技术领域technical field
本发明属于汽车技术领域，具体涉及一种汽车主动悬架系统、控制方法及车辆。The invention belongs to the technical field of automobiles, and in particular relates to an automobile active suspension system, a control method and a vehicle.
背景技术Background technique
汽车的主动悬架是未来汽车悬架的发展方向，如何保证汽车悬架的的行驶安全可靠一直是行业关键核心技术。The active suspension of automobiles is the development direction of automobile suspension in the future. How to ensure the safe and reliable driving of automobile suspension has always been the key core technology of the industry.
目前，汽车主动悬架的固安全行驶存在两大问题：At present, there are two major problems in the solid and safe driving of automobile active suspension:
1、现有汽车主动悬架无法在复杂工况中快速响应；1. The existing active suspension of automobiles cannot respond quickly in complex working conditions;
2、现有汽车主动悬架无法实时实现最优控制的调理分配。2. The existing active suspension of automobiles cannot realize the adjustment and distribution of optimal control in real time.
基于此，急需研发一种汽车主动悬架系统及控制方法，以有效解决上述问题。Based on this, there is an urgent need to develop a vehicle active suspension system and a control method to effectively solve the above problems.
发明内容Contents of the invention
本发明的目的就在于提供一种汽车主动悬架系统，还提供一种汽车定轨控制方法及车辆，以解决现有技术中智能汽车无法在复杂工况中快速响应、无法实时实现最优控制的调理分配的问题。The purpose of the present invention is to provide an automobile active suspension system, and also provide an automobile track determination control method and a vehicle to solve the problem that in the prior art, intelligent automobiles cannot respond quickly in complex working conditions and cannot realize optimal control in real time The conditioning assignment problem.
本发明的目的是通过以下技术方案实现的：The purpose of the present invention is achieved by the following technical solutions:
一种汽车主动悬架系统，模拟态仿真中心1、悬架调整系统2、悬架模块3、控制器4、主动悬架仿真系统5、悬架反馈系统6、信号收集系统7、时刻路况反馈8和智能监控模块9；An automobile active suspension system, including simulation center 1, suspension adjustment system 2, suspension module 3, controller 4, active suspension simulation system 5, suspension feedback system 6, signal collection system 7, and road condition feedback at any time 8 and intelligent monitoring module 9;
其中，所述模拟态仿真中心1布置在车体中的域控制器中，模拟态仿真中心1分别与悬架调整系统2、主动悬架仿真系统5、悬架反馈系统6和时刻路况反馈8相连；所述悬架调整系统2布置在汽车上，悬架调整系统2分别与模拟态仿真中心1、悬架模块3和信号收集系统7相连；所述控制器4分别与接受悬架模块3和悬架反馈系统6相连；所述主动悬架仿真系统5与时刻路况反馈8相连。Wherein, the simulation state simulation center 1 is arranged in the domain controller in the car body, and the simulation state simulation center 1 is connected with the suspension adjustment system 2, the active suspension simulation system 5, the suspension feedback system 6 and the road condition feedback 8 respectively. Connected; the suspension adjustment system 2 is arranged on the car, and the suspension adjustment system 2 is connected with the simulation center 1, the suspension module 3 and the signal collection system 7 respectively; the controller 4 is connected with the suspension module 3 respectively It is connected with the suspension feedback system 6; the active suspension simulation system 5 is connected with the road condition feedback 8 at any time.
进一步地，所述悬架模块3，包括电磁场、机械悬架和电磁铁悬架，悬架模块3通过电磁铁悬架作用在电磁场中，通过调整电磁场的参数来实现对机械悬架的主动调整，悬架模块3能够向悬架调整系统2发送驾驶请求。Further, the suspension module 3 includes an electromagnetic field, a mechanical suspension and an electromagnet suspension. The suspension module 3 acts in the electromagnetic field through the electromagnet suspension, and the active adjustment of the mechanical suspension is realized by adjusting the parameters of the electromagnetic field. , the suspension module 3 can send a driving request to the suspension adjustment system 2 .
进一步地，所述信号收集系统7能够采集汽车行驶工作区域的信号，包括但不限于路况信号、气候信号、路障信号；信号收集系统7将受监控信息全部上报给悬架调整系统2，上报周期≤7.23ms。Further, the signal collection system 7 can collect signals in the working area of the vehicle, including but not limited to road condition signals, weather signals, and roadblock signals; the signal collection system 7 reports all the monitored information to the suspension adjustment system 2, and the reporting period ≤7.23ms.
进一步地，所述悬架调整系统2主要用于调整悬架系统，调整周期≤15ms，悬架调整系统2将收集到的所有信息进行上报给模拟态仿真中心1。Further, the suspension adjustment system 2 is mainly used to adjust the suspension system, and the adjustment period is ≤15ms. The suspension adjustment system 2 reports all the collected information to the simulation center 1 in the simulation state.
进一步地，所述大数据管理心中1根据悬架调整系统2反馈的综合信息在主动悬架仿真系统5中进行路况仿真，获取仿真结果，反馈至悬架反馈系统6；大数据管理心中1的更新计算反应周期≤2.34ms，信息更新频率≥13Hz。Further, the big data management center 1 performs road condition simulation in the active suspension simulation system 5 according to the comprehensive information fed back by the suspension adjustment system 2, obtains the simulation results, and feeds back to the suspension feedback system 6; the big data management center 1 Update calculation response cycle ≤ 2.34ms, information update frequency ≥ 13Hz.
进一步地，所述主动悬架仿真系统5是布置在云端的虚拟仿真系统，具体形式包括但不限于元宇宙、大型游戏、模拟系统等；主动悬架仿真系统5与主动悬架一比一布置，最大限度模拟仿真真实主动悬架控制过程；主动悬架仿真系统5可以参与的仿真工况信息包括但不限于路况信号、气候信号、路障信号；主动悬架仿真系统5综合所有信息及悬架模块3的路线进行仿真，仿真频率≥35Hz；主动悬架仿真系统5可以根据时刻路况反馈8进行模型校正。Further, the active suspension simulation system 5 is a virtual simulation system arranged in the cloud, and its specific forms include but not limited to Metaverse, large-scale games, simulation systems, etc.; the active suspension simulation system 5 is arranged one-to-one with the active suspension , to simulate the real active suspension control process to the greatest extent; the simulated working condition information that the active suspension simulation system 5 can participate in includes but not limited to road condition signals, weather signals, and roadblock signals; the active suspension simulation system 5 synthesizes all information and suspension The route of module 3 is simulated, and the simulation frequency is ≥ 35 Hz; the active suspension simulation system 5 can perform model correction according to the road condition feedback 8 at any time.
进一步地，所述悬架反馈系统6接收大数据管理心中1反馈的信号将其发送给控制器进行判断；将完整的主动悬架控制方案全部反馈给控制器4；悬架反馈系统6的信号反馈速度≤1.5S。Further, the suspension feedback system 6 receives the signal fed back by the big data management center 1 and sends it to the controller for judgment; all the complete active suspension control schemes are fed back to the controller 4; the signal of the suspension feedback system 6 Feedback speed ≤ 1.5S.
进一步地，所述智能监控模块9是布置在云端的实时监控系统；智能监控模块9能够对悬架模块3、悬架调整系统2、模拟态仿真中心1进行实时监控；所有智能监控模块9的数据库互通，能够相互传递信息，实现信息高速通讯。Further, the intelligent monitoring module 9 is a real-time monitoring system arranged in the cloud; the intelligent monitoring module 9 can monitor the suspension module 3, the suspension adjustment system 2, and the simulated state simulation center 1 in real time; all intelligent monitoring modules 9 Database intercommunication can transmit information to each other and realize high-speed information communication.
一种汽车主动悬架系统的控制方法，包括以下步骤：A method for controlling an active suspension system of an automobile, comprising the following steps:
A、驾乘意愿：控制器4将其初步的驾驶悬架调整方案上报给悬架模块3，包括适配于驾驶的所有信息；A. Driving willingness: the controller 4 reports its preliminary driving suspension adjustment plan to the suspension module 3, including all information suitable for driving;
B、申请意愿：根据控制器4的驾乘意愿进行初步拟合的悬架调整方案；B. Willingness to apply: according to the driving will of the controller 4, a preliminary fitting suspension adjustment plan is carried out;
C、综合上报：根据多个输入规划合理的悬架调整方案；C. Comprehensive reporting: plan a reasonable suspension adjustment plan based on multiple inputs;
D、仿真校验：按照所有信息信号输入进主动悬架仿真系统5进行工况仿真，仿真时间≤1.2s；D. Simulation verification: input all information signals into the active suspension simulation system 5 for working condition simulation, and the simulation time is ≤1.2s;
E、仿真反馈：并且进行路况合理性判断，将判断结果反馈至模拟态仿真中心1；合理性基于仿真结果进行判断；E. Simulation feedback: and judge the rationality of the road conditions, and feed back the judgment results to the simulated state simulation center 1; the rationality is judged based on the simulation results;
F、结果反馈：基于路况合理性数值判断，合理性≥0.985则可以执行主动悬架调整，进行新一轮的申报意愿；F. Result feedback: Based on the numerical judgment of the rationality of the road conditions, if the rationality is greater than or equal to 0.985, the active suspension adjustment can be performed, and a new round of declaration will be made;
G、实际反馈执行：根据结果实际执行，要求全部过程必须满足仿真系统指定的主动悬架调整方案。G. Actual feedback execution: According to the actual execution results, the entire process must meet the active suspension adjustment scheme specified by the simulation system.
一种车辆，包括上述汽车主动悬架系统。A vehicle includes the above-mentioned vehicle active suspension system.
与现有技术相比，本发明的有益效果是：Compared with prior art, the beneficial effect of the present invention is:
本发明汽车主动悬架系统及控制方法，可实现在复杂工况中快速响应，实时实现最优控制的调理分配，汽车主动悬架系统，包括模拟态仿真中心、悬架调整系统、悬架模块、控制器、主动悬架仿真系统、悬架反馈系统、信号收集系统、时刻路况反馈和智能监控模块。The automobile active suspension system and control method of the present invention can realize rapid response in complex working conditions, realize optimal control adjustment and allocation in real time, and the automobile active suspension system includes a simulated state simulation center, a suspension adjustment system, and a suspension module , controller, active suspension simulation system, suspension feedback system, signal collection system, real-time road condition feedback and intelligent monitoring module.
附图说明Description of drawings
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本发明的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.
图1汽车主动悬架系统控制方法的流程图。Fig. 1 is a flowchart of a control method for an active suspension system of an automobile.
图中，1.模拟态仿真中心2.悬架调整系统3.悬架模块4.控制器5.主动悬架仿真系统6.悬架反馈系统7.信号收集系统8.时刻路况反馈9.智能监控模块。In the figure, 1. Simulated state simulation center 2. Suspension adjustment system 3. Suspension module 4. Controller 5. Active suspension simulation system 6. Suspension feedback system 7. Signal collection system 8. Momentary road condition feedback 9. Intelligence monitoring module.
具体实施方式Detailed ways
下面结合实施例对本发明作进一步说明：The present invention will be further described below in conjunction with embodiment:
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。同时，在本发明的描述中，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.
本发明汽车主动悬架系统，模拟态仿真中心1、悬架调整系统2、悬架模块3、控制器4、主动悬架仿真系统5、悬架反馈系统6、信号收集系统7、时刻路况反馈8和智能监控模块9。The automobile active suspension system of the present invention, simulation state simulation center 1, suspension adjustment system 2, suspension module 3, controller 4, active suspension simulation system 5, suspension feedback system 6, signal collection system 7, time road condition feedback 8 and intelligent monitoring module 9.
所述悬架调整系统2布置在汽车上，主要用于调整悬架系统，调整周期≤15ms。所述悬架调整系统2分别与模拟态仿真中心1、悬架模块3和信号收集系统7相连。所述悬架调整系统2可以接受悬架模块3的驾驶请求、可以接收信号收集系统7上报的路况信息；所述悬架调整系统2可以将收集到的所有信息进行上报给模拟态仿真中心1。The suspension adjustment system 2 is arranged on the automobile and is mainly used for adjusting the suspension system, and the adjustment period is ≤15ms. The suspension adjustment system 2 is respectively connected with the simulated state simulation center 1 , the suspension module 3 and the signal collection system 7 . The suspension adjustment system 2 can accept the driving request of the suspension module 3, and can receive the road condition information reported by the signal collection system 7; the suspension adjustment system 2 can report all the collected information to the simulation state simulation center 1 .
所述悬架模块3，包括电磁场、机械悬架和电磁铁悬架，悬架模块3通过电磁铁悬架作用在电磁场中，通过调整电磁场的参数来实现对机械悬架的主动调整。The suspension module 3 includes an electromagnetic field, a mechanical suspension and an electromagnet suspension. The suspension module 3 acts in the electromagnetic field through the electromagnet suspension, and realizes active adjustment of the mechanical suspension by adjusting the parameters of the electromagnetic field.
所述信号收集系统7可以采集汽车行驶工作区域的信号，包括但不限于路况信号、气候信号、路障信号；信号收集系统7将受监控信息全部上报给悬架调整系统2，上报周期≤7.23ms。The signal collection system 7 can collect signals in the working area of the vehicle, including but not limited to road condition signals, weather signals, and roadblock signals; the signal collection system 7 reports all the monitored information to the suspension adjustment system 2, and the reporting period is ≤7.23ms .
所述大数据管理心中1布置在车体中的域控制器中，是所有系统的总控制大脑中心，大数据管理心中1与主动悬架仿真系统5相连，大数据管理心中1根据悬架调整系统2反馈的综合信息在主动悬架仿真系统5中进行路况仿真，然后获取仿真结果，反馈至悬架反馈系统6；大数据管理心中1的更新计算反应周期≤2.34ms，信息更新频率≥13Hz。The big data management center 1 is arranged in the domain controller in the car body, and is the general control brain center of all systems. The big data management center 1 is connected to the active suspension simulation system 5, and the big data management center 1 is adjusted according to the suspension The comprehensive information fed back by system 2 performs road condition simulation in the active suspension simulation system 5, and then obtains the simulation results and feeds them back to the suspension feedback system 6; the update calculation response period of the big data management center 1 is ≤2.34ms, and the information update frequency is ≥13Hz .
所述悬架反馈系统6分别大数据管理心中1和控制器4相连，悬架反馈系统6接收大数据管理心中1反馈的信号将其发送给控制器进行判断；将完整的主动悬架控制方案全部反馈给控制器4；悬架反馈系统6的信号反馈速度≤1.5S。The suspension feedback system 6 is respectively connected to the big data management center 1 and the controller 4, and the suspension feedback system 6 receives the signal fed back by the big data management center 1 and sends it to the controller for judgment; the complete active suspension control scheme All are fed back to the controller 4; the signal feedback speed of the suspension feedback system 6 is ≤1.5S.
所述主动悬架仿真系统5是布置在云端的虚拟仿真系统，具体形式包括但不限于元宇宙、大型游戏、模拟系统等；主动悬架仿真系统5与主动悬架一比一布置，最大限度模拟仿真真实主动悬架控制过程；主动悬架仿真系统5可以参与的仿真工况信息包括但不限于路况信号、气候信号、路障信号；主动悬架仿真系统5综合所有信息及悬架模块3的路线进行仿真，仿真频率≥35Hz；主动悬架仿真系统5与时刻路况反馈8相连，主动悬架仿真系统5可以根据时刻路况反馈8进行模型校正。The active suspension simulation system 5 is a virtual simulation system arranged in the cloud, and its specific forms include but not limited to Metaverse, large-scale games, simulation systems, etc.; the active suspension simulation system 5 is arranged one-to-one with the active suspension to maximize Simulate the real active suspension control process; the simulated working condition information that the active suspension simulation system 5 can participate in includes but not limited to road condition signals, weather signals, and roadblock signals; the active suspension simulation system 5 synthesizes all information and the information of the suspension module 3 The route is simulated, and the simulation frequency is ≥ 35 Hz; the active suspension simulation system 5 is connected to the instant road condition feedback 8, and the active suspension simulation system 5 can perform model correction according to the instant road condition feedback 8.
所述智能监控模块9是布置在云端的实时监控系统；智能监控模块9可以对悬架模块3、悬架调整系统2、模拟态仿真中心1进行实时监控；所有智能监控模块9的数据库互通，可以相互传递信息，实现信息高速通讯。The intelligent monitoring module 9 is a real-time monitoring system arranged in the cloud; the intelligent monitoring module 9 can monitor the suspension module 3, the suspension adjustment system 2, and the simulated state simulation center 1 in real time; the databases of all the intelligent monitoring modules 9 are interoperable, Information can be transmitted to each other to realize high-speed communication of information.
如图1所示，本发明汽车主动悬架系统的控制方法，具体为一种汽车定轨控制方法，包括以下步骤：As shown in Figure 1, the control method of the automobile active suspension system of the present invention is specifically a kind of automobile track determination control method, comprising the following steps:
A、驾乘意愿：控制器4将其初步的驾驶悬架调整方案上报给悬架模块3，包括适配于驾驶的所有信息；A. Driving willingness: the controller 4 reports its preliminary driving suspension adjustment plan to the suspension module 3, including all information suitable for driving;
B、申请意愿：根据控制器4的驾乘意愿进行初步拟合的悬架调整方案，方式包括但不限于大数据自动计算、借助历史调整数据等；B. Willingness to apply: Carry out a preliminary fitting suspension adjustment plan according to the driving will of the controller 4, including but not limited to automatic calculation of big data, historical adjustment data, etc.;
C、综合上报：根据多个输入规划合理的悬架调整方案；C. Comprehensive reporting: plan a reasonable suspension adjustment plan based on multiple inputs;
D、仿真校验：按照所有信息信号输入进主动悬架仿真系统5进行工况仿真，仿真时间≤1.2s；D. Simulation verification: input all information signals into the active suspension simulation system 5 for working condition simulation, and the simulation time is ≤1.2s;
E、仿真反馈：并且进行路况合理性判断，将判断结果反馈至模拟态仿真中心1；合理性基于仿真结果进行判断，方法包括但不限于数值考核法、仿真结果考核法等；E. Simulation feedback: and judge the rationality of the road conditions, and feed back the judgment results to the simulated state simulation center 1; the rationality is judged based on the simulation results, and the methods include but are not limited to numerical evaluation methods, simulation result evaluation methods, etc.;
F、结果反馈：基于路况合理性数值判断，合理性≥0.985则可以执行主动悬架调整，进行新一轮的申报意愿；F. Result feedback: Based on the numerical judgment of the rationality of the road conditions, if the rationality is greater than or equal to 0.985, the active suspension adjustment can be performed, and a new round of declaration will be made;
G、实际反馈执行：根据结果实际执行，要求全部过程必须满足仿真系统指定的主动悬架调整方案。G. Actual feedback execution: According to the actual execution results, the entire process must meet the active suspension adjustment scheme specified by the simulation system.
所有控制过程由智能监控模块9进行监控，一旦有异常情况，立即中断智能调整，采用机械悬架进行调整。All control processes are monitored by the intelligent monitoring module 9. Once there is an abnormal situation, the intelligent adjustment is immediately interrupted and the mechanical suspension is used for adjustment.
一种车辆，包括上述汽车主动悬架系统。A vehicle includes the above-mentioned vehicle active suspension system.
实施例1Example 1
一种汽车主动悬架系统，模拟态仿真中心1、悬架调整系统2、悬架模块3、控制器4、主动悬架仿真系统5、悬架反馈系统6、信号收集系统7、时刻路况反馈8和智能监控模块9。An automobile active suspension system, including simulation center 1, suspension adjustment system 2, suspension module 3, controller 4, active suspension simulation system 5, suspension feedback system 6, signal collection system 7, and road condition feedback at any time 8 and intelligent monitoring module 9.
其中，所述模拟态仿真中心1布置在车体中的域控制器中，模拟态仿真中心1分别与悬架调整系统2、主动悬架仿真系统5、悬架反馈系统6和时刻路况反馈8相连。所述悬架调整系统2布置在汽车上，悬架调整系统2分别与模拟态仿真中心1、悬架模块3和信号收集系统7相连。所述控制器4分别与接受悬架模块3和悬架反馈系统6相连。所述主动悬架仿真系统5与时刻路况反馈8相连。Wherein, the simulation state simulation center 1 is arranged in the domain controller in the car body, and the simulation state simulation center 1 is connected with the suspension adjustment system 2, the active suspension simulation system 5, the suspension feedback system 6 and the road condition feedback 8 respectively. connected. The suspension adjustment system 2 is arranged on the vehicle, and the suspension adjustment system 2 is respectively connected with the simulation center 1 , the suspension module 3 and the signal collection system 7 . The controller 4 is connected to the receiving suspension module 3 and the suspension feedback system 6 respectively. The active suspension simulation system 5 is connected with the road condition feedback 8 at any time.
所述悬架模块3，包括电磁场、机械悬架和电磁铁悬架，悬架模块3通过电磁铁悬架作用在电磁场中，通过调整电磁场的参数来实现对机械悬架的主动调整。所述悬架模块3向悬架调整系统2发送驾驶请求。The suspension module 3 includes an electromagnetic field, a mechanical suspension and an electromagnet suspension. The suspension module 3 acts in the electromagnetic field through the electromagnet suspension, and realizes active adjustment of the mechanical suspension by adjusting the parameters of the electromagnetic field. The suspension module 3 sends a driving request to the suspension adjustment system 2 .
所述信号收集系统7可以采集汽车行驶工作区域的信号，包括但不限于路况信号、气候信号、路障信号；信号收集系统7将受监控信息全部上报给悬架调整系统2，上报周期≤7.23ms。The signal collection system 7 can collect signals in the working area of the vehicle, including but not limited to road condition signals, weather signals, and roadblock signals; the signal collection system 7 reports all the monitored information to the suspension adjustment system 2, and the reporting period is ≤7.23ms .
所述悬架调整系统2主要用于调整悬架系统，调整周期≤15ms，悬架调整系统2将收集到的所有信息进行上报给模拟态仿真中心1。The suspension adjustment system 2 is mainly used to adjust the suspension system, and the adjustment period is ≤ 15 ms. The suspension adjustment system 2 reports all the collected information to the simulation center 1 in the simulation state.
所述大数据管理心中1根据悬架调整系统2反馈的综合信息在主动悬架仿真系统5中进行路况仿真，然后获取仿真结果，反馈至悬架反馈系统6；大数据管理心中1的更新计算反应周期≤2.34ms，信息更新频率≥13Hz。The big data management center 1 performs road condition simulation in the active suspension simulation system 5 according to the comprehensive information fed back by the suspension adjustment system 2, and then obtains the simulation results, which are fed back to the suspension feedback system 6; the update calculation of the big data management center 1 Response cycle ≤ 2.34ms, information update frequency ≥ 13Hz.
所述主动悬架仿真系统5是布置在云端的虚拟仿真系统，具体形式包括但不限于元宇宙、大型游戏、模拟系统等；主动悬架仿真系统5与主动悬架一比一布置，最大限度模拟仿真真实主动悬架控制过程；主动悬架仿真系统5可以参与的仿真工况信息包括但不限于路况信号、气候信号、路障信号；主动悬架仿真系统5综合所有信息及悬架模块3的路线进行仿真，仿真频率≥35Hz；主动悬架仿真系统5可以根据时刻路况反馈8进行模型校正。The active suspension simulation system 5 is a virtual simulation system arranged in the cloud, and its specific forms include but not limited to Metaverse, large-scale games, simulation systems, etc.; the active suspension simulation system 5 is arranged one-to-one with the active suspension to maximize Simulate the real active suspension control process; the simulated working condition information that the active suspension simulation system 5 can participate in includes but not limited to road condition signals, weather signals, and roadblock signals; the active suspension simulation system 5 synthesizes all information and the information of the suspension module 3 The route is simulated, and the simulation frequency is ≥35Hz; the active suspension simulation system 5 can perform model correction according to the road condition feedback 8 at any time.
所述悬架反馈系统6接收大数据管理心中1反馈的信号将其发送给控制器进行判断；将完整的主动悬架控制方案全部反馈给控制器4；悬架反馈系统6的信号反馈速度≤1.5S。The suspension feedback system 6 receives the signal fed back by the big data management center 1 and sends it to the controller for judgment; all the complete active suspension control schemes are fed back to the controller 4; the signal feedback speed of the suspension feedback system 6 is ≤ 1.5S.
所述智能监控模块9是布置在云端的实时监控系统；智能监控模块9可以对悬架模块3、悬架调整系统2、模拟态仿真中心1进行实时监控；所有智能监控模块9的数据库互通，可以相互传递信息，实现信息高速通讯。The intelligent monitoring module 9 is a real-time monitoring system arranged in the cloud; the intelligent monitoring module 9 can monitor the suspension module 3, the suspension adjustment system 2, and the simulated state simulation center 1 in real time; the databases of all the intelligent monitoring modules 9 are interoperable, Information can be transmitted to each other to realize high-speed communication of information.
实施例2Example 2
一种汽车主动悬架系统的控制方法，包括以下步骤：A method for controlling an active suspension system of an automobile, comprising the following steps:
A、驾乘意愿：控制器4将包括适配于驾驶的所有信息的初步驾驶悬架调整方案上报给悬架模块3；A. Driving willingness: the controller 4 reports the preliminary driving suspension adjustment plan including all information suitable for driving to the suspension module 3;
B、申请意愿：根据控制器4的驾乘意愿通过大数据自动计算进行初步拟合的悬架调整方案；B. Willingness to apply: According to the driving willingness of the controller 4, the preliminary fitting suspension adjustment plan is automatically calculated through big data;
C、综合上报：根据多个输入规划合理的悬架调整方案；C. Comprehensive reporting: plan a reasonable suspension adjustment plan based on multiple inputs;
D、仿真校验：按照所有信息信号输入进主动悬架仿真系统5进行工况仿真，仿真时间≤1.2s；D. Simulation verification: input all information signals into the active suspension simulation system 5 for working condition simulation, and the simulation time is ≤1.2s;
E、仿真反馈：采用数值考核法，先进行路况合理性判断，将判断结果反馈至模拟态仿真中心1；合理性基于仿真结果进行判断；E. Simulation feedback: use the numerical assessment method to first judge the rationality of the road conditions, and feed back the judgment results to the simulation center 1 in the simulated state; the rationality is judged based on the simulation results;
F、结果反馈：基于路况合理性数值判断，合理性≥0.985则可以执行主动悬架调整，进行新一轮的申报意愿；F. Result feedback: Based on the numerical judgment of the rationality of the road conditions, if the rationality is greater than or equal to 0.985, the active suspension adjustment can be performed, and a new round of declaration will be made;
G、实际反馈执行：根据结果实际执行，要求全部过程必须满足仿真系统指定的主动悬架调整方案。G. Actual feedback execution: According to the actual execution results, the entire process must meet the active suspension adjustment scheme specified by the simulation system.
所有控制过程由智能监控模块9进行监控，一旦有异常情况，立即中断智能调整，采用机械悬架进行调整。All control processes are monitored by the intelligent monitoring module 9. Once there is an abnormal situation, the intelligent adjustment is immediately interrupted and the mechanical suspension is used for adjustment.
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention, and the present invention The scope is determined by the scope of the appended claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310499272.XACN116572689A (en) | 2023-05-05 | 2023-05-05 | Automobile active suspension system, control method and vehicle |
| Application Number | Priority Date | Filing Date | Title |
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| CN202310499272.XACN116572689A (en) | 2023-05-05 | 2023-05-05 | Automobile active suspension system, control method and vehicle |
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| CN116572689Atrue CN116572689A (en) | 2023-08-11 |
| Application Number | Title | Priority Date | Filing Date |
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| CN202310499272.XAPendingCN116572689A (en) | 2023-05-05 | 2023-05-05 | Automobile active suspension system, control method and vehicle |
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| CN111207934A (en)* | 2020-03-05 | 2020-05-29 | 中国第一汽车股份有限公司 | Testing system and method of chassis control device |
| US20230040713A1 (en)* | 2021-08-09 | 2023-02-09 | Beijing Tusen Zhitu Technology Co., Ltd. | Simulation method for autonomous vehicle and method for controlling autonomous vehicle |
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