阅读说明：本技术 一种车辆预测性悬挂控制方法与终端 (Vehicle predictive suspension control method and terminal ) 是由 涂岩恺 叶旭辉 罗腾元 李辉 于 2020-12-21 设计创作，主要内容包括：本发明公开了一种车辆预测性悬挂控制方法与终端；本发明通过电子地平线系统实时获取前方弯道信息,并根据所述前方弯道信息判断当前车速是否大于安全过弯车速上限；若所述当前车速大于所述安全过弯车速上限,则计算调降悬架后的最终安全车速上限和调降悬架时车辆的行驶距离d；在距离入弯点距离为d的位置开始调降悬架,并在入弯前将实时车速控制到所述最终安全车速上限之下；本发明通过提前控制可升降底盘悬架,可以相对提高车辆的安全过弯速度,从而相对减少过弯制动减速,节约了过弯减速的能耗,提高车辆通过弯道的经济性。同时因为安全过弯速度上限提高了,汽车能够更容易地减速到速度安全线内,也增加了车辆过弯的安全性。(The invention discloses a vehicle predictive suspension control method and a terminal; the method comprises the steps of acquiring front curve information in real time through an electronic horizon system, and judging whether the current vehicle speed is greater than the upper limit of the safe over-curve vehicle speed or not according to the front curve information; if the current vehicle speed is greater than the upper limit of the safe over-bending vehicle speed, calculating the final upper limit of the safe vehicle speed after the suspension is adjusted and reduced and the running distance d of the vehicle when the suspension is adjusted and reduced; starting to adjust and lower the suspension at a position which is d away from the bend-entering point, and controlling the real-time vehicle speed to be below the final safe vehicle speed upper limit before the bend-entering point; the invention can relatively improve the safe over-bending speed of the vehicle by controlling the liftable chassis suspension in advance, thereby relatively reducing the over-bending braking deceleration, saving the energy consumption of the over-bending deceleration and improving the economy of the vehicle passing through a curve. Meanwhile, because the upper limit of the safe over-bending speed is improved, the automobile can be more easily decelerated to a speed safety line, and the over-bending safety of the automobile is also improved.)

1. A method of predictive suspension control for a vehicle, comprising:

s1, acquiring front curve information in real time through an electronic horizon system, and judging whether the current vehicle speed is greater than the upper limit of the safe over-curve vehicle speed or not according to the front curve information;

s2, if the current vehicle speed is larger than the upper limit of the safe over-bending vehicle speed, calculating the final upper limit of the safe vehicle speed after the suspension is adjusted and reduced and the running distance d of the vehicle when the suspension is adjusted and reduced;

and S3, starting to adjust and lower the suspension at the position which is a distance d away from the bend-entering point, and controlling the real-time vehicle speed to be lower than the final safe vehicle speed upper limit before the bend-entering.

2. The vehicle predictive suspension control method according to claim 1, wherein said step S1 is embodied as:

acquiring front curve information in real time through a preset electronic horizon system, wherein the front curve information comprises a curve distance D and a curve radius R, and judging the current vehicle speed V₀Whether the upper limit of the safe over-bending speed is greater than the upper limit of the safe over-bending speed v_safeComprises the following steps:

wherein b is the width of the transverse shaft of the vehicle, g is the gravity acceleration, and h is the distance between the gravity center of the vehicle and the ground when the chassis of the vehicle is horizontal.

3. The vehicle predictive suspension control method according to claim 2, wherein said final safe upper vehicle speed limit v in step S2 is calculated by the formula:

wherein k is the adjustable maximum height of the suspension of the vehicle, and H is the distance from the gravity center of the vehicle to the chassis.

4. The vehicle predictive suspension control method according to claim 2, wherein said step S2 calculates the distance d of the vehicle when the suspension is lifted according to the formula:

d＝V₀t

and t is the preset time required for adjusting and descending the suspension.

5. The vehicle predictive suspension control method according to claim 1, wherein said step S3 of starting to tune down the suspension at a distance d from the in-turn point is specifically:

and starting to adjust and reduce the height of the suspension close to the inner side of the bend at the position which is at the distance d from the bend-entering point to reduce the height to the minimum height which can be adjusted and reduced.

6. A vehicle predictive suspension control terminal comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of:

s1, acquiring front curve information in real time through an electronic horizon system, and judging whether the current vehicle speed is greater than the upper limit of the safe over-curve vehicle speed or not according to the front curve information;

s2, if the current vehicle speed is larger than the upper limit of the safe over-bending vehicle speed, calculating the final upper limit of the safe vehicle speed after the suspension is adjusted and reduced and the running distance d of the vehicle when the suspension is adjusted and reduced;

and S3, starting to adjust and lower the suspension at the position which is a distance d away from the bend-entering point, and controlling the real-time vehicle speed to be lower than the final safe vehicle speed upper limit before the bend-entering.

7. The vehicle predictive suspension control terminal according to claim 6, wherein said step S1 is embodied as:

acquiring front curve information in real time through a preset electronic horizon system, wherein the front curve information comprises a curve distance D and a curve radius R, and judging the current vehicle speed V₀Whether the upper limit of the safe over-bending speed is greater than the upper limit of the safe over-bending speed v_safeComprises the following steps:

wherein b is the width of the transverse shaft of the vehicle, g is the gravity acceleration, and h is the distance between the gravity center of the vehicle and the ground when the chassis of the vehicle is horizontal.

8. The vehicle predictive suspension control terminal according to claim 7, wherein said final safe upper vehicle speed limit v in step S2 is calculated by the formula:

wherein k is the adjustable maximum height of the suspension of the vehicle, and H is the distance from the gravity center of the vehicle to the chassis.

9. The vehicle predictive suspension control terminal according to claim 7, wherein said calculation formula of said step S2 for said distance d to be traveled by said vehicle when said suspension is lifted is:

d＝V₀t

and t is the preset time required for adjusting and descending the suspension.

10. The vehicle predictive suspension control terminal according to claim 6, wherein said step S3 of starting to tune down the suspension at a distance d from the in-turn point is specifically:

and starting to adjust and reduce the height of the suspension close to the inner side of the bend at the position which is at the distance d from the bend-entering point to reduce the height to the minimum height which can be adjusted and reduced.

Technical Field

The invention relates to the technical field of vehicle intelligent control, in particular to a vehicle predictive suspension control method and a terminal.

Background

With the quality of life of people becoming higher, more and more people have automobiles, but in recent years, traffic accidents become more and more frequent, and how to take effective measures to improve the safety performance of automobiles becomes a focus of common attention of people. The curve is one of the factors of multiple traffic accidents, and when an automobile passes through the curve, if the speed of the automobile is high, the automobile is likely to turn over due to centrifugal force, so that the life and property safety of people is threatened. Therefore, when the vehicle is over-bent, the driver generally needs to decelerate the vehicle over-bent in order to prevent the danger of overturning caused by the excessive centrifugal force. However, since braking during an over-curve takes time and a driver cannot always reduce the speed to the safe line, the over-curve danger also occurs occasionally, and the vehicle is decelerated excessively to waste the driving kinetic energy of the vehicle, so that the driving safety is improved, but the energy consumption economy is not achieved.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: a vehicle predictive suspension control method and terminal are provided to improve the safety of overbending and reduce overbending energy consumption.

In order to solve the technical problems, the invention adopts the technical scheme that:

a vehicle predictive suspension control method, comprising:

s1, acquiring front curve information in real time through an electronic horizon system, and judging whether the current vehicle speed is greater than the upper limit of the safe over-curve vehicle speed or not according to the front curve information;

s2, if the current vehicle speed is larger than the upper limit of the safe over-bending vehicle speed, calculating the final upper limit of the safe vehicle speed after the suspension is adjusted and reduced and the running distance d of the vehicle when the suspension is adjusted and reduced;

and S3, starting to adjust and lower the suspension at the position which is a distance d away from the bend-entering point, and controlling the real-time vehicle speed to be lower than the final safe vehicle speed upper limit before the bend-entering.

In order to solve the technical problem, the invention adopts another technical scheme as follows:

a vehicle predictive suspension control terminal comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the processor implementing the steps when executing the computer program:

s1, acquiring front curve information in real time through an electronic horizon system, and judging whether the current vehicle speed is greater than the upper limit of the safe over-curve vehicle speed or not according to the front curve information;

s2, if the current vehicle speed is larger than the upper limit of the safe over-bending vehicle speed, calculating the final upper limit of the safe vehicle speed after the suspension is adjusted and reduced and the running distance d of the vehicle when the suspension is adjusted and reduced;

and S3, starting to adjust and lower the suspension at the position which is a distance d away from the bend-entering point, and controlling the real-time vehicle speed to be lower than the final safe vehicle speed upper limit before the bend-entering.

The invention has the beneficial effects that: according to the invention, the terrain of a curve ahead is predicted through an electronic horizon, the liftable chassis suspension is controlled in advance, the suspension is changed into a left-right non-horizontal state, and the safe over-bending speed of the vehicle can be relatively improved, so that the over-bending braking deceleration is relatively reduced, the energy consumption of the over-bending deceleration is saved, and the economy of the vehicle passing through the curve is improved. Meanwhile, because the upper limit of the safe over-bending speed is improved, the automobile can be more easily decelerated to a speed safety line, and the over-bending safety of the automobile is also improved.

Drawings

FIG. 1 is a flow chart of a method of predictive vehicle suspension control according to an embodiment of the present invention;

FIG. 2 is a block diagram of a predictive suspension control terminal for a vehicle in accordance with an embodiment of the present invention;

FIG. 3 is a schematic diagram of a vehicle state at suspension height levels on both sides of the vehicle for a method of predictive vehicle suspension control in accordance with an embodiment of the present invention;

FIG. 4 is a schematic diagram of a vehicle state after adjusting suspension heights on two sides of the vehicle according to a predictive vehicle suspension control method of the present invention;

description of reference numerals:

1. a vehicle predictive suspension control terminal; 2. a processor; 3. a memory.

Detailed Description

In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.

Referring to fig. 1, a method for predictive suspension control of a vehicle includes:

s1, acquiring front curve information in real time through an electronic horizon system, and judging whether the current vehicle speed is greater than the upper limit of the safe over-curve vehicle speed or not according to the front curve information;

s2, if the current vehicle speed is larger than the upper limit of the safe over-bending vehicle speed, calculating the final upper limit of the safe vehicle speed after the suspension is adjusted and reduced and the running distance d of the vehicle when the suspension is adjusted and reduced;

and S3, starting to adjust and lower the suspension at the position which is a distance d away from the bend-entering point, and controlling the real-time vehicle speed to be lower than the final safe vehicle speed upper limit before the bend-entering.

From the above description, the beneficial effects of the present invention are: according to the invention, the terrain of a curve ahead is predicted through an electronic horizon, the liftable chassis suspension is controlled in advance, the suspension is changed into a left-right non-horizontal state, and the safe over-bending speed of the vehicle can be relatively improved, so that the over-bending braking deceleration is relatively reduced, the energy consumption of the over-bending deceleration is saved, and the economy of the vehicle passing through the curve is improved. Meanwhile, because the upper limit of the safe over-bending speed is improved, the automobile can be more easily decelerated to a speed safety line, and the over-bending safety of the automobile is also improved.

Further, the step S1 is specifically:

acquiring front curve information in real time through a preset electronic horizon system, wherein the front curve information comprises a curve distance D and a curve radius R, and judging the current vehicle speed V₀Whether the upper limit of the safe over-bending speed is greater than the upper limit of the safe over-bending speed v_safeComprises the following steps:

wherein b is the width of the transverse shaft of the vehicle, g is the gravity acceleration, and h is the distance between the gravity center of the vehicle and the ground when the chassis of the vehicle is horizontal.

From the above description, the critical equilibrium state before the vehicle rolls over can be obtained by using the darnbel principle and the centripetal force formula as the upper limit of the safe over-bending vehicle speed.

Further, the final safe vehicle speed upper limit v in step S2 is calculated by the following formula:

wherein k is the adjustable maximum height of the suspension of the vehicle, and H is the distance from the gravity center of the vehicle to the chassis.

From the above description, the present application provides a method for calculating the upper limit of the safe speed of the vehicle after adjusting the height of the suspension.

Further, the calculation formula of the travel distance d of the vehicle when the suspension is adjusted and lowered in the step S2 is as follows:

d＝V₀t

and t is the preset time required for adjusting and descending the suspension.

As apparent from the above description, the present invention calculates the travel distance d of the vehicle at the time of adjusting down the suspension based on the current vehicle speed of the vehicle.

Further, in the step S3, the starting to adjust and lower the suspension at the position that is a distance d from the bend-in point is specifically:

and starting to adjust and reduce the height of the suspension close to the inner side of the bend at the position which is at the distance d from the bend-entering point to reduce the height to the minimum height which can be adjusted and reduced.

From the above description, the present invention starts to adjust the height of the suspension at a position away from the bend-entering point d, so as to ensure that the height of the suspension is already adjusted when the vehicle enters the bend, and further defines that the present invention adjusts and reduces the height of the suspension at the inner side of the bend of the vehicle.

Referring to fig. 2, a vehicle predictive suspension control terminal includes a processor, a memory, and a computer program stored on the memory and operable on the processor, the processor implementing the following steps when executing the computer program:

s1, acquiring front curve information in real time through an electronic horizon system, and judging whether the current vehicle speed is greater than the upper limit of the safe over-curve vehicle speed or not according to the front curve information;

s2, if the current vehicle speed is larger than the upper limit of the safe over-bending vehicle speed, calculating the final upper limit of the safe vehicle speed after the suspension is adjusted and reduced and the running distance d of the vehicle when the suspension is adjusted and reduced;

and S3, starting to adjust and lower the suspension at the position which is a distance d away from the bend-entering point, and controlling the real-time vehicle speed to be lower than the final safe vehicle speed upper limit before the bend-entering.

From the above description, the beneficial effects of the present invention are: according to the invention, the terrain of a curve ahead is predicted through an electronic horizon, the liftable chassis suspension is controlled in advance, the suspension is changed into a left-right non-horizontal state, and the safe over-bending speed of the vehicle can be relatively improved, so that the over-bending braking deceleration is relatively reduced, the energy consumption of the over-bending deceleration is saved, and the economy of the vehicle passing through the curve is improved. Meanwhile, because the upper limit of the safe over-bending speed is improved, the automobile can be more easily decelerated to a speed safety line, and the over-bending safety of the automobile is also improved.

Further, the step S1 is specifically:

acquiring front curve information in real time through a preset electronic horizon system, wherein the front curve information comprises a curve distance D and a curve radius R, and judging the current vehicle speed V₀Whether the upper limit of the safe over-bending speed is greater than the upper limit of the safe over-bending speed v_safeComprises the following steps:

wherein b is the width of the transverse shaft of the vehicle, g is the gravity acceleration, and h is the distance between the gravity center of the vehicle and the ground when the chassis of the vehicle is horizontal.

From the above description, the critical equilibrium state before the vehicle rolls over can be obtained by using the darnbel principle and the centripetal force formula as the upper limit of the safe over-bending vehicle speed.

Further, the final safe vehicle speed upper limit v in step S2 is calculated by the following formula:

wherein k is the adjustable maximum height of the suspension of the vehicle, and H is the distance from the gravity center of the vehicle to the chassis.

From the above description, the present application provides a method for calculating the upper limit of the safe speed of the vehicle after adjusting the height of the suspension.

Further, the calculation formula of the travel distance d of the vehicle when the suspension is adjusted and lowered in the step S2 is as follows:

d＝V₀t

and t is the preset time required for adjusting and descending the suspension.

As apparent from the above description, the present invention calculates the travel distance d of the vehicle at the time of adjusting down the suspension based on the current vehicle speed of the vehicle.

Further, in the step S3, the starting to adjust and lower the suspension at the position that is a distance d from the bend-in point is specifically:

and starting to adjust and reduce the height of the suspension close to the inner side of the bend at the position which is at the distance d from the bend-entering point to reduce the height to the minimum height which can be adjusted and reduced.

From the above description, the present invention starts to adjust the height of the suspension at a position away from the bend-entering point d, so as to ensure that the height of the suspension is already adjusted when the vehicle enters the bend, and further defines that the present invention adjusts and reduces the height of the suspension at the inner side of the bend of the vehicle.

Referring to fig. 1, fig. 3 and fig. 4, a first embodiment of the present invention is:

a vehicle predictive suspension control method, comprising:

s1, acquiring front curve information in real time through an electronic horizon system, and judging whether the current vehicle speed is greater than the upper limit of the safe over-curve vehicle speed or not according to the front curve information;

wherein, the step S1 specifically includes:

acquiring front curve information in real time through a preset electronic horizon system, wherein the front curve information comprises a curve distance D and a curve radius R, and judging the current vehicle speed V₀Whether the speed is greater than the upper limit of the safe over-bending speed or not, and the safe over-bending vehicleUpper speed limit v_safeComprises the following steps:

wherein b is the width of a transverse shaft of the vehicle, g is the gravity acceleration, and h is the distance between the gravity center of the vehicle and the ground when the chassis of the vehicle is horizontal;

in the present embodiment, as shown in fig. 3, when the suspension heights on both sides of the vehicle are kept horizontal, the critical equilibrium state before the vehicle rolls over is as follows according to the darbeyer principle when the vehicle turns over:

wherein G is centripetal force, H is the vertical distance between the vehicle mass center and the chassis, H is the distance between the vehicle mass center and the ground when the chassis is horizontal, b is the width of a transverse shaft of the vehicle, and G is gravity acceleration;

according to the formula of centripetal force:

v is the speed of the vehicle passing a curve, wherein R is the turning radius of the curve, and the centripetal force is substituted into a formula, so that the obtained critical safe vehicle speed is as follows:

that is, when a vehicle traveling at a high speed passes a curve with a turning radius R, the vehicle speed must be reduced below v, otherwise rollover may occur.

According to the electronic horizon system, the turning radius R in front of the road, the distance from the vehicle to the curve and the turning direction can be obtained in advance, and at the moment, the final safe vehicle speed upper limit after the vehicle lowers the suspension can be calculated firstly.

S2, if the current vehicle speed is larger than the upper limit of the safe over-bending vehicle speed, calculating the final upper limit of the safe vehicle speed after the suspension is adjusted and reduced and the running distance d of the vehicle when the suspension is adjusted and reduced;

the calculation formula of the final safe vehicle speed upper limit v in the step S2 is:

wherein k is the adjustable maximum height of a suspension of the vehicle, and H is the distance from the gravity center of the vehicle to a chassis;

the calculation formula of the travel distance d of the vehicle when the suspension is adjusted and lowered in step S2 is as follows:

d＝V₀t

wherein t is the preset time required for adjusting and descending the suspension;

s3, starting to adjust and lower the suspension at a position which is d away from the bend-entering point, and controlling the real-time vehicle speed to be below the final safe vehicle speed upper limit before the bend-entering;

in the step S3, the step of adjusting and lowering the suspension at the position with the distance d from the bend-entering point specifically includes:

and starting to adjust and reduce the height of the suspension close to the inner side of the bend at the position which is at the distance d from the bend-entering point to reduce the height to the minimum height which can be adjusted and reduced.

As shown in fig. 4, in the present embodiment, the maximum height of the suspension can be adjusted to k, the suspension height of the suspension on the outer side of the curve keeps the original height, the suspension height on the inner side of the curve is decreased by the maximum height k, and at this time, the inclination angle of the vehicle:

the center of gravity of the vehicle is displaced to the inner side, and the displacement distance f is as follows:

the vehicle center of gravity shifts downward due to the tendency, the distance j from the ground is about:

j＝hcos(θ) (3)

the critical equilibrium state before the over-bent rollover is:

will be provided with

And the formulas (1), (2) and (3) are substituted into the formula (4), and the rollover critical speed when the suspension is reduced at the inner side of the curve is as follows:

it can be seen that the upper limit of the safe speed for overbending is higher when the suspension is lowered inside the curve than when the suspension level is not adjusted, since the denominator is reduced and the numerator is increased, compared to the safe speed when the chassis is not adjusted. In this case, relatively higher speed overbending may be controlled to reduce braking to improve overbending economy.

Referring to fig. 2, the second embodiment of the present invention is:

a vehicle predictive suspension control terminal 1 comprising a processor 2, a memory 3 and a computer program stored on the memory 3 and executable on the processor 2, the processor 2 realizing the steps of one of the above embodiments when executing the computer program.

In conclusion, according to the vehicle predictive suspension control method and the vehicle predictive suspension control terminal provided by the invention, the terrain of a curve ahead is predicted through an electronic horizon, the liftable chassis suspension is controlled in advance, the suspension is changed into a left-right non-horizontal state, and the safe over-bending speed of a vehicle can be relatively increased, so that the over-bending braking deceleration is relatively reduced, the energy consumption of the over-bending deceleration is saved, and the economy of the vehicle passing through the curve is improved. Meanwhile, because the upper limit of the safe over-bending speed is improved, the automobile can be more easily decelerated to a speed safety line, and the over-bending safety of the automobile is also improved.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.