The invention provides an active suspension control method and device, a vehicle controller, a vehicle and a storage medium. The active suspension control method comprises the steps that marking information, in a road map, of a road object in a road in front of a vehicle is obtained based on real-time positioning information of the vehicle, and the marking information comprises first geometric feature information and first position information of the road object; calculating a feedforward control amount for controlling the active suspension based on the real-time positioning information, the first geometric feature information, the first position information, and a driving state parameter of the vehicle; and controlling an active suspension of the vehicle by adopting the feedforward control quantity. The feature information of the road object is obtained by inquiring the road map instead of processing the road image, so that the accuracy of obtaining the road feature information by adopting the scheme is not limited by weather conditions, the active suspension can still be accurately controlled under severe weather conditions, and the service life of the active suspension is prolonged. And the stability and the riding comfort of the vehicle in the running process are ensured.

    本公开提供种主动悬架控制方法、装置、车辆控制器、车辆和存储介质。其中主动悬架控制方法,包括:基于车辆的实时定位信息获取车辆前方道路中的道路对象在道路地图中的标注信息,标注信息包括道路对象的第一几何特征信息和第一位置信息;基于实时定位信息、第一几何特征信息、第一位置信息和车辆的行驶状态参数,计算用于控制主动悬架的前馈控制量;采用前馈控制量控制车辆的主动悬架。因为道路对象的特征信息是通过查询道路地图获取的,不是处理道路图像而得到的,所以采用本方案获取道路特征信息的准确度不会受制于天气状况,因此在较为恶劣的天气条件下仍能较为准确地控制主动悬架,保证车辆行驶过程中的稳定性和乘坐舒适性。


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    Title :

    Active suspension control method and device, vehicle controller, vehicle and storage medium


    Additional title:

    主动悬架控制方法、装置、车辆控制器、车辆和存储介质


    Contributors:
    JI ZHENG (author)

    Publication date :

    2023-03-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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