The invention relates to a vehicle active suspension control method considering motion sickness of passengers based on road surface information. The method comprises the following steps that a vehicle-seat active suspension coupling dynamic model is established; a binocular vision recognition algorithm is used for recognizing random road surface information in the vehicle driving process, the road surface information is graded, and a preview control algorithm is used for inputting road surface grade information into the vehicle-chair active suspension system model to serve as excitation signal input; a model predictive control (MPC) algorithm is used for carrying out rolling optimization on performance indexes of the active suspension, the vertical acceleration value of an active suspension system is reduced, the influence of vehicle vertical vibration generated by the vertical acceleration of a vehicle suspension to cause motion sickness of passengers is fully considered, the researched key performance indexes are respectively controlled, and the dynamic sickness of the passengers is reduced. The vertical acceleration of the vehicle is improved through an improved algorithm, finally, the smoothness and the handling stability of the automatic driving vehicle are effectively improved, and the incidence rate of motion sickness of passengers in the vehicle is reduced.
本发明涉及一种基于路面信息考虑乘员晕动的车辆主动悬架控制方法,包括以下步骤:建立车‑座椅主动悬架耦合动力学模型;使用双目视觉识别算法对车辆行驶过程中的随机路面信息进行识别,并且对路面信息进行等级划分,利用预瞄控制算法,将路面等级信息输入到车‑椅主动悬架系统模型中,作为激励信号输入;使用模型预测控制(MPC)算法对主动悬架性能指标进行滚动优化,降低主动悬架系统的垂向加速度值,充分考虑车辆悬架的垂向加速度产生车辆垂向振动进而造成乘员晕动症发生的影响,将研究的关键性能指标分别进行控制,通过改进算法来改善车辆的垂向加速度大小,最终有效改善自动驾驶车辆的平顺性和操纵稳定性,降低了车内乘员晕动症的发生率。
Vehicle active suspension control method considering motion sickness of passengers based on road surface information
一种基于路面信息考虑乘员晕动的车辆主动悬架控制方法
2023-09-15
Patent
Electronic Resource
Chinese
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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