Research On Horizontal Control Of Automobile Active Suspension In The Sense Of Road Intelligence

In order to improve the smoothness of the vehicle and ensure the stability of the automobile,the research on the control of the active suspension of automobile by domestic and foreign scholars has been widely developed and some research results has been obtained.Just focusing on the common problems existing in its control algorithm,ignoring the change of road,this lack of enough pavement information of road limits the further improving the car active suspension performance.The road is the most important environmental object in automobile driving,and the accurate perception,modeling and detection of the road based on computer vision in the driver’s assistance system are also hot spots.With the development of electronic technology,the combination of the automotive suspension control and the road in front of a car can better change the car’s performance,it also provides a new research in the future development of smart car.The dissertation is supported by the National Science Foundation of China Youth Fund Project(51605213)“Research on Adaptive Switching of Vehicle Active Suspension Damping Control under Intelligent Intuition” and the joint fund project of Liaoning Science and Technology Agency(201602367)“Adaptive Active Suspension of Vehicles under IntelliSense Control Research”,through the vehicle-mounted binocular vision system obtain the road vertical and study the control strategy of active suspension.The main contents of this paper include: firstly,the basic principle of binocular stereo vision is introduced,and the vehicle-mounted binocular vision system is set up,the geometric model of camera image is described and the calibration of camera parameters is completed.Secondly,the basic theory of stereo matching is introduced,the three-dimensional matching algorithm based on global error energy minimization is described.Then the car seven degrees of freedom vehicle model is set up,make the vertical contour of pavement model out used least square method and combine with random road used filter white noise method modeled the road vertical input.At last study the fuzzy PID control strategy for active suspension and making simulation experiment.The results show that we can obtain the 3D-information of the ahead road used binocular stereo vision.It lays a foundation for the modeling of pavement vertical profile and the active suspension control can reduce the body pitching angle,make the body more close to the level,improving vehicle ride comfort better.