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

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

Active Publication Date: 2022-05-03
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • 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 semi-active suspension
  • Unmanned vehicle comfort control method integrating vehicle speed planning and preview semi-active suspension
  • Unmanned vehicle comfort control method integrating vehicle speed planning and preview semi-active suspension

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Experimental program
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Effect test

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 semi-active suspension. The method includes the following steps: Step 1: processing preview road surface information; Step 2: designing preview semi-active Suspension controller; Step 3: Vehicle speed planning to ensure comfort; Step 4: Suspension and vehicle speed coordination. The method of the present invention utilizes the road information from the network system and the forward-looking sensor to provide a comfort control strategy for coordinating vehicle speed and semi-active suspension, which can realize: 1) suppressing the vertical vibration of the vehicle, 2) shortening the driving time , 3) Reduce the multi-objective performance of vehicle longitudinal acceleration and deceleration.

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 Patents(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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