The invention discloses an active suspension control method under vehicle-mounted visual perception preview, which is used for monitoring the condition of a road surface in front of a vehicle in real time by combining a binocular camera with various visual perception algorithms. Through accurate capture and analysis of road surface information, based on a robust control theory and a Lyapunov theory, a preview H-infinity controller matched with the road surface information is designed, and through timely adjustment of a suspension system, bumping feeling and vibration of a vehicle are reduced more effectively, and more stable and smoother driving experience is provided for passengers. According to the method, the front road surface information is sensed in advance by using a machine vision method, and the problem of time delay in a traditional suspension control method is solved, so that the safety and the riding comfort of the vehicle are remarkably improved.
本发明公开了一种车载视觉感知预瞄下的主动悬架控制方法,利用双目摄像头结合多种视觉感知算法,实时监测车辆前方路面状况。通过对路面信息的准确捕捉和分析,基于鲁棒控制理论和李雅普诺夫理论,设计与之相匹的预瞄H∞控制器,通过及时调整悬架系统,使车辆更有效地减少颠簸感和震动,为乘客提供更为稳定平顺的行驶体验。本发明使用机器视觉的方法提前感知前方路面信息,改善了传统悬架控制方法中存在的时滞问题,从而显著提升了车辆的安全性和乘坐舒适性。
Active suspension control method under vehicle-mounted visual perception preview
一种车载视觉感知预瞄下的主动悬架控制方法
2024-08-02
Patent
Electronic Resource
Chinese
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