基于视觉感知的半主动悬架预瞄控制

Semi-active suspension preview control based on visual perception

针对半主动悬架系统在典型离散路面行驶时引起的车身振动问题,提出了一种基于视觉感知的预瞄控制策略。首先,结合YOLOv5目标检测和双目视觉技术实时获取典型路面特征和距离信息。其次,根据当前车辆状态信息,设计了一种集预瞄模糊前馈和自抗扰反馈于一体的半主动悬架控制系统。最后,在典型离散路面工况下,通过Matlab/Simulink进行仿真实验。实验结果显示,基于视觉预瞄的控制策略能显著提升半主动悬架系统的减振性能,进而增强车辆的乘坐舒适性和操控稳定性。

A preview control technique based on visual perception is proposed to address the body vibration problem generated by the semi-active suspension system when driving on typical discrete road surfaces.Firstly,by merging YOLOv5 target detection and stereo vision technologies,typical road surface properties and distance information are obtained in real time.Secondly,a semi-active suspension control system incorporating preview fuzzy feed-forward and Active Disturbance Rejection Control feedback is devised based on current vehicle condition information.Finally,Matlab/Simulink simulates tests with realistic discrete road conditions.The experimental findings demonstrate that the visual preview control technique may greatly increase the semi-active suspension system s damping performance,which in turn improves the vehicle s handling stability and ride comfort.