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Unmanned vehicle comfort control method integrating vehicle speed planning and preview of semi-active suspension

A semi-active suspension and control method technology, applied in the field of vehicle shock absorption, can solve the problems of lack of subjective evaluation ability and difficulty in adjusting driving behavior of unmanned vehicles

Active Publication Date: 2020-06-12
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

However, self-driving vehicles lack subjective evaluation capabilities, which makes it very difficult to adjust driving behavior according to comfort needs

Method used

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  • Unmanned vehicle comfort control method integrating vehicle speed planning and preview of semi-active suspension
  • Unmanned vehicle comfort control method integrating vehicle speed planning and preview of semi-active suspension
  • Unmanned vehicle comfort control method integrating vehicle speed planning and preview of semi-active suspension

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Embodiment

[0167] 1) Refer to figure 1 The installation method of the optical sensor can be L at the front distance p When the optical sensor scans the road surface with an accuracy of Δl, the road surface undulation data information in front can be obtained at any time t. The set is defined as Ω(t), and:

[0168]

[0169] Among them, h i (t) is figure 1 The road surface height data corresponding to each grid point, N sp is the total number of data points and satisfies

[0170] 2) Set the sampling period of the suspension control system as T s , the number of spatial data points passed by the vehicle in a single sampling period is obtained as:

[0171]

[0172] Further, the calculated vehicle speed is v and the sampling time is kT s The available road surface height data set Θ is as follows:

[0173]

[0174] Among them, H i (v,k)=h n(i-1,v)+1 (kT s ),

[0175] So far, we have transformed the original road surface data into preview road surface data that can be u...

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Abstract

The invention discloses an unmanned vehicle comfort control method integrating vehicle speed planning and preview of a semi-active suspension. The method comprises the following steps of 1, processingthe preview road surface information; 2, designing a preview semi-active suspension controller; 3, carrying out vehicle speed planning for guaranteeing comfort; and 4, coordinating the suspension with the vehicle speed. According to the method, by utilizing the road information from a network system and a forward-looking sensor, a comfort control strategy for coordinating the vehicle speed and the semi-active suspension is provided, and the multi-target performance of 1) restraining vertical vibration of the vehicle, 2) shortening driving time and 3) reducing longitudinal acceleration and deceleration of the vehicle, can be achieved.

Description

technical field [0001] The invention belongs to the technical field of vehicle shock absorption, and relates to an automobile semi-active suspension control method and a vehicle speed planning method, in particular to an unmanned vehicle comfort control method integrating vehicle speed planning and preview semi-active suspension. Background technique [0002] The development of sensing and control technology is rapidly pushing the automobile industry towards intelligence and unmanned, and brings a series of new technological innovations and challenges. At present, the research of unmanned vehicles mainly focuses on the recognition of environmental features and the planning and tracking of driving trajectories, and many safety solutions in complex traffic environments have been born from this. However, almost all the solutions are given in the flat road environment, and few studies focus on the comfort of unmanned vehicles on uneven roads. As we all know, for traditional veh...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 吴健刘志远周洪亮
Owner HARBIN INST OF TECH
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