Vehicle control method, terminal and computer-readable storage medium

Abstract

This application provides a vehicle control method, comprising obtaining wheel accelerations from wheel sensors and body accelerations from body sensors located above the wheel sensors; determining the preset stage of the wheel when the vehicle passes over a bump based on the wheel and body accelerations; and adjusting the current of each wheel's shock absorber based on the damping parameters corresponding to the preset stage. By identifying the different stages of a vehicle passing over a bump and adjusting the damping force of the vehicle's suspension accordingly, this application can significantly improve ride comfort when the vehicle passes over a bump.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle control method, a terminal, and a computer-readable storage medium. Background Art

[0002] In response to the special working conditions of the current semi-active suspension, such as speed bumps or bumps, the current semi-active suspension's recognition algorithm for speed bumps is mainly based on the vehicle height position sensor, using the vertical motion state of the vehicle height sensors of the two front wheels. The specific recognition algorithm is to take the vertical motion displacement of the front axle vehicle height sensor through quadratic differentiation to calculate the vertical motion acceleration of the wheel. By detecting the amplitude change of the vertical motion acceleration of the wheel over a certain period of time, it is detected whether the front wheel passes through a speed bump or a bump. When the front axle detects that it has passed through a speed bump or a bump, the semi-active suspension adjusts the damping force accordingly to improve the ride comfort of the vehicle through this working condition. Summary of the Invention

[0003] In view of this, the present invention provides a vehicle control method, a terminal, and a computer-readable storage medium, which can greatly improve the ride comfort of a vehicle when passing through bumpy road conditions.

[0004] This application provides a vehicle control method, comprising the following steps:

[0005] Acquire wheel accelerations collected by each wheel sensor and vehicle body accelerations collected by a vehicle body sensor located above the wheel sensor;

[0006] determining, based on the wheel acceleration and the vehicle body acceleration, the preset stage at which the wheel is located when the vehicle passes through a bump;

[0007] The current of each wheel shock absorber is adjusted according to the damping parameter corresponding to the preset stage of each wheel.

[0008] Optionally, determining the preset stage of the wheel when the vehicle passes over a bump condition based on the wheel acceleration and the vehicle body acceleration includes:

[0009] determining a vertical motion state of the wheel according to the wheel acceleration;

[0010] determining a vertical motion state of the vehicle body according to the vehicle body acceleration;

[0011] The preset stage of the wheel when the vehicle passes over a bump is identified by combining the vertical motion state of the wheel and the vertical motion state of the vehicle body.

[0012] Optionally, the identifying the preset stage of the wheel when the vehicle passes over a bump condition by combining the vertical motion state of the wheel and the vertical motion state of the vehicle body includes:

[0013] If the amplitude and frequency of the wheel's vertical motion meet the preset conditions and the vehicle body does not undergo vertical motion, the wheel is in the first stage;

[0014] If the vertical motion state of the wheel is upward and the vertical motion state of the vehicle body is upward, the wheel is in the second stage;

[0015] If the vertical motion state of the wheel is downward and the vertical motion state of the vehicle body is maintained, the wheel is in the third stage;

[0016] If the vertical movement state of the wheel is downward and the vertical movement of the vehicle body is downward, the wheel is in the fourth stage.

[0017] Optionally, adjusting the current of each wheel shock absorber according to the damping parameter corresponding to the preset stage of each wheel includes:

[0018] If the wheel is in the first stage, increasing the current of the wheel shock absorber according to the damping parameter corresponding to the first stage;

[0019] If the wheel is in the second stage, reducing the current of the wheel shock absorber according to the damping parameter corresponding to the second stage;

[0020] If the wheel is in the third stage, adjusting the damping force of the vehicle suspension according to actual calibration requirements;

[0021] If the wheel is in the fourth stage, the current of the shock absorber of the wheel is adjusted to a minimum value.

[0022] Optionally, before determining the preset stage of the wheel when the vehicle passes through a bump condition based on the wheel acceleration and the vehicle body acceleration, the method further includes:

[0023] Obtain the vehicle speed collected by the vehicle speed sensor;

[0024] determining a driving state of the vehicle according to the vehicle speed, including a low-speed driving state, a medium-speed driving state, and a high-speed driving state;

[0025] The preset stage in which the wheels are located when the vehicle passes through a bump condition is determined according to the wheel acceleration, the body acceleration and the driving state of the vehicle, including at least two of the first stage, the second stage, the third stage and the fourth stage.

[0026] Optionally, determining the preset stage of the wheel when the vehicle passes over a bump condition based on the wheel acceleration, the vehicle body acceleration, and the driving state of the vehicle includes:

[0027] When the vehicle is in a low-speed driving state, the preset stages in which the wheels are located when the vehicle passes through a bump working condition include a first stage, a second stage, a third stage, and a fourth stage.

[0028] Optionally, the determining the preset stage of the wheel when the vehicle passes over a bump condition based on the wheel acceleration, the vehicle body acceleration, and the driving state of the vehicle further includes:

[0029] When the vehicle is in a medium-speed driving state, the preset stages in which the wheels are located when the vehicle passes through a bump working condition include a first stage, a second stage, and a fourth stage.

[0030] Optionally, the determining the preset stage of the wheel when the vehicle passes over a bump condition based on the wheel acceleration, the vehicle body acceleration, and the driving state of the vehicle further includes:

[0031] When the vehicle is in a high-speed driving state, the preset stages in which the wheels are located when the vehicle passes through a bump working condition include a first stage and a fourth stage.

[0032] The present application also provides a terminal, comprising: a memory and a processor, wherein a control program is stored in the memory, and when the control program is executed by the processor, the steps of the vehicle control method described above are implemented.

[0033] The present application also provides a computer storage medium having computer program instructions stored thereon; when the computer program instructions are executed by a processor, the vehicle control method described above is implemented.

[0034] In summary, the vehicle control method, terminal, and computer-readable storage medium provided by the present invention include: obtaining wheel accelerations collected by each wheel sensor and vehicle body accelerations collected by a vehicle body sensor located above the wheel sensor; determining the preset stage of the wheel when the vehicle passes over a bump based on the wheel and body accelerations; and adjusting the current of each wheel shock absorber based on the damping parameters corresponding to the preset stage of each wheel. By identifying the different stages of a vehicle passing over a bump and adjusting the damping force of the vehicle suspension accordingly, this application can significantly improve ride comfort when the vehicle passes over a bump.

[0035] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic flow chart of a vehicle control method according to an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of a scenario in which a vehicle passes over a bump according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the present invention is described in detail below with reference to the accompanying drawings and preferred embodiments.

[0039] First embodiment

[0040] Figure 1 This is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 1 , an embodiment of the present invention provides a vehicle control method, comprising:

[0041] Step 201 : Acquire the wheel acceleration collected by each wheel sensor and the vehicle body acceleration collected by the vehicle body sensor located above the wheel sensor.

[0042] Step 202 : determining the preset stage of the wheels when the vehicle passes over a bump based on the wheel acceleration and the vehicle body acceleration.

[0043] Step 203 : adjusting the current of each wheel shock absorber according to the damping parameter corresponding to the preset stage of each wheel.

[0044] When driving, vehicles often pass through raised speed bumps. When driving on some uneven roads, they also pass through many raised road sections. When the car passes through the raised road sections, the shock absorber plays its main vibration reduction role. With the vibration reduction of the shock absorber, the people in the car can reduce the bumpy feeling during driving and improve the driving and riding experience. Adjusting the damping coefficient of a shock absorber is crucial when applying vibration damping. When the damping is soft, the shock absorber absorbs vibration better. In this state, the wheel travels farther relative to the vehicle body. When the wheel contacts a bump, this reduces the impact of wheel bouncing on the bump, improving ride comfort. However, when the wheel reaches the top of the bump or moves backward from the top of the bump, ride comfort deteriorates. When the damping is firm, the shock absorber absorbs less vibration. In this state, the wheel travels farther relative to the vehicle body. When the wheel contacts a bump, the impact of wheel bouncing on the bump is directly transmitted to the vehicle body, affecting ride comfort. However, when the wheel reaches the top of the bump or moves backward from the top of the bump, ride comfort improves. Therefore, it's important to identify the stage of the driving process where the wheel is on the bump to adjust the shock absorber damping for optimal results.

[0045] The embodiment of the present application utilizes four wheel acceleration sensors and four body acceleration sensors to detect the vertical motion states of the wheels and the body respectively. In this way, while identifying speed bumps through the wheel acceleration sensors, the body acceleration sensors are combined to detect the body motion state, thereby identifying different processes of the vehicle passing through raised working conditions (such as speed bumps, raised road surfaces, etc.), which are used for adjusting the damping force of the semi-active suspension, thereby improving the ride comfort of the vehicle when passing through raised working conditions.

[0046] In one embodiment, determining the preset stage of the wheel when the vehicle passes over a bump condition based on the wheel acceleration and the vehicle body acceleration includes:

[0047] determining the vertical motion state of the wheel according to the wheel acceleration;

[0048] Determine the vertical motion state of the vehicle body according to the vehicle body acceleration;

[0049] The preset stage of the wheel when the vehicle passes over a bump is identified by combining the vertical motion state of the wheel and the vertical motion state of the vehicle body.

[0050] In one embodiment, identifying the preset stage of the wheel when the vehicle passes over a bump condition by combining the vertical motion state of the wheel and the vertical motion state of the vehicle body includes:

[0051] If the amplitude and frequency of the wheel's vertical motion meet the preset conditions and the vehicle body does not undergo vertical motion, the wheel is in the first stage;

[0052] If the vertical motion state of the wheel is upward and the vertical motion state of the vehicle body is upward, the wheel is in the second stage;

[0053] If the vertical motion state of the wheel is downward and the vertical motion state of the vehicle body is maintained, the wheel is in the third stage;

[0054] If the vertical motion state of the wheel is downward and the vertical motion state of the vehicle body is downward, the wheel is in the fourth stage.

[0055] Please refer to Figure 2 When a vehicle passes a speed bump, Figure 2 (a) The vehicle hits the speed bump and bounces up Figure 2 (b) The impact body lifts up, even in the later stage Figure 2 (c) The wheels fall off, the car body drops, and finally Figure 2 The wheel in (d) touches the ground, and for the semi-active suspension, different degrees of damping force adjustment are required at different stages when the vehicle passes over a speed bump.

[0056] In one embodiment, adjusting the current of each wheel shock absorber according to the damping parameter corresponding to the preset stage of each wheel includes:

[0057] If the wheel is in the first stage, the current of the wheel shock absorber is increased according to the damping parameter corresponding to the first stage;

[0058] If the wheel is in the second stage, the current of the wheel shock absorber is reduced according to the damping parameter corresponding to the second stage;

[0059] If the wheel is in the third stage, the damping force of the vehicle suspension is adjusted according to the actual calibration requirements;

[0060] If the wheel is in the fourth stage, the current of the wheel's shock absorber is adjusted to the minimum value.

[0061] In this embodiment, four wheel acceleration sensors and four body acceleration sensors are used to detect the vertical motion of the wheels and vehicle body, respectively. While the wheel acceleration sensors identify speed bumps, the body acceleration sensors are used to detect the vehicle's motion state. This allows the vehicle to identify the different stages of passing over speed bumps for use in adjusting the damping force of the semi-active suspension. This embodiment aims to achieve target recognition and four-stage recognition for speed bumps / bumps by combining the wheel acceleration sensors with the body acceleration sensors. The specific recognition process is as follows:

[0062] Figure 2 In the first stage (a), the software receives the vertical acceleration measured by the wheel accelerometer and performs filtering to remove unnecessary burrs. It then detects the amplitude and frequency of the front wheel's vertical bounce. When it detects that the front wheel's vertical bounce exceeds a certain amplitude within a certain period of time at different vehicle speeds, and the vehicle body has not yet moved upward, this stage identifies the target bump condition. At this time, the suspension should be adjusted to the soft damping calibration parameters based on the first stage's shock absorber motion state. That is, the wheel shock absorber current is increased according to the damping parameters corresponding to the first stage to achieve the shock absorber soft damping adjustment effect. The specific calibration soft damping degree can be calibrated and adjusted according to the actual scene requirements.

[0063] Figure 2 In the second process (b), when the vertical motion of the wheel and the vehicle body is detected to be upward, the suspension will adjust to hard damping according to the suspension state. That is, the current of the wheel shock absorber is reduced according to the damping parameters corresponding to the second stage, achieving the effect of adjusting the shock absorber to hard damping. The specific hardness is calibrated according to the actual calibration requirements.

[0064] Figure 2 The third process in (c) is when it is detected that the vertical motion state of the wheel is downward and the vertical motion state of the vehicle body is maintained. This is the third process state, and the suspension can also adjust the damping force according to the actual calibration requirements.

[0065] Figure 2The fourth process in (d) is when the vertical downward motion of the wheel is detected and the vehicle body is also moving downward. To avoid the reverse impact of the wheel on the vehicle body after contacting the ground, the suspension is adjusted to the stiffest state according to the calibration requirements. That is, the current of the wheel shock absorber is adjusted to the minimum value to avoid excessive impact.

[0066] In one embodiment, before determining the preset stage of the wheel when the vehicle passes over a bump condition based on the wheel acceleration and the vehicle body acceleration, the method further includes:

[0067] Obtain the vehicle speed collected by the vehicle speed sensor;

[0068] Determine the driving state of the vehicle according to the vehicle speed, including low-speed driving state, medium-speed driving state and high-speed driving state;

[0069] The preset stage in which the wheel is located when the vehicle passes over a bump condition is determined according to the wheel acceleration, the body acceleration and the driving state of the vehicle, including at least two of the first stage, the second stage, the third stage and the fourth stage.

[0070] Specifically, when the vehicle is in a low-speed driving state, the preset stages in which the wheels are located when the vehicle passes through a bump working condition include a first stage, a second stage, a third stage, and a fourth stage.

[0071] When the vehicle is in a medium-speed driving state, the preset stages in which the wheels are located when the vehicle passes over a bump include the first stage, the second stage, and the fourth stage.

[0072] When the vehicle is in a high-speed driving state, the preset stages in which the wheels are located when the vehicle passes through a bump include the first stage and the fourth stage.

[0073] For example, the low-speed driving state mentioned in this embodiment may be a vehicle speed less than 15 km / h, the medium-speed driving state may be a vehicle speed greater than or equal to 15 km / h and less than 50 km / h, and the high-speed driving state may be a vehicle speed greater than or equal to 50 km / h.

[0074] In this embodiment, the car first determines the current speed and divides the speed into several speed segments, such as low speed, medium speed, and high speed. When the speed is in the low speed state, the first road surface state detection mode is activated. In the first detection mode, the wheel acceleration sensor detects the upward vertical movement state of the wheel, and the body acceleration sensor detects the upward movement state of the body. When the wheel acceleration sensor detects that the wheel jumps upward and the body acceleration sensor does not detect the upward movement of the body, it is determined that the wheel is just in contact with the raised road surface, that is, Figure 2 The first stage in (a); then, the wheels pass through Figure 2 The second stage in (b), Figure 2 The third stage in (c) and Figure 2(d) The fourth stage. When the vehicle speed is at a medium speed, the second detection mode of the road surface condition is activated. In the second detection mode, the wheels pass through the road surface condition in sequence. Figure 2 The first stage in (a), the second stage in 2(b), and the fourth stage in 2(d). When the vehicle is at high speed, the third road surface condition detection mode is activated. In this third detection mode, the wheels sequentially pass through the first stage in 2(a) and the fourth stage in 2(d).

[0075] In this embodiment, each detection mode has a set damping setting data comparison table. The real-time data obtained from the wheel acceleration sensor and the body acceleration sensor is used to match the corresponding damping input value. In different detection modes, the damping setting data comparison table is different, so that the ride comfort is better when the wheels pass over bumps!

[0076] The vehicle control method of an embodiment of the present invention includes: obtaining wheel accelerations collected by wheel sensors and body accelerations collected by body sensors located above the wheel sensors; determining the preset stage of the wheel when the vehicle passes over a bump based on the wheel and body accelerations; and adjusting the current of each wheel's shock absorber based on the damping parameters corresponding to the preset stage. By identifying the different stages of a vehicle passing over a bump and adjusting the damping force of the vehicle suspension accordingly, this application can significantly improve ride comfort when the vehicle passes over a bump.

[0077] The present application also provides a terminal, comprising: a memory and a processor, wherein a control program is stored in the memory, and when the control program is executed by the processor, the steps of the vehicle control method described above are implemented.

[0078] The specific process of executing the above method steps in this embodiment is detailed in the relevant description of the above embodiment and will not be repeated here.

[0079] The present application also provides a computer-readable storage medium having computer program instructions stored thereon; when the computer program instructions are executed by a processor, the vehicle control method described above is implemented.

[0080] The specific process of executing the above method steps in this embodiment is detailed in the relevant description of the above embodiment and will not be repeated here.

[0081] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion of elements other than the listed elements and may also include additional elements not specifically listed.

[0083] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A vehicle control method, characterized in that: The following steps are involved: Acquire wheel accelerations collected by each wheel sensor and vehicle body accelerations collected by a vehicle body sensor located above the wheel sensor; determining, based on the wheel acceleration and the vehicle body acceleration, the preset stage at which the wheel is located when the vehicle passes through a bump; adjusting the current of each wheel shock absorber according to a damping parameter corresponding to a preset stage of each wheel, wherein the damping parameter is matched with a corresponding damping input value in a damping setting data comparison table according to the wheel acceleration and the vehicle body acceleration; Before determining the preset stage of the wheel when the vehicle passes through a bump condition based on the wheel acceleration and the vehicle body acceleration, the method further includes: Obtain the vehicle speed collected by the vehicle speed sensor; determining a driving state of the vehicle according to the vehicle speed, including a low-speed driving state, a medium-speed driving state, and a high-speed driving state; Determining, based on the wheel acceleration, the vehicle body acceleration, and the driving state of the vehicle, a preset stage in which the wheel is located when the vehicle passes over a bump, including at least two of a first stage, a second stage, a third stage, and a fourth stage; The determining, based on the wheel acceleration, the vehicle body acceleration, and the driving state of the vehicle, of the preset stage of the wheel when the vehicle passes over a bump condition includes: When the vehicle is in a low-speed driving state, the preset stages in which the wheels are located when the vehicle passes through a bump include a first stage, a second stage, a third stage, and a fourth stage; or When the vehicle is in a medium-speed driving state, the preset stages in which the wheels are located when the vehicle passes through a bump include a first stage, a second stage, and a fourth stage; or When the vehicle is in a high-speed driving state, the preset stages in which the wheels are located when the vehicle passes through a bump working condition include a first stage and a fourth stage.

2. The vehicle control method according to claim 1, characterized in that: The determining, based on the wheel acceleration and the vehicle body acceleration, the preset stage in which the wheel is located when the vehicle passes through a bump condition includes: determining a vertical motion state of the wheel according to the wheel acceleration; determining a vertical motion state of the vehicle body according to the vehicle body acceleration; The preset stage of the wheel when the vehicle passes over a bump is identified by combining the vertical motion state of the wheel and the vertical motion state of the vehicle body.

3. The vehicle control method according to claim 2, characterized in that: The method of identifying the preset stage of the wheel when the vehicle passes over a bump condition by combining the vertical motion state of the wheel and the vertical motion state of the vehicle body includes: If the amplitude and frequency of the wheel's vertical motion meet the preset conditions and the vehicle body does not undergo vertical motion, the wheel is in the first stage; If the vertical motion state of the wheel is upward and the vertical motion state of the vehicle body is upward, the wheel is in the second stage; If the vertical motion state of the wheel is downward and the vertical motion state of the vehicle body is maintained, the wheel is in the third stage; If the vertical movement state of the wheel is downward and the vertical movement of the vehicle body is downward, the wheel is in the fourth stage.

4. The vehicle control method according to claim 3, characterized in that: The step of adjusting the current of each wheel shock absorber according to the damping parameter corresponding to the preset stage of each wheel includes: If the wheel is in the first stage, increasing the current of the wheel shock absorber according to the damping parameter corresponding to the first stage; If the wheel is in the second stage, reducing the current of the wheel shock absorber according to the damping parameter corresponding to the second stage; If the wheel is in the third stage, adjusting the damping force of the vehicle suspension according to actual calibration requirements; If the wheel is in the fourth stage, the current of the shock absorber of the wheel is adjusted to a minimum value.

5. A terminal, characterized in that: The terminal includes: a memory and a processor, wherein a control program is stored in the memory, and when the control program is executed by the processor, the steps of the vehicle control method according to any one of claims 1 to 4 are implemented.

6. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions; when the computer-readable storage medium is executed by a processor, the vehicle control method according to any one of claims 1 to 4 is implemented.

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