicles and special vehicles that pursue handling, comfort, and safety. Despite cost and technical challenges, with the development of materials science and intelligent control technology, its application scenarios will continue to expand. The existing methods for actively adjusting the damping of hydraulic suspension systems are relatively fixed, and there are certain limitations in the adjustment of damping. Summary of the Invention

[0003] The present invention provides a method for actively adjusting the damping of a hydraulic suspension system to solve the technical problems mentioned in the background art.

[0004] A method for actively adjusting the damping of a hydraulic suspension system, the method comprising the following steps:

[0005] Step S1: Receive signals from vehicle cameras and radars, and receive vehicle state information during vehicle driving. The vehicle state information includes vehicle speed information, vehicle acceleration information, current suspension damping information of the vehicle, and vehicle angular velocity information, etc.;

[0006] Step S2: Use computer image recognition technology to extract object information on the road surface ahead. The object information includes normal objects and special objects. The normal objects include other vehicles and obstacles (such as safety piles, tripods, etc.), and the normal objects are excluded from the subsequent damping algorithm; the special objects include speed bumps and puddles, etc., and the special objects are retained for the subsequent damping algorithm. The object information includes distance information and size information;

[0007] Step S3: Extract road surface information from the pictures collected by the vehicle camera. The road surface information includes road surface material information and road surface quality information. Among them, the road surface material information includes cement, asphalt, gravel, etc., and the road surface quality information includes the number of road surface cracks and flatness;

[0008] Step S4: Before the vehicle reaches the road surface where the information was previously collected, calculate the target damping finally used by the suspension according to the vehicle state information, object information, and road surface information, adjust the opening of the internal control solenoid valve of the hydraulic suspension, and set the hydraulic suspension damping to a specified value. This step needs to consider the difference between the current damping of the hydraulic suspension and the target damping, so that the hydraulic suspension just completes the adjustment when the vehicle reaches the specified road surface.

[0009] As a further technical solution of the present invention, during the early development of the suspension, calibrate various different working states of the suspension according to the measured results, and calculate the current suspension damping by means of linear interpolation. The linear interpolation method also reduces the calculation amount and improves the system response speed.

[0010] As a further technical solution of the present invention, the state information of the vehicle can be obtained by the domain control system through the CAN bus, or can be obtained by the suspension system itself through sensors.

[0011] As a further technical solution of the present invention, in step S1, when the vehicle is collected to enter the low-speed driving state, the damping adjustment function of the hydraulic suspension will be turned off, that is, the damping of the hydraulic suspension will only be activated when the vehicle speed reaches the preset threshold.

[0012] As a further technical solution of the present invention, in step S2, the system needs to calculate the turning angle in the forward road according to the bending degree of the forward lane line (or the road edge). When the turning angle (vehicle speed / turning radius) reaches a specified degree, the suspension damping adjustment will be activated.

[0013] As a further technical solution of the present invention, the maximum road surface drop is calculated as the road surface flatness. In addition, if the road surface material is gravel, sand, etc., the suspension damping coefficient needs to be adjusted to be slightly less than the calculated damping coefficient (generally adjusted to be between 1.1 and 1.2 times according to experience).

[0014] As a further technical solution of the present invention, in step S4, when calculating the target damping finally used by the suspension according to the vehicle state information, object information and road surface information, calculate the damping coefficient finally used by the suspension in the form of a conversion coefficient. For example, when the vehicle is at high speed and the vehicle road surface mass is low, generally it is necessary to appropriately increase the suspension damping to reduce the vehicle bumpiness. The specific conversion coefficient is generally determined by empirical calculation or actual testing by vehicle experience engineers.

[0015] As a further technical solution of the present invention, in step S3, the road surface distance collected in advance by the vehicle camera can be automatically adjusted according to the current vehicle speed, acceleration information, etc., and appropriate adjustment time is reserved for the vehicle damping adjustment.

[0016] As a further technical solution of the present invention, in step S4, the hydraulic suspension adjusts the hydraulic suspension damping by controlling the hydraulic oil flow rate between the upper and lower hydraulic chambers through the solenoid valve opening degree.

[0017] The beneficial effects achieved by the present invention:

[0018] The present invention provides a method for actively adjusting the damping of a hydraulic suspension system, which can realize the pre-adjustment of the damping in advance and can effectively improve the comfort of vehicle driving. Description of the Drawings

[0019] Figure 1 It is a flowchart of an active damping adjustment method for a hydraulic suspension system. Specific implementation manners

[0020] The technical solution of the present invention will be described in detail below in conjunction with specific drawings.

[0021] Please refer to Figure 1 , the embodiment of the present invention provides an active damping adjustment method for a hydraulic suspension system, and the method includes the following steps:

[0022] Step S1: Receive signals from vehicle cameras and radars, and receive vehicle state information during vehicle driving. The vehicle state information includes vehicle speed information, vehicle acceleration information, suspension damping information of the current vehicle, vehicle angular velocity information, etc. The vehicle camera collects road surface videos, extracts frames from the videos into pictures, and further processes the pictures, including but not limited to contour extraction;

[0023] Step S2: Use computer image recognition technology to extract object information on the front road surface. The object information includes normal objects and special objects. The normal objects include other vehicles and obstacles (such as safety piles, tripods, etc.), and the normal objects are excluded from the subsequent damping algorithm; the special objects include speed bumps and puddles, etc., and the special objects are retained for the subsequent damping algorithm. The object information includes distance information and size information;

[0024] Step S3: Extract road surface information from the pictures collected by the vehicle camera. The road surface information includes road surface material information and road surface quality information. Among them, the road surface material information includes cement, asphalt, gravel, etc., and the road surface quality information includes the number of road surface cracks and flatness;

[0025] Step S4: Before the vehicle reaches the road surface where the information was previously collected, calculate the target damping finally used by the suspension according to the vehicle state information, object information, and road surface information, adjust the opening of the internal control solenoid valve of the hydraulic suspension, and set the hydraulic suspension damping to a specified value. This step needs to consider the difference between the current damping of the hydraulic suspension and the target damping, so that the hydraulic suspension just completes the adjustment when reaching the specified road surface of the vehicle.

[0026] In the early development process of the suspension in this embodiment, calibrate various different working states of the suspension according to the measured results. For example, calibrate the damping values for the highest suspension and the maximum solenoid valve opening, the specified height of the suspension and the specified opening of the solenoid valve, etc. Calculate the current suspension damping by means of linear interpolation. The linear interpolation method also reduces the calculation amount and improves the system response speed. Calculate the difference according to the calibration results, and calculate the target damping finally used by the suspension according to the vehicle state information, object information, and road surface information.

[0027] The status information of the vehicle in this embodiment can be received from the domain control system via the CAN bus, or can be obtained by the suspension system itself through sensors.

[0028] In step S1 of this embodiment, when the vehicle is detected to enter the low-speed driving state, that is, the vehicle speed is less than a certain threshold (the threshold can be configured), for example, 20 km / h, the damping adjustment function of the hydraulic suspension will be turned off, that is, the damping of the hydraulic suspension will only be activated when the vehicle speed reaches the preset threshold.

[0029] In this embodiment, in step S2, the system needs to calculate the turning angle in the forward road according to the curvature of the forward lane line (or the road edge). When the turning angle (vehicle speed / turning radius) reaches a specified degree, the suspension damping adjustment will be activated.

[0030] In this embodiment, the maximum road surface drop is calculated as the road surface flatness. In addition, if the road surface material is gravel, sand, etc., the suspension damping coefficient needs to be adjusted to be slightly less than the calculated damping coefficient (generally adjusted to be between 0.7 and 0.9 times according to experience).

[0031] In step S4 of this embodiment, when calculating the target damping finally used by the suspension according to the vehicle status information, object information, and road surface information, the damping coefficient finally used by the suspension is calculated in the form of a conversion coefficient. For example, when the vehicle is at high speed and the vehicle road surface quality is low, it is generally necessary to appropriately increase the suspension damping to reduce the vehicle jolting degree. The specific conversion coefficient is generally determined by empirical calculation or actual testing by vehicle experience engineers.

[0032] In step S3 of this embodiment, the road surface distance collected in advance by the vehicle camera can be automatically adjusted according to the current vehicle speed, acceleration information, etc., to appropriately reserve adjustment time for vehicle damping adjustment.

[0033] In step S4 of this embodiment, the hydraulic suspension adjusts the hydraulic suspension damping by controlling the hydraulic oil flow rate between the upper and lower hydraulic chambers through the solenoid valve opening degree between them.

[0034] Another object of the present invention is to provide an active damping adjustment system for a hydraulic suspension system, including a vehicle camera and a radar; the vehicle camera and radar can obtain the road surface environment information where the vehicle is located on the basis of computer vision, including road surface material, road surface quality, and technical indicators related to suspension damping; it also includes a vehicle acceleration sensor, an integrated solenoid valve, upper and lower hydraulic chambers, a hydraulic spring with multiple accessories such as a motor and a liquid storage tank; at the same time, this system can also be interconnected with the vehicle central domain control in the way of CAN and in-vehicle Ethernet to receive personalized adjustment commands from users.

[0035] Allow the driver to make an overall coefficient adjustment to the above damping calculation results through the central domain control to improve the driver's own driving experience.

[0036] An embodiment of the present invention further provides a vehicle, including the above-mentioned hydraulic suspension damping active adjustment system.

[0037] It should be noted that in this article, the term "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0038] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A method for actively adjusting the damping of a hydraulic suspension system, characterized in that, The method includes the following steps: Step S1: Receive the signals from the vehicle camera and radar, and receive the vehicle state information during vehicle driving. The vehicle state information includes vehicle speed information, vehicle acceleration information, suspension damping information of the current vehicle, and angular velocity information of the vehicle; Step S2: Use computer image recognition technology to extract the object information of the road ahead. The object information includes normal objects and special objects. The normal objects include other vehicles and obstacles, and the normal objects are excluded from the subsequent damping algorithm; the special objects include speed bumps and puddles, and the special objects are reserved for the subsequent damping algorithm. The object information includes distance information and size information; Step S3: Extract the road surface information from the pictures collected by the vehicle camera. The road surface information includes road surface material information and road surface quality information. Among them, the road surface material information includes cement, asphalt, and gravel, and the road surface quality information includes the number of road surface cracks and flatness; Step S4: Before the vehicle reaches the road surface where information is collected, calculate the target damping finally used by the suspension according to the vehicle state information, object information, and road surface information, adjust the opening degree of the internal control solenoid valve of the hydraulic suspension, and set the hydraulic suspension damping to a specified value. This step needs to consider the difference between the current damping of the hydraulic suspension and the target damping, so that the hydraulic suspension just completes the adjustment when it reaches the specified road surface of the vehicle.

2. The active damping adjustment method of a hydraulic suspension system according to claim 1, characterized in that During the early development process of the suspension, calibrate various different working states of the suspension according to the measured results, and calculate the current suspension damping by means of linear interpolation. The linear interpolation method also reduces the calculation amount and improves the system response speed.

3. The active damping adjustment method of a hydraulic suspension system according to claim 1, characterized in that The state information of the vehicle can be received by the domain control system through the CAN bus, or can be obtained by the suspension system itself through sensors.

4. A method for actively adjusting the damping of a hydraulic suspension system according to claim 1, characterized in that In step S1, when the vehicle collected enters the low-speed driving state, the damping adjustment function of the hydraulic suspension will be turned off, that is, the damping of the hydraulic suspension will only be activated when the vehicle speed reaches the preset threshold.

5. A method for actively adjusting the damping of a hydraulic suspension system according to claim 1, characterized in that, In step S2, the system needs to calculate the turning angle in the road ahead according to the bending degree of the lane line ahead. When the turning angle reaches a specified degree, the suspension damping adjustment will be activated.

6. A method for actively adjusting the damping of a hydraulic suspension system according to claim 1, characterized in that The maximum road surface drop is calculated as the road surface flatness.

7. A method for actively adjusting the damping of a hydraulic suspension system according to claim 1, characterized in that, In step S4, when calculating the target damping finally used by the suspension according to the vehicle state information, object information, and road surface information, calculate the damping coefficient finally used by the suspension in the form of a conversion coefficient.

8. A method for actively adjusting the damping of a hydraulic suspension system according to claim 1, characterized in that, In step S3, the road surface distance collected in advance by the vehicle camera is automatically adjusted according to the current vehicle speed and acceleration information to reserve adjustment time for vehicle damping adjustment.

9. A method for actively adjusting the damping of a hydraulic suspension system according to claim 1, characterized in that, In step S4, the hydraulic suspension adjusts the hydraulic suspension damping by controlling the flow rate of the hydraulic oil between the upper and lower hydraulic chambers through the opening degree of the solenoid valve between them.

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