47 results about "Road surface roughness" patented technology

The invention relates to the technical field of surface measurement, in particular to a road surface flatness rapid detection method based on a laser radar, which comprises the following steps: collecting vehicle attitude data to form a three-dimensional vector, mapping laser data to a space coordinate system, identifying a projection difference adjustment track, detecting a disturbance generation distribution area, and transversely distributing a translation direction line. Uniformly projecting to construct a reference line, extracting an echo and time index recombination time sequence segment, analyzing a point number trend to screen a stable segment, and extracting symmetric points to compare an included angle to generate a closed zone. According to the method, the attitude vectors of the vehicle in rolling, pitching and yawing states are obtained, the laser echo distance measurement data are mapped to the absolute space coordinate system, and the included angle difference between the distance measurement direction and the ground direction is accurately calculated, so that the space matching precision of a measurement path is remarkably improved, and a longitudinal section analysis result is closer to a real road state; and the space integrity, the track smoothness and the section structure rationality of the whole measurement process are comprehensively optimized.

The invention provides a suspension optimal control method and system based on feedforward and feedback, and the method comprises the steps: constructing a suspension system dynamic model, and constructing a suspension control force model according to the suspension system dynamic model; a state observer is constructed, then the current suspension state of the vehicle is estimated by using the state observer, then a feedback controller is constructed, and the suspension state is imported into the feedback controller to obtain feedback control force; constructing a feed-forward controller, then obtaining road surface unevenness information, and importing the road surface unevenness information into the feed-forward controller to obtain feed-forward control force; and importing the feedforward control force and the feedback control force into a suspension control force model to obtain the optimal control force of the system. According to the vehicle suspension control method and device, the problems that in the prior art, the vehicle suspension is controlled according to the running state of the vehicle affected by vibration, if sudden large-amplitude vibration influence occurs, operation among parts of the suspension exceeds the normal range, and the vehicle cannot run stably are solved.

The invention belongs to the technical field of vehicles, and particularly relates to an ABS function trigger control method and device, a vehicle and a medium. The method comprises the following steps: calculating a wheel slip rate; determining driver intention according to the hydraulic sensor signal, the brake pedal sensor signal and the accelerator pedal sensor signal, wherein the driver intention comprises emergency braking, conventional braking, sliding and acceleration; the road bumping state is determined according to the wheel slip rate, the vehicle vertical acceleration and the suspension displacement; according to the intention of the driver and the road bumping state, the triggering condition of the ABS function is determined; and determining whether the triggering condition of the ABS function is met or not according to the wheel slip rate. By judging the intention of the driver and the road bumping state and adjusting the triggering condition of the ABS function in real time according to the intention of the driver and the road bumping state, false triggering of the ABS function when the vehicle passes through the bumping road is avoided.

The invention discloses a road surface friction coefficient detection method, system and device and a medium. The method comprises the following steps: acquiring at least two spectral images of a to-be-detected road surface; the spectral images are acquired by aiming at a reflection light source corresponding to the incident light source based on the to-be-detected road surface, and the light source characteristics of the incident light source corresponding to any two spectral images are different; spectral features of the to-be-detected road surface are extracted from the at least two spectral images respectively; calculating the roughness of the to-be-detected pavement according to the spectral characteristics; the pavement friction coefficient of the to-be-detected pavement is calculated according to the roughness, the pavement roughness and the friction coefficient can be rapidly and accurately detected, the reliability of a detection result is improved, and the detection efficiency is improved.

A road surface evaluation apparatus including a microprocessor. The microprocessor is configured to perform acquiring driving information (including information indicating a motion of a vehicle while driving and position information of the vehicle, map information including information on a road on which the vehicle is traveling, and vehicle information including unique information of the vehicle), deriving a roughness value indicating a roughness of a road surface of the road on which the vehicle is traveling based on the driving information, correcting the roughness value based on the vehicle information, and outputting the corrected roughness value in association with the road information.

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.

A method, system, device, and computer-readable storage medium for evaluating abnormal noises relate to the technical field of abnormal noise testing. Specifically, when an abnormal noise is detected by a target vehicle on a target road surface, the method comprises obtaining a target abnormal noise level coefficient corresponding to the abnormal noise and a road surface roughness corresponding to the target road surface, and determining a target road surface coefficient based on the road surface roughness; determining a target abnormal noise frequency weight coefficient corresponding to the abnormal noise based on a target reproducible probability of the abnormal noise and a mapping relationship between the reproducible probability and the abnormal noise frequency weight coefficient, wherein the reproducible probability of the abnormal noise is determined based on component clearance and surface wear; and determining an abnormal noise score based on the target abnormal noise frequency weight coefficient, the target abnormal noise level coefficient, and the target road surface coefficient. This application provides a universal abnormal noise evaluation method that addresses the technical problem of poor universality of vehicle abnormal noise level assessment methods in the prior art.

The present invention belongs to the technical field of road surface detection, and in particular relates to a road friction coefficient detection device for highway road surface detection, including a vehicle body and a controller arranged inside the vehicle body. A detachable mounting bracket is installed at the tail of the vehicle body. One end of the mounting bracket away from the vehicle body is installed with a mounting plate, and a detection cover is installed on the side wall of the mounting plate. It further includes: a friction detection unit installed inside the detection cover for detecting the friction of the road surface; a plurality of detection wheels are all arranged below the mounting plate. The present invention can automatically detect the friction coefficient based on the difference in road surface roughness, reduce unnecessary detection work, improve the overall detection efficiency, and to a certain extent reduce the errors caused by factors such as tire wear and continuous driving at high temperature on the determination of the friction coefficient, and can reduce the impact of road sand and gravel on the detection accuracy.

The present invention relates to the field of surface measurement technology, specifically to a rapid detection method for road surface smoothness based on laser radar, comprising the following steps: collecting vehicle posture data to form a three-dimensional vector, mapping laser data to a spatial coordinate system, identifying projection difference and adjusting the trajectory, detecting disturbances to generate a distribution area, translating direction lines according to lateral distribution, constructing reference lines through unified projection, extracting echoes and time indexes to reorganize time series segments, analyzing point number trends to screen stable segments, extracting symmetrical points and comparing angles to generate closed zones. In the present invention, by obtaining the posture vectors of the vehicle in roll, pitch, and yaw states, and mapping the laser echo ranging data to an absolute spatial coordinate system, the angle difference between the ranging direction and the ground direction is accurately calculated, the spatial matching accuracy of the measurement path is significantly improved, the longitudinal profile analysis result is closer to the actual road state, and the spatial integrity, trajectory smoothness, and profile structure rationality of the entire measurement process are comprehensively optimized.

The present invention discloses a device for detecting the flatness and movement of prefabricated steel formwork for beams and slabs, belonging to the technical field of metal formwork detection devices, comprising: a mobile frame; a movement detection mechanism, wherein the movement detection mechanism comprises a first motor fixed to the mobile frame, the output shaft of the first motor extending to a first screw shaft, a first slider being spirally driven on the first screw shaft, the first slider being connected to a guide groove along the length direction of a guide column on the mobile frame, and the extended ends at both ends of the first slider being connected to a lifting block via a first telescopic rod, the lifting block being connected to a bracket on the first slider via a first spring. The present invention can solve the technical problem that when a measuring wheel or a laser rangefinder of a road surface roughness meter passes over small stones or mud blocks, errors in the measurement results are generated, resulting in poor flatness detection data, and the entire detection process requires workers to hold a steel ruler to perform multi-point measurements, which is time-consuming and labor-intensive.

The present invention discloses a method for calculating the spatial coupling dynamics of a large-span arch bridge and a vehicle. The method comprises the following specific steps: 1) defining a local coordinate system, a reference coordinate system, and a global coordinate system of a spatial beam unit; 2) constructing a spatial dynamics model of the large-span arch bridge; 3) constructing a vehicle vibration model; 4) constructing a road surface roughness model; 5) constructing a spatial coupling dynamics model of the large-span arch bridge and a vehicle; and 6) calculating the spatial coupling dynamics of the large-span arch bridge and a vehicle. The method has the beneficial effect of avoiding the problem of inaccurate vehicle-bridge coupling dynamics calculation caused by the neglect of actual torsional vibration in the plane simply supported beam theory and the structural differences of the arch bridge, thereby providing a fast and efficient theoretical calculation method for the spatial coupling dynamics of a large-span arch bridge and a vehicle. The method can provide technical support for the optimization design of vehicle and bridge structural parameters and serve engineering applications.

The embodiment of the invention provides a monitoring method and device of a shock absorber, vehicle equipment, a medium and a product. The method comprises the steps that the road surface roughness of the ground where a vehicle is located, the reciprocating motion speed of a shock absorber of the vehicle and the external environment temperature within a preset time range are collected; based on the road surface roughness and the reciprocating motion speed, the oil liquid temperature variation of the shock absorber within the preset time range is evaluated; and according to the oil temperature variation and the oil temperature variation critical value corresponding to the external environment temperature, the working state of the shock absorber is determined. According to the monitoring method of the shock absorber, the oil temperature variation of the shock absorber can be accurately evaluated so as to monitor the working state of the shock absorber.

The invention discloses a multi-point independent control electric control suspension method and system, and relates to the technical field of supply chain management, and the method comprises the steps: obtaining real-time road surface multi-source data, carrying out the road surface flatness analysis, and generating a road surface state index of a vehicle in a forward direction; obtaining the upper and lower limit values of the adjustable range of the vehicle electric control suspension and the road surface state index in the forward direction of the vehicle for correlation analysis, and generating an initial regulation and control range value of the vehicle independent electric control suspension; correcting the road surface state index in the real-time corrected vehicle advancing direction to obtain the road surface state index in the real-time updated vehicle advancing direction; correcting the initialized regulation range value of the independent electric control suspension of the vehicle to obtain a to-be-regulated range value of the independent electric control suspension of the vehicle; and establishing a dynamic electric control suspension control model, and generating a multi-point independent control electric control suspension system scheme. The method has the beneficial effects that the stability and comfort of the vehicle are improved, intelligent regulation and control of the suspension system are achieved, and the optimal balance between the dynamic performance and the driving experience is ensured.

This application provides a vehicle suspension control method, system, device, medium, and vehicle. The vehicle suspension control method includes: acquiring road surface roughness; obtaining a damping ratio coefficient corresponding to the current road surface based on the road surface roughness and a pre-established roughness-damping ratio table, and obtaining a damping deviation corresponding to the current road surface based on the road surface roughness and a pre-established roughness-damping deviation table; correcting a reference damping coefficient of the vehicle suspension determined by a preset algorithm based on the damping ratio coefficient and the damping deviation, obtaining a corrected damping coefficient; and controlling the damping force of the vehicle suspension according to the corrected damping coefficient. This method can adjust the damping coefficient obtained by the preset algorithm according to the road surface roughness, thereby improving the damping effect of the shock absorber, ensuring vehicle ride comfort, and enhancing the driving experience; moreover, the algorithm is simple and easy to implement.

The present application relates to the field of autonomous driving technology, and discloses a fleet driving control method, device, and storage medium. The method includes: obtaining real-time road surface roughness characteristic data and vehicle dynamics characteristic data of vehicles in the fleet; performing dynamic driving risk analysis on the road surface on which the vehicle is currently driving and dividing the area based on the driving risk analysis results to determine the vehicle's current passable area; performing path planning on the vehicle based on the passable area to obtain several candidate paths; performing driving safety cost analysis on the candidate paths, and selecting the corresponding target path from the candidate paths based on the safety cost analysis results; dynamically configuring the vehicle's driving speed based on the vehicle's real-time vehicle adhesion coefficient, so that the vehicle travels along the target path at the configured driving speed. The embodiments of the present application can reduce the probability of speed instability of vehicles in the fleet and improve the safety of fleet driving.

This application discloses a road surface roughness identification method, a multi-axle vehicle, a medium, and a product, relating to the field of vehicle driving technology. The method includes determining the road surface grade pre-classification result for the current period based on the acquired vertical acceleration time-series data set for the current period; combining the road surface grade pre-classification result of the previous period to determine the forgetting factor and process noise covariance matrix of the unknown input Kalman filter algorithm for the current period, thereby determining the Kalman gain for the current period; combining the system's discrete state-space equation and the unknown input Kalman filter algorithm to determine the road surface excitation signal for the current period; when the current period is greater than a preset value, calculating the road surface roughness power spectral density for the current period based on the road surface excitation signals of each period within a preset time window, and determining the road surface grade for the current period based on the road surface roughness classification criteria. This application can improve the response sensitivity and accuracy of multi-axle vehicles in identifying road surface grades.

The invention provides a multi-task perception method and device for a cross-country pavement, and the method comprises the steps: carrying out the processing of an RGB image through a detail extraction model, and obtaining low-dimensional detail features; processing the RGB image by using the semantic extraction model to obtain a high-dimensional semantic feature; processing the point cloud data by using a Point Pillars network to obtain elevation features; fusing the low-dimensional detail features, the high-dimensional semantic features, the elevation features and the IMU features by using a fusion model to obtain fused features; encoding the fusion features by using a shared encoder to obtain general features; processing the general features by using a pavement classification decoder to obtain a pavement classification result; processing the general features by using a pavement segmentation decoder to obtain a pavement segmentation result; and processing the general features by using a pavement roughness quantization decoder to obtain a pavement roughness quantization result. According to the method, precise classification of typical off-road pavements such as earth roads, grass roads and gravel roads can be realized.

An apparatus and method for controlling a vehicle suspension may include: a variable damper disposed between a vehicle body and a wheel; a sensor that measures vehicle body vertical acceleration and wheel vertical acceleration; and a controller that estimates road surface roughness based on the vehicle body vertical acceleration and wheel vertical acceleration, predicts a road surface grade based on the estimated road surface roughness, and adjusts the damping force of the variable damper corresponding to the predicted road surface grade.

The present invention relates to the technical field of vehicle-bridge coupled vibration analysis, and particularly to a vehicle-bridge coupled vibration analysis method based on time history array interactive iteration, including: analyzing the bridge subsystem based on the ANSYS platform to obtain the initial response time history array of the bridge; sharing data between the ANSYS platform and the MATLAB platform, analyzing the vehicle subsystem on the MATLAB platform, and obtaining the equivalent road surface roughness time history array according to the obtained initial response time history array of the bridge; performing a coupled analysis on the bridge subsystem and the vehicle subsystem, and obtaining the vibration responses of the bridge and the vehicle according to the equivalent road surface roughness time history array. By using the data sharing between MATLAB and ANSYS, the vehicle subsystem and the bridge subsystem are respectively analyzed, and then the coupled analysis of the vehicle and bridge subsystems is performed to obtain the vibration responses of the bridge and the vehicle. Avoiding the integration iteration of time steps improves the operation efficiency. The present invention also provides a vehicle-bridge coupled vibration analysis system based on time history array interactive iteration.

Method comprising: Receiving a variety of sensor data at a road roughness algorithm, determining, via the road roughness algorithm, that the wheel data exceeds a wheel threshold and a severity level exceeds the wheel threshold, executing a wheel flag, determining, based on the wheel flag, that the ride height data exceeds a ride height threshold, executing a ride height flag, determining, based on the wheel flag and the ride height flag, that a wheel pushdown time exceeds a time threshold, identifying, via the road roughness algorithm, an IMU change exceeding an IMU threshold, executing, based on the IMU change exceeding the IMU threshold, an IMU flag, adjusting, based on the IMU flag, parameters of the road roughness algorithm, and combining the wheel flag, the ride height flag, and the IMU flags to define a road anomaly.

The invention provides a head-up display anti-shake control method. The method comprises the steps that the amplitude of road surface unevenness under a certain frequency and the suspension rigidity, the damping coefficient and the angular frequency of a vehicle are obtained; according to the amplitude of the road surface unevenness under a certain frequency, the suspension rigidity, the damping coefficient and the angular frequency, the bumping amplitude of the vehicle body is calculated; a kinetic equation is established, the human body shaking amplitude is calculated according to the kinetic equation and the vehicle body bumping amplitude, and the kinetic equation is related to the vehicle vibration model; calculating shaking displacement according to the vehicle body bumping amplitude and the human body shaking amplitude; and adjusting the imaging position of the head-up display according to the shake displacement to perform shake compensation. The invention further provides a head-up display anti-shake control system and device. By means of the mode, shaking of the head-up display can be effectively prevented, distraction of a driver caused by sight transfer can be reduced, and driving safety and driving comfort are greatly improved.

An apparatus and method for controlling a vehicle suspension, which takes into account virtual tire damping to control a variable damper, the apparatus comprising: a variable damper mounted between the vehicle body and the wheels; a first acceleration sensor mounted at each corner of the vehicle body and measuring the vertical acceleration of the vehicle body angle; a second acceleration sensor mounted at each wheel of the vehicle and measuring the vertical acceleration of the wheel; and a controller that estimates road surface roughness based on the vertical acceleration of the vehicle body angle and the vertical acceleration of the wheels, determines the required damping force for virtual tire damping based on the estimated road surface roughness, and adjusts the damping force of the variable damper based on the determined required damping force for virtual tire damping.

A method comprising receiving a plurality of sensor data at a road roughness algorithm, determining, via the road roughness algorithm, that wheel data exceeds a wheel threshold and a severity level exceeds a wheel threshold, executing a wheel flag, determining, based on the wheel flag, that a ride height data exceeds a ride height threshold, executing a ride height flag, determining, based on the wheel flag and the ride height flag, that a duration of a wheel jerk of the wheel data exceeds a time threshold, identifying, via the road roughness algorithm, that a change in an IMU exceeds an IMU threshold, executing an IMU flag based on the change in the IMU exceeding the IMU threshold, adjusting a parameter of the road roughness algorithm based on the IMU flag, and fusing the wheel flag, the ride height flag, and the IMU flag to define a road anomaly.

The invention relates to the technical field of intelligent control, and discloses a seat adjusting method and device, a vehicle, a medium and a product. The method comprises the steps that a current signal of a power-assisted steering motor of the vehicle is obtained; extracting feature data related to the pavement roughness from the current signal; classifying the feature data, and determining the road surface type of the current driving road surface of the vehicle; when the road surface type is a roughness abnormal road surface, determining a relative position relationship between the roughness abnormal road surface and the vehicle; and adjusting at least one seat in the vehicle based on the relative position relationship. The road surface type is determined by analyzing the current signal of the power-assisted steering motor, and when the road surface with the abnormal roughness is recognized, the supporting force of the seat is adjusted according to the relative position of the road surface and the vehicle. According to the technical scheme, steering operation is not needed, various rough road surfaces can be actively sensed, the seat supporting force in the corresponding direction can be adjusted, the discomfort of passengers is effectively relieved, the riding experience and comfort under different road conditions are remarkably improved, and the driving experience of users is improved.

This invention relates to a vehicle suspension system control method and system, and a storage medium. The invention first fuses current road surface images, road surface point cloud information, and vehicle status information, and after considering historical road surface roughness levels, obtains the target road surface roughness level that best reflects the target road surface condition. Simultaneously, based on the target road surface roughness level, it predicts the feedforward damping force of the suspension system when the vehicle is about to travel on the target road surface. Furthermore, while the vehicle is traveling on the target road surface based on this feedforward damping force, it can calculate in real time, based on the vehicle's body parameters, the feedback damping force used to compensate for the feedforward damping force, enabling the vehicle to maintain stable driving on the target road surface and further improving the vehicle's ride comfort performance under uneven road conditions based on this control strategy.

The application discloses a kind of roadbed pavement test and data acquisition system under mobile load, comprising: collecting high-precision road surface roughness data, and inhibiting noise by space-time convolution variation auto-encoding network decomposition feature.Based on normal stiffness and morphological gradient, dynamic grid division is used to adjust sensor density, and multi-modal data is fused using Bayesian weight. Adaptive signal details are extracted using multi-scale transformation, and filter is designed to enhance damage signal and optimize structural entropy. A multi-field coupled grid control equation is constructed to realize dynamic topology optimization reconstruction. A damage evolution state space is established, and a prediction model is trained through a multi-stage reinforcement learning framework combined with experience replay. A digital twin mapping model is constructed, integrating Bayesian optimization and reinforcement learning to establish a virtual-real feedback channel for dynamic decision optimization. The application not only provides innovative improvements to traditional test methods and data acquisition systems, but also accurately simulates and analyzes complex nonlinear dynamic behavior.

The application discloses a kind of visual touch fusion and dynamics compensation intelligent vehicle trajectory tracking method and device.The method synchronously collects the road surface visual image data of the pre-foresight area in front of vehicle and the inertial vibration data of vehicle body chassis, respectively extracts road surface texture semantic features and road surface roughness features, and the features are spatiotemporally aligned and fused to obtain real-time road dynamics parameters;Then, according to the real-time road dynamics parameters, the vehicle dynamics prediction model and the dynamics boundary constraint condition are dynamically reconstructed, the optimization control problem is solved, and the vehicle actuator control instruction is output, so as to realize the intelligent vehicle trajectory tracking under complex road conditions.The method can effectively improve the intelligent vehicle trajectory tracking accuracy and environmental adaptability.

Provided in the embodiments of the present application are a vehicle traveling control method, a vehicle controller, and a vehicle. The method comprises: acquiring an actual rotational speed of an electric motor of a vehicle and a slope change value per unit time of a road surface on which the vehicle is traveling, wherein the slope change value per unit time is used for indicating the degree of impact of road surface roughness on the rotational speed of the electric motor; if the actual rotational speed of the electric motor is greater than a first preset rotational speed, and the slope change value per unit time is greater than a slope change threshold value per unit time, determining whether a driving parameter of the vehicle is within a preset condition, so as to obtain a first determination result; and if the first determination result indicates that the driving parameter of the vehicle is within the preset condition, controlling the vehicle by means of rotational speed control.

The utility model discloses a rubber rolling friction coefficient tester, which relates to the technical field of rubber testing and comprises a base, a support, a swing arm, a test table board and a water tank. According to the utility model, water can be automatically distributed to form a uniform water film on an experimental road surface, the rolling friction coefficient of a rubber wheel sample on a wet road surface can be tested, and the friction type, the road surface roughness, the experimental water temperature, the test distance, the static pressure of the sample and the slip angle can be adjusted, so that the wet skid resistance of tire rubber under different conditions can be simulated more truly.