Research on the Multimode Switching Control of Intelligent Suspension Based on Binocular Distance Recognition

Abstract

As the upgrade of people’s requirements for automotive driving comfort, conventional passive suspensions for cars have fallen short of existing demands due to their nonadjustable damping and stiffness, so semiactive suspensions and active suspensions have gained growing acceptance. Compared with active suspensions, semiactive suspensions offer the advantages of a low manufacturing cost and reliable structure, and thus have become the preferred choice for most vehicles. To optimize the control effect of semiactive suspensions under different working conditions, this paper completed the modeling of magnetorheological semiactive suspension system dynamics and road inputs; then, the design of binocular camera sensing algorithms was performed to obtain the real-time distance of the target using the point cloud ranging function, and the parameters required for suspension control were also obtained. This was followed by the completion of the control-mode-switching rules and the design of the suspension controller. According to the different control objectives, the mode could be divided into the obstacle-road mode, straight-road mode, and curved-road mode. The suspension controller included the BP-PID (neural network PID controller) controller and the force distributor. Finally, the effectiveness of the mode-switching rules and the control method was verified through system simulation and the hardware-in-the-loop test.