CN-121978902-A - Vibration damping optimization method and system for laser radar support

CN121978902ACN 121978902 ACN121978902 ACN 121978902ACN-121978902-A

Abstract

The invention relates to a vibration damping optimization method and system of a laser radar bracket, and relates to the technical field of laser radar bracket vibration damping, wherein the method comprises the steps of collecting real-time vibration frequency and external excitation frequency of the bracket; the method comprises the steps of comparing the real-time vibration frequency with an external excitation frequency to obtain frequency proximity, collecting current rigidity parameters of a bracket when the frequency proximity is not lower than a preset resonance trigger threshold, determining target rigidity adjustment quantity based on the current rigidity parameters and the external excitation frequency, generating a rigidity adjustment instruction according to the target rigidity adjustment quantity, and controlling a rigidity adjustment actuator to adjust support rigidity of the bracket in response to the rigidity adjustment instruction so as to complete adjustment of support rigidity of the bracket and enable the real-time vibration frequency to deviate from the external excitation frequency. The invention has the effect of improving the vibration reduction effect when the external excitation frequency deviates from the effective working frequency band of the passive element.

Inventors

WANG ZHIXIANG
LU JIANGNAN
FAN KUN
YANG ZHIDONG

Assignees

宁波华众汽车饰件科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260407

Claims (9)

1. The vibration damping optimization method for the laser radar support is characterized by comprising the following steps of: collecting real-time vibration frequency and external excitation frequency of a bracket; comparing the real-time vibration frequency with the external excitation frequency to calculate and obtain frequency proximity; when the frequency proximity is not lower than a preset resonance triggering threshold value, collecting the current rigidity parameter of the bracket; Determining a target stiffness adjustment based on the current stiffness parameter and the external excitation frequency; generating a rigidity adjustment instruction according to the target rigidity adjustment amount; controlling a rigidity adjustment actuator to adjust the support rigidity of the bracket in response to the rigidity adjustment command to complete adjustment of the support rigidity of the bracket so as to deviate the real-time vibration frequency from the external excitation frequency; The method for identifying and compensating the friction interference of the windscreen wiper is characterized by further comprising the following steps of: Collecting the current working gear of the windscreen wiper and the current position of the windscreen wiper arm; determining a friction excitation frequency interval generated by the wiper in the current sweeping stroke based on the current working gear and the current position of the wiper arm; comparing the friction excitation frequency interval with the real-time vibration frequency to judge whether frequency overlapping exists or not; When the frequency overlap exists, the friction excitation frequency interval is used as additional external excitation to be overlapped into the external excitation frequency, so that the corrected external excitation frequency is obtained; The target stiffness adjustment amount is redetermined based on the corrected external excitation frequency.
2. The method for optimizing vibration damping of a laser radar stand according to claim 1, further comprising a method for determining a target stiffness adjustment amount: collecting the current adjustable range and response delay time of the rigidity adjusting actuator; comparing the current rigidity parameter with a preset rigidity reference value to obtain a rigidity deviation value; Determining a demand offset based on a difference between the external excitation frequency and the real-time vibration frequency; Matching according to the current rigidity parameter, the real-time vibration frequency, the required offset, the rigidity offset value and the current adjustable range to obtain an initial adjustment quantity; and correcting the initial adjustment quantity by combining the response delay time to obtain the target rigidity adjustment quantity.
3. The method for optimizing vibration damping of a laser radar stand according to claim 1, further comprising the step of monitoring the life consumption of the actuator: acquiring actual adjusting amplitude and adjusting speed of the stiffness adjusting actuator in each adjusting action; calculating a life consumption value of the single action based on the actual adjustment amplitude and the adjustment rate; Accumulating the life consumption value of the single action to a historical life consumption total value; and when the total historical life consumption value exceeds a preset life early warning threshold value, generating an actuator life early warning signal.
4. A method of optimizing vibration damping of a laser radar stand according to claim 3, further comprising the step of optimizing actuator life: responding to the service life early warning signal of the actuator to acquire the suspension dynamic travel, the vertical acceleration of the vehicle body, the suspension stiffness coefficient and the suspension damping coefficient of the vehicle; calculating to obtain a road surface unevenness coefficient based on the suspension dynamic travel and the vehicle body vertical acceleration; According to the suspension stiffness coefficient and the suspension damping coefficient, calculating to obtain the natural frequency and the damping ratio of the suspension system; inputting the road surface unevenness coefficient, the natural frequency and the damping ratio into a preset suspension vibration isolation model to calculate and obtain the vibration isolation contribution rate of the suspension system to the current road surface excitation; When the vibration isolation contribution rate exceeds a preset contribution rate threshold value, calculating a reduced target stiffness adjustment amount based on the target stiffness adjustment amount, the vibration isolation contribution rate and the contribution rate threshold value; And generating a rigidity adjusting instruction according to the reduced target rigidity adjusting amount.
5. The method for optimizing vibration damping of a laser radar stand according to claim 1, further comprising a multi-stand cooperative control method: Collecting the number of the current bracket; Determining adjacent bracket numbers based on the current bracket numbers, and receiving adjacent real-time vibration frequencies and adjacent current stiffness parameters reported by the brackets corresponding to the adjacent bracket numbers; Comparing the real-time vibration frequency with the adjacent real-time vibration frequency to obtain a frequency difference value; When the frequency difference value is lower than a preset collaborative trigger threshold value, determining the frequency offset direction and the offset distribution coefficient of the bracket corresponding to the current bracket number based on the ratio of the current stiffness parameter to the adjacent current stiffness parameter; Calculating to obtain a cooperative stiffness adjustment amount according to the offset distribution coefficient and the target stiffness adjustment amount; generating a cooperative stiffness adjustment instruction according to the cooperative stiffness adjustment amount.
6. The method for vibration damping optimization of a laser radar stand according to claim 5, further comprising the steps of: Determining a structural connection stiffness coefficient between the current bracket and the adjacent bracket based on the current bracket number and the adjacent bracket number; According to the structural connection rigidity coefficient and the current rigidity parameter, calculating to obtain a coupling influence factor of the current bracket rigidity change on the adjacent bracket; inputting the target rigidity adjustment quantity into a coupling influence factor to calculate and obtain a passive frequency offset of the adjacent bracket due to the current bracket rigidity adjustment; reducing the cooperative stiffness adjustment quantity of the adjacent brackets according to the passive frequency offset to obtain the actual required adjustment quantity of the adjacent brackets; and synchronously issuing a rigidity adjusting instruction of the current bracket and an actual required adjusting amount of the adjacent bracket after the reduction.
7. The method for optimizing vibration damping of a laser radar stand according to claim 1, further comprising a dynamic correction method based on wear of a wiper blade: collecting working current signals of a wiper motor in the running process; Extracting a current ripple component corresponding to a wiper reciprocation period from the operating current signal; Calculating a current wear degree coefficient based on the current ripple component; Performing widening correction on the friction excitation frequency interval according to the current wear degree coefficient to obtain an extended friction excitation interval; the extended friction excitation interval is superimposed as an additional external excitation into the external excitation frequency.
8. The method for optimizing vibration damping of a laser radar stand according to claim 1, further comprising a frequency sweep self-calibration method: Collecting the position of a wiper arm and the rotating speed of a wiper motor at preset continuous moments in one complete sweeping stroke of the wiper and the real-time vibration response amplitude of a current bracket at each moment; Calculating to obtain the sweep speed of the wiper blade based on the position of the wiper arm and the rotating speed of the motor of the wiper blade; Determining a friction excitation frequency according to the wiper sweep speed; obtaining an actual frequency response transfer function based on the friction excitation frequency and the real-time vibration response amplitude; comparing the actual frequency response transfer function with a preset theoretical transfer function to obtain a transfer deviation value; when the transfer deviation exceeds a preset deviation threshold, correcting the target rigidity adjustment amount calculation parameter in the subsequent period according to the actual frequency response transfer function.
9. A laser radar stand vibration damping optimization system, comprising: the acquisition module is used for acquiring real-time vibration frequency, external excitation frequency and current rigidity parameters; A memory for storing a program for implementing a vibration damping optimization method of a laser radar stand according to any one of claims 1 to 8; And the processor is used for loading and executing the programs stored in the memory.

Description

Vibration damping optimization method and system for laser radar support Technical Field The invention relates to the technical field of laser radar support vibration reduction, in particular to a laser radar support vibration reduction optimization method and system. Background Lidar mounts refer to support structures for fixedly mounting lidar to a vehicle, typically at the roof, bumper or other location of the vehicle body, to provide a stable mounting base for the lidar. Currently, lidar supports are subjected to various vibratory excitations from the road surface during use. When the vehicle runs, external excitation generated by excitation sources such as road surface unevenness, wheel dynamic balance, engine ignition pulse and the like is transmitted to the vehicle body through the suspension system and then transmitted to the laser radar through the bracket. When the natural frequency of the bracket is close to or equal to the external excitation frequency, the bracket will resonate, resulting in a sharp amplification of the vibration amplitude. Resonance can lead to severe jitter of the laser radar, so that point cloud data distortion and target recognition accuracy reduction are caused, and even precise optical devices in the laser radar can be damaged when the point cloud data distortion and the target recognition accuracy reduction are serious. In view of the above problems, a passive vibration damping method is generally adopted in the related art, such as providing a rubber bushing or a damping element at the connection between the bracket and the vehicle body, and absorbing vibration energy through the damping characteristic of the material itself. However, the passive vibration damping element has a fixed damping characteristic, and can only exert an effect in a specific frequency band, and is difficult to adapt to an external excitation frequency which is continuously changed during the running process of the vehicle. When the external excitation frequency deviates from the effective working frequency band of the passive element, the vibration reduction effect is obviously reduced, and the improvement is needed. Disclosure of Invention In order to improve the vibration reduction effect when the external excitation frequency deviates from the effective working frequency band of the passive element, the invention provides a vibration reduction optimization method and system for a laser radar bracket. In a first aspect, the invention provides a vibration damping optimization method for a laser radar bracket, which adopts the following technical scheme: A vibration damping optimization method for a laser radar bracket comprises the following steps: collecting real-time vibration frequency and external excitation frequency of a bracket; comparing the real-time vibration frequency with the external excitation frequency to calculate and obtain frequency proximity; when the frequency proximity is not lower than a preset resonance triggering threshold value, collecting the current rigidity parameter of the bracket; Determining a target stiffness adjustment based on the current stiffness parameter and the external excitation frequency; generating a rigidity adjustment instruction according to the target rigidity adjustment amount; controlling a rigidity adjustment actuator to adjust the support rigidity of the bracket in response to the rigidity adjustment command to complete adjustment of the support rigidity of the bracket so as to deviate the real-time vibration frequency from the external excitation frequency; optionally, the method further comprises a wiper friction interference identification and compensation method: Collecting the current working gear of the windscreen wiper and the current position of the windscreen wiper arm; determining a friction excitation frequency interval generated by the wiper in the current sweeping stroke based on the current working gear and the current position of the wiper arm; comparing the friction excitation frequency interval with the real-time vibration frequency to judge whether frequency overlapping exists or not; When the frequency overlap exists, the friction excitation frequency interval is used as additional external excitation to be overlapped into the external excitation frequency, so that the corrected external excitation frequency is obtained; The target stiffness adjustment amount is redetermined based on the corrected external excitation frequency. By adopting the technical scheme, the vibration frequency and the external excitation frequency of the bracket are acquired, the frequency proximity is compared and calculated, when the frequency proximity reaches the resonance triggering threshold, the target rigidity adjustment quantity is known according to the current rigidity parameter and the external excitation frequency, the rigidity adjustment instruction is generated, the rigidity adjustment actuator is controlled to adjust the support rigidi