126 results about "Road roughness" patented technology

The invention discloses a multi-mode rainy day area road flatness detection method by means of Carla training, and relates to the technical field of road flatness detection, and the method comprises the steps: collecting real rainy day road surface images and vehicle parameters, and constructing a real data set; a rainy day scene is simulated in Carla, and terrain, wet and slippery materials and weather are configured; the method comprises the following steps: acquiring multi-modal data such as simulation point cloud and acceleration through a laser radar and a vibration sensor, and constructing a simulation data set; fusing real and simulation data to train a multi-modal neural network; extracting and fusing point cloud and acceleration features; road height variances and ranges are predicted to assess flatness. According to the method, the problem of scarcity of real data in a rainy day environment is solved by using Carla to generate synthetic data, the real acquisition cost is reduced, the detection precision is remarkably improved, various rainfall intensities and terrains can be covered, data complementation of the laser radar and the vibration sensor is realized, and the robustness in a rainy day is improved through dynamic weighting of an attention mechanism.

The invention discloses an automobile semi-active suspension PID parameter adaptive adjustment and vibration control method and system based on reinforcement learning, and the method mainly comprises the following working steps: 1, constructing a reinforcement learning environment comprising a suspension dynamics high-fidelity simulation model and a PID controller; 2, defining a state space including a vehicle body vertical acceleration error e (t), an error integral term summa e (t) dt, an error differential term de (t) / dt, a suspension dynamic stroke zdef (t), a driving vehicle speed v (t) and road surface unevenness estimation xi (t); and 3, defining an action space including a proportion coefficient increment delta Kp, an integral coefficient increment delta Ki, a differential coefficient increment delta Kd and an output compensation amount delta e (t) of the PID controller. According to the method, the problem that the suspension performance is reduced due to the fact that control parameters of a traditional PID control method are fixed under the non-linear and time-varying working conditions is solved, and the riding comfort and the handling stability of the vehicle are remarkably improved.

The invention provides a multi-strategy road flatness detection method, which comprises the following steps of: (1) updating and correcting acceleration data acquired and measured by an acceleration sensor of a vehicle-mounted smart phone in real time by adopting an attitude self-correction algorithm so as to adapt to the dynamic change of a vehicle in a driving process; (2) utilizing a multi-scale fuzzy entropy algorithm to carry out multi-scale processing on measurement data which is collected by a vehicle-mounted smart phone and reflects the road flatness in a vehicle driving process, constructing a road flatness representation model, and combining global features and local features; and (3) adopting a self-attention mechanism convolutional neural network to carry out road flatness identification on acceleration data collected by a vehicle-mounted smart phone in a vehicle driving process. According to the invention, real-time accurate detection of the road flatness can be well realized.

The invention discloses a municipal road detection system which comprises a combined frame, a vehicle combined frame is welded and fixedly mounted on the right side of the combined frame, a mounting hole is formed in the vehicle combined frame, a supporting frame is welded and fixedly mounted on the inner side of a border of the combined frame, and a supporting wheel frame is mounted on a center bearing of the inner side of the supporting frame. A driving sensor is fixedly installed on the outer side of a support of the supporting wheel frame in a sleeving mode, a rolling wheel is fixedly installed at the tail end of the support of the supporting wheel frame in a welded mode, and a connecting rod is fixedly installed on the bottom face of the left end of the combined frame. According to the municipal road detection system, the municipal road surface can be rolled for the first time through running of the rolling wheels, and when the municipal road changes due to pressure applied by the rolling wheels, the road flatness is detected through the laser radar subsequently, and crack characteristics of the municipal road surface are detected and analyzed through the ultrasonic sensor and the high-definition camera; and detecting data information generated after the road surface of the municipal road is pressed.

The invention relates to the technical field of road flatness detection, and particularly discloses a road flatness detection method and system based on laser scanning, and the method comprises the steps: S1, controlling a mobile carrier to move on a road at a preset constant speed, enabling a laser scanner to collect the coordinate information of a road surface at a preset frequency, the acceleration sensor collects acceleration information of the laser scanner in the vertical direction in real time; when the road flatness of the corresponding road section is judged to be possibly substandard according to preliminary analysis, whether the road section needs to be repaired or not is further judged, so that the computing power demand of an analysis control module in the road flatness detection process can be effectively reduced; the cost of road flatness detection is reduced, the risk of crash of the analysis control module is reduced, a proper vehicle speed is ensured in the flatness detection process of the driving carrier on the expressway, and potential traffic safety hazards caused by low-speed driving are avoided.

The invention discloses a vehicle semi-active suspension heaven and earth shed control method and system, electronic equipment and a medium, and the method comprises the steps: determining a heaven shed control damping force according to a sprung vertical speed, a sprung vertical speed and a heaven shed damping coefficient, and determining an earth shed control damping force according to the sprung vertical speed, the sprung vertical speed and an earth shed damping coefficient; the road roughness is determined according to the vehicle body pitch angle speed, the vehicle body roll angle speed, the sprung vertical acceleration and the sprung vertical speed; determining a damper operation mode according to the driving mode, and determining a heaven and earth shed distribution coefficient according to the road roughness and the damper operation mode; target damping force is determined according to the ceiling control damping force, the ground ceiling control damping force and the ceiling and ground ceiling distribution coefficient, and then vibration reduction control is conducted on the current vehicle according to the target damping force. According to the method, the accuracy of vehicle semi-active suspension control is improved, so that the riding comfort, the handling stability and the driving safety of the vehicle are improved, and the method can be applied to the technical field of vehicle control.

The invention is suitable for the technical field of vehicle dynamics modeling and control, and provides a preview active suspension stiffness control method based on road surface grading and MAP mapping, and the method comprises the steps: collecting a road image through a vehicle-mounted visual sensor, dividing regions, and recognizing the road surface unevenness grade of each region through a convolutional neural network; obtaining the vehicle speed; and according to the current pavement grade and the vehicle speed, a vehicle speed-pavement grade-rigidity mapping MAP table generated in advance is inquired, and the target suspension rigidity is rapidly obtained and adjusted. According to the invention, the dependence on a high-precision sensor and a high-computing-power processor is reduced, and low-cost and fast-response rigidity optimization control of the preview active suspension is realized.

The invention discloses a vehicle air suspension height compensation method, device and equipment and a storage medium. Firstly, the driving state of a target vehicle, the road surface unevenness and the current heights (including the heights of the right front air bag, the left front air bag, the right rear air bag and the left rear air bag) of four air bags can be obtained. The average height of the front axle is then calculated from the heights of the right front and left front airbags, and the compensated height of the front axle is determined in conjunction with the target airbag height. Then, the right front air bag and the left front air bag are adjusted according to the compensated height, and balance of the front axle is ensured. And for the rear axle, the driving state of the vehicle, the road surface unevenness, the target height of the air bags and the current height of the right rear air bag and the current height of the left rear air bag are considered, and then corresponding height compensation is conducted on the two air bags of the rear axle. When the vehicle runs on different road shoulders, height compensation control between the air bags can be achieved, so that the heights of the four air bags are effectively coordinated, it is ensured that the vehicle body is kept balanced, and then driving safety and comfort are improved.

The invention provides a real-time multi-mode emergency patient treatment path intelligent matching method, an electronic device and a storage medium, and the method comprises the steps: obtaining the micro-strain wavelength offset and body surface pressure data of an intelligent textile in a body position movement process of a trauma patient in real time through an embedded fiber Bragg grating sensor; in combination with multi-axis acceleration data acquired by a multi-axis acceleration sensor on the transfer stretcher, generating a body surface pressure gradient distribution thermodynamic diagram; determining the position of a wound surface and extracting taboo bumping spectrum features; generating an initial candidate path set based on the bump frequency forbidden zone and a road roughness label in the electronic map, and screening out an optimal navigation path according to a turning centrifugal force threshold value; the moving speed of the transfer vehicle is obtained in real time through the vehicle-mounted positioning module, the transmission channel bandwidth of the preset broadcast channel is dynamically adjusted, and the optimal navigation path is sent to other terminals. According to the invention, the accuracy and real-time performance of the transfer path planning of the traumatic patient are improved.

The present invention discloses a laser radar device for detecting the flatness of a road, wherein: a fixed component is installed on a railing on the side of a road, a crossbar is installed between two fixed components; a mobile platform moves along the crossbar to detect the flatness of the road; two fixed seats are relatively clamped on the railing for fixing; a mounting seat is installed on one side of the fixed seat; a clamping piece for fixing the crossbar is installed on the mounting seat; the mobile platform is movably installed on the crossbar or the clamping piece, and a detector is installed on the outer side of the mobile platform close to the road; a laser radar and a camera are installed on one surface of the detector. The present invention fixes the crossbar on the railing on the side of the road by setting a fixed component, and by setting a fixed groove composed of a step groove and an arc groove, the fixed seat can be fixed on railings of different shapes, thereby expanding the use range of the device, and the road flatness is detected by setting a mobile platform loaded with a laser radar.

The invention provides a multi-modal fusion road flatness intelligent detection method and system, and relates to the technical field of road flatness intelligent detection.The method comprises the steps that reflection spectrum information and radar echoes of a to-be-detected road are collected, and recombined spectrum data and normalized radar data are obtained through wave band recombination and normalization processing; separating material component information from the former, identifying a pavement ponding area from the latter, and fusing to generate a composite feature map; carrying out super-resolution processing on the image by using a generative adversarial network to obtain a processed feature map containing concave-convex numerical values of each sampling point; and finally, carrying out cooperative calculation on the image and elevation data of the road to be detected, generating a flatness evaluation result, and realizing intelligent detection and evaluation of the road flatness through multi-modal data fusion and super-resolution processing.

The invention discloses a road unevenness estimation method based on a vehicle acceleration signal, and relates to the technical field of vehicle engineering. According to the method, a nonlinear whole vehicle model based on polynomial fitting tire and damper nonlinear dynamic characteristic experimental data is provided, a data set of the model is used for training an NARX neural network, and an efficient road unevenness estimation system is established; a G-NARX neural network model more suitable for random excitation is also used, and the G-NARX model shows better performance in the aspect of road unevenness estimation. The road unevenness classification system collects vertical acceleration signals through vehicle-mounted acceleration and then inputs the signals into a neural network to calculate the root-mean-square of the road space power spectral density so as to realize road unevenness estimation. On-site tests are carried out on three typical road surfaces of the Chengdami city of Hubei province in China, and the robustness of a road unevenness estimation system of the model is proved.

The invention discloses a vehicle torque adjusting method and device and a storage medium, and relates to the technical field of torque adjusting.The method comprises the steps that acceleration data and wheel speed data of a vehicle in the driving process are obtained; determining a vertical motion sickness coefficient according to the acceleration data; determining a pavement roughness coefficient according to the wheel speed data; and according to the pavement roughness coefficient and the vertical motion sickness coefficient, the current demand torque of the vehicle is filtered, and the target demand torque is obtained. The road condition and the carsickness condition of a user are comprehensively considered, so that the required torque of the vehicle is dynamically adjusted according to the road roughness coefficient and the vertical motion sickness coefficient, the torque adjusting effect is improved, sudden power change caused by sudden road change or driving behaviors is reduced, stable operation of a vehicle power system is kept, and the driving safety of the vehicle is improved. And the driving comfort is improved according to the carsickness degree of the passenger while the performance of each driving mode is not influenced.

The utility model relates to road detection technical field especially, it relates to a road flatness intelligent detection device, including main control circuit, multichannel capacitance sensor array, electromagnetic shield casing, the multichannel capacitance sensor array is by the multiple capacitive proximity sensor that is arranged in matrix, is fixed in detection device bottom, the multichannel capacitance sensor array adopts differential type measurement structure, and is equipped with the isolation drive ring between adjacent capacitive proximity sensor, the signal conditioning circuit is connected between the multichannel capacitance sensor array and main control circuit, the inertia measurement unit is connected to main control circuit, the electromagnetic shield casing covers the device, adopts the layered shielding structure, contains at least one conducting layer and a layer electromagnetic shield layer, and is connected through multipoint earthing between layers, the utility model can adopt multichannel capacitance sensor array and realize high accuracy, non -contact type measurement, and through the electromagnetic shield design, temperature compensation and attitude change compensation of the target ensure measurement stability.

The invention relates to the technical field of road building materials, in particular to anti-ultraviolet aging asphalt and a preparation method thereof.The anti-ultraviolet aging asphalt is prepared from matrix asphalt, composite modified rubber, reinforcing filler, antioxidant and stearamide, the preparation method comprises the steps that A, after the matrix asphalt is heated and stirred to be uniform, the stearamide is added, stirring continues to be conducted, and pretreated asphalt is obtained; step B, adding composite modified rubber into the pretreated asphalt, adjusting the temperature to 170-190 DEG C, performing high-speed shearing, adding a reinforcing filler, keeping the temperature to 160-170 DEG C, performing high-speed shearing, cooling to 140-150 DEG C, adding an antioxidant, and uniformly stirring to obtain an asphalt intermediate; step C, performing constant-temperature curing on the asphalt intermediate, and naturally cooling to normal temperature to obtain the anti-ultraviolet aging asphalt. The prepared anti-ultraviolet aging asphalt has excellent anti-ultraviolet aging capability, so that the performance degradation caused by environmental factors can be reduced, and the flatness and comfort of a road are improved.

The application discloses a kind of based on multi-angle weighting correction's road surface flatness measurement method and system, it is related to data measurement technical field, method includes: obtaining to be measured section and measurement route, obtain laser sensor, the elevation data of measurement point in measurement route is collected;Obtain initial weight coefficient, obtain the reflection intensity of laser sensor, according to the reflection intensity of the laser sensor corresponding to measurement point the correction coefficient of the laser sensor corresponding to measurement point is obtained;According to the correction coefficient of the laser sensor corresponding to measurement point and initial weight coefficient, the target weight coefficient of the laser sensor corresponding to measurement point is obtained;According to the target weight coefficient of the laser sensor corresponding to measurement point and elevation data, the target elevation data corresponding to measurement point is obtained, according to the target elevation data of measurement point in measurement route, the road surface flatness of to be measured section is obtained.The application has the advantages of dynamic self-adaptability, weighted fusion and tolerance expansion optimization.

The present invention relates to the technical field of road pavement slabs, and to a road pavement slab. The road pavement slab comprises a pavement slab body. Connecting rod members are evenly arranged and spaced apart in the pavement slab body. The connecting rod members are variable-diameter rods; a thin end of each variable-diameter rod is a solid rod, and a thick end thereof is provided with a deep connecting hole. The solid rod at the thin end of one connecting rod member can be in fit connection with the deep connecting hole at the thick end of the another connecting rod member. The connecting rod members are embedded in the pavement slab body, the thin ends extend from one end surface of the pavement slab body, and the end portions of the thick ends are flush with the opposite end surface of the pavement slab body. The advantages of the present invention are: low cost and a high pavement speed are achieved; a paved road has high flatness and good stability, is not prone to damage and is suitable for a vehicle to pass through; and the road pavement slab is particular suitable for rapid pavement in rural areas to improve road conditions.

The utility model discloses a rapid road flatness detection device, which relates to the technical field of road flatness detection and comprises a handheld part, a detection mechanism main body, a driving wheel and a driven wheel, the handheld part is fixedly connected with the detection mechanism main body, and the driving wheel and the driven wheel are driven in the detection mechanism main body through a motor driving conveyor belt. A balance sensor is fixedly connected between the first arc-shaped plate and the second arc-shaped plate and makes contact with the ground, the first arc-shaped plate and the second arc-shaped plate are fixedly connected with the two material collecting bins respectively, and buffering cloth is evenly installed on the material collecting bins and made of elastic materials. According to the utility model, two sets of independent use systems are arranged in the detection mechanism main body, so that normal use detection under outdoor or power-off conditions is avoided, and meanwhile, the detection mechanism can automatically steer and collect foreign matters on a road surface in an operation process, so that the road surface of a detected area is ensured to be tidy.

The invention relates to the technical field of vehicle suspensions, and provides a suspension damping compensation method and system and related equipment. The suspension damping compensation method comprises the following steps: monitoring driving state parameters of a vehicle in response to the condition that the total mileage of the vehicle meets a mileage threshold value; in response to the driving state parameters, representing that the vehicle is in a steady-state working condition, detecting road surface roughness and an output electric signal of an electric control shock absorber in a suspension; responding to the condition that the current output electric signal meets the compensation condition corresponding to the current road surface roughness, and obtaining a current compensation current value corresponding to the current mileage value of the vehicle according to the mapping relation between the mileage value and the compensation current value; and according to the current compensation current value, damping output of the electric control shock absorber is compensated. According to the suspension damping compensation method, damping compensation of the electric control shock absorber of the suspension is achieved in a low-cost, anti-false-triggering, high-precision and high-reliability mode, the damping performance of the electric control shock absorber and the cushioning function of the suspension are effectively maintained, and comfort, controllability and safety of the whole vehicle are guaranteed.

This invention relates to the field of roadbed strength, specifically to a method for detecting the strength of highway roadbeds based on a semi-empirical modified curve. This invention records the pressure and displacement during impact using sensors on a falling weight deflectometer, calculates the vertical displacement of the road surface, selects a Beckman beam deflectometer and a test vehicle, installs the Beckman beam deflectometer between the two rear wheels of the test vehicle, corrects the test vehicle parameters, calculates the deflection value, corrects the diameter of the left and right tires of the test vehicle to 22.35 cm, and corrects the ground pressure of the left and right tires of the test vehicle to 0.75 MPa. The vertical displacement and deflection values ​​measured in steps (2) and (3) are recorded and compared with the national highway roadbed strength standard, thereby achieving rapid detection of roadbed strength without damaging the road structure. Furthermore, the test vehicle can be used to detect and evaluate the road smoothness of the selected road.

The present application relates to the technical field of vehicle steering control, and particularly relates to a rack force fusion estimation method for different working conditions of steer-by-wire based on fuzzy control, which comprises the following steps: collecting road roughness, judging whether it is not less than a first threshold value, if yes, measuring a first rack force based on a rack force estimator of a vehicle-tire model, otherwise collecting an actual vehicle speed; judging whether the vehicle speed is less than a second threshold value, if yes, measuring a second rack force based on a rack force estimator of a steering system model, otherwise judging whether the vehicle speed is less than a third threshold value, if yes, measuring the first rack force, otherwise measuring a front wheel steering angle of the vehicle, and judging whether it is not greater than a fourth threshold value, if yes, measuring the first rack force, otherwise measuring the second rack force; adopting fuzzy control when the first and second rack forces are converted, so as to realize smooth connection of the rack force estimation value under different working conditions. Thus, the problem that the applicability of the rack force estimator under bumping road, different vehicle speeds and steering angles is not fully studied in the steer-by-wire system is solved.

The invention discloses a road surface unevenness recognition method and device based on a physical information neural network, a medium and a vehicle, and relates to the field of road recognition, and the method comprises the steps: combining a kinetic equation of a suspension system with a neural network, and constructing a neural network model based on physical information; acquiring acceleration data of the suspension system on the to-be-identified road surface; adopting a neural network model based on physical information to obtain a pavement elevation recognition result based on the acceleration data; and representing the road surface unevenness by adopting a road surface elevation recognition result. According to the method, the complexity of an algorithm can be reduced, meanwhile, the physical interpretability is improved, richer road surface information is provided for dynamic control of a suspension system, and then the driving smoothness and riding comfort of a vehicle are improved.

The utility model discloses a crack pouring device for road maintenance, which relates to the technical field of road maintenance and comprises a crack pouring machine and a crack pouring gun connected with the crack pouring machine through a guide pipe. The handle is installed on the material conveying pipe, one end of the material conveying pipe is connected with the guide pipe, the nozzle is installed at the end, away from the guide pipe, of the material conveying pipe, and the positioning ring is installed at the end, close to the nozzle, of the material conveying pipe; an opening is formed in the side, away from the advancing direction, of the positioning ring, the mounting box is mounted on the side, away from the opening, of the positioning ring, a movable groove is formed in the bottom of the mounting box, the scraper is slidably mounted in the movable groove, limiting protrusions are arranged on the two sides of the scraper, and the two ends of the pressure spring elastically abut against the limiting protrusions and the bottom of the movable groove respectively. The problems that in existing pavement crack pouring construction, in order to ensure that pavement cracks are fully filled, more sealant is output, the sealant is finally higher than a pavement, and the road flatness is affected are solved.

The invention discloses a road flatness detection device and method for highway construction, and relates to the technical field of road detection.The road flatness detection device comprises a detection vehicle body, and a cleaning frame is fixedly installed on the outer wall of one side of the detection vehicle body; through the arrangement of a mounting frame, a moving block, a mounting box, a detection roller, a detection block, a displacement sensor, a detection camera, a first spraying box, a second spraying box, an electromagnetic valve, a marking nozzle and an information processor, when the detection roller makes contact with a protruding road surface, the detection roller moves upwards and drives the detection block to move upwards at the same time; the height of a protruding road surface is detected through the displacement sensor, crack information of the road surface is collected in cooperation with the detection camera, data processing is carried out through the information processor, spraying marking is carried out on the protruding road surface and the road surface with cracks, and pits and protrusions of the road surface are rapidly detected and marked. And follow-up workers can conveniently maintain the road surface, uneven and cracked road sections can be clearly found, and the working efficiency is improved.

The utility model relates to the related technical field of road flatness detection, in particular to a road flatness detection device which comprises a detection machine body, a fixing mechanism is arranged on one side of the surface of the detection machine body, and a sweeping mechanism is arranged on one side of the surface of the detection machine body. According to the road flatness detection device, through the arrangement of the mounting box, the controller, the first groove, a micro cylinder, a second groove, a third groove, a limiting block and a connecting block, after the controller is placed in the mounting box, the micro cylinder is firstly started, and one end of the micro cylinder drives the connecting block to move in the first groove; and the limiting block moves in the second groove under the acting force of the connecting block, and when the limiting block moves into the third groove, the limiting block limits the controller to fix the controller in the mounting box, and at the moment, the controller is fixed.

The invention provides a flatness measuring device for road construction, and relates to the technical field of road flatness detection. The flatness measuring device for road construction comprises a moving vehicle plate and an inspection mechanism, the top of the moving vehicle plate is fixedly connected with a fixing frame, the left side wall of the fixing frame is provided with a moving groove and a swing groove, the swing groove is located below the moving groove, the left side wall of the moving vehicle plate is provided with a through hole, and the left side wall of the moving vehicle plate is provided with a through hole. And sliding holes are formed in the front inner wall and the rear inner wall of the moving groove correspondingly, and transverse plates are slidably connected into the sliding holes. By arranging a fixing frame, a moving groove, a swinging groove, a through hole, a transverse plate, an electric cylinder, a rotating seat, a rotating shaft, a connecting column, a balancing weight, an adjusting groove, a friction block and an adjusting rod, the balancing weight is always perpendicular to the horizontal plane under the action of gravity to control the inspection mechanism to keep horizontal; and the problem of detection result errors caused by the fact that the moving wheels of the trolley run on an uneven road surface is solved.

The present invention is a method that works under the control of at least one controller (10) in line with the data stored in at least one memory unit (11) with data received from multiple sensors of the vehicle by analysing the handling inputs and riding inputs depending on the vehicle characteristics in order to predict the road profiles in vehicles; characterized by, determining the bouncing, pitching, rolling and yawing manoeuvres that occur as a result of the mentioned handling inputs by estimating them in line with at least one mathematical model, and analytically removing the influence of handling inputs, detecting pure road undulation and road roughness with an artificial neural network model consisting of at least one node in line with the measured lateral and longitudinal road slope data so as to eliminate the effect of handling inputs on data received from sensors.

The utility model discloses a pipeline welding protective shed which comprises a light steel framework, wind shielding canvas, a driving wheel mechanism and a smoke exhaust mechanism. The light steel framework comprises four vertical rods, the two vertical rods on one side in the length direction of the pipeline are connected through a first transverse rod and an auxiliary supporting rod, the two vertical rods on one side of the pipeline are connected through a second transverse rod, a tripod mechanism is arranged at the top of the light steel framework, and a smoke exhaust mechanism is arranged at the top of the tripod mechanism. The smoke exhaust mechanism comprises a smoke exhaust pipe and an exhaust fan arranged in the smoke exhaust pipe, the smoke exhaust pipe extends out of the wind shielding canvas, and the bottoms of the four vertical rods and the wind shielding canvas do not make contact with the ground. According to the utility model, the working efficiency is improved, manual pushing is not needed during welding transition, the requirement on the flatness of a walking road is not needed, welding smoke is easy to discharge, the harm of a construction operation environment to a human body is reduced, and welding equipment is directly placed on the placing frame and does not need to be manually carried.

This invention discloses a method, system, electronic device, and medium for controlling the roof and ground of a vehicle's semi-active suspension. The method includes: determining the roof control damping force based on the sprung vertical velocity, the unsprung vertical velocity, and the roof damping coefficient; determining the ground control damping force based on the sprung vertical velocity, the unsprung vertical velocity, and the ground damping coefficient; determining the road roughness based on the vehicle's pitch angular velocity, vehicle roll angular velocity, unsprung vertical acceleration, and unsprung vertical velocity; determining the shock absorber operating mode based on the driving mode; determining the roof and ground distribution coefficient based on the road roughness and the shock absorber operating mode; determining the target damping force based on the roof control damping force, the ground control damping force, and the roof and ground distribution coefficient; and then controlling the vehicle's vibration based on the target damping force. This invention improves the accuracy of semi-active suspension control, thereby improving vehicle ride comfort, handling stability, and driving safety, and can be applied to the field of vehicle control technology.

The present invention provides a method for detecting the road flatness of driverless mining trucks, belonging to the technical field of road detection. The method includes: designing the original elevation data of the path corresponding to the starting point and the target point of the driving path of the driverless mining truck, and establishing a three-dimensional road surface model, wherein the three-dimensional road surface model is used to reflect the elevation of each position point on the road surface; dividing the three-dimensional road surface model into multiple sub-regions, collecting the three-dimensional data of each sub-region at the current moment, and splicing the three-dimensional data of the adjacent sub-regions collected; dividing the road sections according to the splicing result, determining the road surface hierarchical structure of each divided road section; analyzing the cross-section line of the road surface hierarchical structure to determine the flatness of the corresponding divided road section, and further determining the comprehensive flatness of the designed path, so as to realize the detection of road flatness. It solves the problem that the road flatness cannot be detected in real time, reducing the safety of the mining truck driving.