Vehicle semi-active suspension heaven and earth shed control method and system, electronic equipment and medium

Abstract

The invention discloses a vehicle semi-active suspension heaven and earth shed control method and system, electronic equipment and a medium, and the method comprises the steps: determining a heaven shed control damping force according to a sprung vertical speed, a sprung vertical speed and a heaven shed damping coefficient, and determining an earth shed control damping force according to the sprung vertical speed, the sprung vertical speed and an earth shed damping coefficient; the road roughness is determined according to the vehicle body pitch angle speed, the vehicle body roll angle speed, the sprung vertical acceleration and the sprung vertical speed; determining a damper operation mode according to the driving mode, and determining a heaven and earth shed distribution coefficient according to the road roughness and the damper operation mode; target damping force is determined according to the ceiling control damping force, the ground ceiling control damping force and the ceiling and ground ceiling distribution coefficient, and then vibration reduction control is conducted on the current vehicle according to the target damping force. According to the method, the accuracy of vehicle semi-active suspension control is improved, so that the riding comfort, the handling stability and the driving safety of the vehicle are improved, and the method can be applied to the technical field of vehicle control.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle semi-active suspension floor and ceiling control method, system, electronic equipment and medium. Background Art

[0002] When a car is driving, the suspension will attenuate all the forces between the wheels and the car body, and its performance directly affects the ride comfort, handling stability and driving safety of the vehicle. The traditional passive suspension system cannot automatically adjust its suspension stiffness and damping coefficient in real time, which seriously restricts the improvement of its driving smoothness and handling stability. However, the semi-active suspension has a continuous damping control shock absorber with continuously adjustable damping, which can effectively improve the driving smoothness and handling stability of the vehicle.

[0003] There are many semi-active suspension control algorithms, among which the most commonly used algorithms are skyhook control and floorhook control. From the perspective of engineering application, skyhook control and floorhook control have been widely used because of their simple structure and good control effect; since skyhook control is mainly used to suppress the vibration of sprung mass (car body), while floorhook control is mainly used to suppress the vibration of unsprung mass (wheels), the two control methods affect each other on the control effect of the vehicle, which is not a simple linear superposition effect, so the distribution ratio of the damping force of skyhook and floorhook control is particularly important.

[0004] The current allocation of skyhook control and groundhook control is generally based on pre-set parameters, which is greatly affected by factors such as road conditions and vehicle driving status. It is impossible to give the optimal control under all working conditions, which affects the accuracy of the vehicle's semi-active suspension control, as well as the vehicle's ride comfort, handling stability and driving safety. Summary of the invention

[0005] The purpose of the present invention is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0006] To this end, an object of an embodiment of the present invention is to provide a vehicle semi-active suspension skylight control method, which improves the accuracy of vehicle semi-active suspension control, thereby improving the vehicle's ride comfort, handling stability and driving safety.

[0007] Another object of an embodiment of the present invention is to provide a vehicle semi-active suspension skylight control system.

[0008] In order to achieve the above technical objectives, the technical solutions adopted by the embodiments of the present invention include:

[0009] On the one hand, an embodiment of the present invention provides a vehicle semi-active suspension floor and ceiling control method, comprising the following steps:

[0010] Determining a skyhook control damping force according to a current sprung vertical velocity, an unsprung vertical velocity, and a preset skyhook damping coefficient of the vehicle, and determining a groundhook control damping force according to the sprung vertical velocity, the unsprung vertical velocity, and a preset groundhook damping coefficient;

[0011] determining the road roughness according to the body pitch angular velocity, the body roll angular velocity, the unsprung sag acceleration and the unsprung sag velocity of the current vehicle;

[0012] Determining a shock absorber operating mode according to the current vehicle driving mode, and determining a floor-to-ceiling distribution coefficient according to the road roughness and the shock absorber operating mode;

[0013] A target damping force is determined according to the skyhook control damping force, the floorhook control damping force and the skyhook and floorhook distribution coefficient, and then vibration reduction control is performed on the current vehicle according to the target damping force.

[0014] Further, in one embodiment of the present invention, the first image information behind the target vehicle is obtained, and the vehicle semi-active suspension skylight control method further includes the step of determining the sprung vertical velocity, the unsprung vertical velocity, the vehicle body pitch angular velocity, the vehicle body roll angular velocity, and the unsprung vertical acceleration, which specifically includes:

[0015] The sprung vertical acceleration, the vehicle body pitch angular velocity, and the vehicle body roll angular velocity of the current vehicle are acquired by a semi-active suspension control unit, and the sprung vertical acceleration is integrated to obtain the sprung vertical velocity;

[0016] The vehicle body height of the unsprung mass part of the current vehicle is acquired through a height sensor, the vehicle body height is differentiated to obtain the unsprung vertical velocity, and the unsprung vertical velocity is differentiated to obtain the unsprung vertical acceleration.

[0017] Further, in one embodiment of the present invention, the determining of the skyhook control damping force according to the sprung vertical velocity, the unsprung vertical velocity and the preset skyhook damping coefficient of the current vehicle specifically includes:

[0018] determining a shock absorber velocity based on a vector difference between the sprung vertical velocity and the unsprung vertical velocity;

[0019] When the shock absorber speed is in the same direction as the sprung vertical speed, determining the skyhook control damping force according to the product of the sprung vertical speed and the skyhook damping coefficient;

[0020] When the absorber velocity is inconsistent with the sprung vertical velocity, the skyhook control damping force is determined to be zero.

[0021] Further, in one embodiment of the present invention, the determining of the ground shelf control damping force according to the sprung vertical velocity, the unsprung vertical velocity and a preset ground shelf damping coefficient specifically includes:

[0022] determining a shock absorber velocity based on a vector difference between the sprung vertical velocity and the unsprung vertical velocity;

[0023] When the shock absorber speed is in the same direction as the unsprung sag speed, determining the ground shelf control damping force according to the product of the unsprung sag speed and the ground shelf damping coefficient;

[0024] When the shock absorber speed is inconsistent with the unsprung vertical speed, the ground shelf control damping force is determined to be zero.

[0025] Further, in one embodiment of the present invention, the determining of the road roughness according to the body pitch angular velocity, the body roll angular velocity, the unsprung sag acceleration and the unsprung sag velocity of the current vehicle specifically includes:

[0026] determining a sprung roughness level according to the vehicle body pitch angular velocity, the vehicle body roll angular velocity, and a preset sprung parameter threshold range;

[0027] determining an unsprung roughness level according to the unsprung sag acceleration, the unsprung sag velocity, and a preset unsprung parameter threshold range;

[0028] The road roughness is determined based on the sprung roughness level and the unsprung roughness level.

[0029] Further, in one embodiment of the present invention, the sprung parameter threshold range includes a plurality of pitch angular velocity threshold ranges and a plurality of roll angular velocity threshold ranges, and the determining of the sprung roughness level according to the vehicle body pitch angular velocity, the vehicle body roll angular velocity and the preset sprung parameter threshold ranges specifically includes:

[0030] determining a first sprung roughness level according to the vehicle body pitch angular velocity and the pitch angular velocity threshold range;

[0031] determining a second sprung roughness level according to the vehicle body roll angular velocity and the roll angular velocity threshold range;

[0032] A highest level of the first sprung roughness level and the second sprung roughness level is determined as the sprung roughness level.

[0033] Further, in one embodiment of the present invention, the unsprung parameter threshold range includes a plurality of vertical acceleration threshold ranges and a plurality of vertical velocity threshold ranges, and the unsprung roughness level is determined according to the unsprung vertical acceleration, the unsprung vertical velocity and the preset unsprung parameter threshold range, which specifically includes:

[0034] determining a first unsprung roughness level according to the unsprung vertical acceleration and the vertical acceleration threshold range;

[0035] determining a second unsprung roughness level according to the unsprung vertical velocity and the vertical velocity threshold range;

[0036] A highest level of the first unsprung roughness level and the second unsprung roughness level is determined as the unsprung roughness level.

[0037] Further, in one embodiment of the present invention, the step of determining the shock absorber operating mode according to the current driving mode of the vehicle and determining the floor-to-ceiling distribution coefficient according to the road roughness and the shock absorber operating mode specifically includes:

[0038] Acquiring the driving mode through a vehicle body controller, and determining a corresponding operating mode of the shock absorber according to the driving mode;

[0039] The floor and roof distribution coefficient is obtained by matching the road roughness and the shock absorber operation mode in a preset distribution coefficient library.

[0040] Furthermore, in one embodiment of the present invention, the vehicle semi-active suspension floor-to-ceiling control method further includes the step of pre-building the distribution coefficient library, which specifically includes:

[0041] Obtain test data of the test vehicle under different road roughness, different shock absorber operation modes and different floor-to-ceiling distribution coefficients;

[0042] Determine the optimal floor-shelving distribution coefficient under the target road roughness and the target shock absorber operation mode according to the test data, and use the target road roughness and the target shock absorber operation mode as keys and the optimal floor-shelving distribution coefficient as values ​​to generate a distribution coefficient key-value pair;

[0043] The distribution coefficient library is constructed according to the distribution coefficient key-value pairs.

[0044] Further, in one embodiment of the present invention, the determining the target damping force according to the ceiling control damping force, the floor control damping force and the floor-ceiling distribution coefficient specifically includes:

[0045] Determine the ceiling control weight and the ground shelf control weight according to the ceiling and ground shelf allocation coefficient;

[0046] The target damping force is obtained by performing weighted summation on the ceiling control damping force and the floor control damping force according to the ceiling control weight and the floor control weight.

[0047] Further, in one embodiment of the present invention, the performing vibration reduction control on the current vehicle according to the target damping force specifically includes:

[0048] Get the preset damping force MAP table;

[0049] querying the damping force MAP table according to the damper speed and the target damping force to obtain a target damper current;

[0050] The target damper current is input to a damping control damper of the current vehicle so that the damping control damper performs vibration damping control on the current vehicle.

[0051] On the other hand, an embodiment of the present invention provides a vehicle semi-active suspension skylight control system, comprising:

[0052] A skylight control damping force determination module, used to determine the skylight control damping force according to the sprung vertical velocity, the unsprung vertical velocity and the preset skylight damping coefficient of the current vehicle, and to determine the skylight control damping force according to the sprung vertical velocity, the unsprung vertical velocity and the preset skylight damping coefficient;

[0053] a road roughness determination module, configured to determine the road roughness according to the body pitch angular velocity, the body roll angular velocity, the unsprung sag acceleration and the unsprung sag velocity of the current vehicle;

[0054] A floor-shelving distribution coefficient determination module, configured to determine a shock absorber operation mode according to the current vehicle driving mode, and determine a floor-shelving distribution coefficient according to the road roughness and the shock absorber operation mode;

[0055] The vibration reduction control module is used to determine a target damping force according to the skyhook control damping force, the groundhook control damping force and the skyhook and groundhook distribution coefficient, and then perform vibration reduction control on the current vehicle according to the target damping force.

[0056] On the other hand, an embodiment of the present invention provides an electronic device, comprising a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for realizing connection and communication between the processor and the memory, wherein the program, when executed by the processor, realizes the vehicle semi-active suspension skylight control method as described above.

[0057] On the other hand, an embodiment of the present invention further provides a storage medium, which is a computer-readable storage medium used for computer-readable storage, and the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the vehicle semi-active suspension skylight control method as described above.

[0058] On the other hand, an embodiment of the present invention further provides a vehicle, which includes the vehicle semi-active suspension skylight control system or electronic device as described above.

[0059] The advantages and beneficial effects of the present invention will be partly given in the following description, partly become apparent from the following description, or be understood through the practice of the present invention:

[0060] The embodiment of the present invention determines a ceiling control damping force according to the sprung vertical velocity, unsprung vertical velocity and a preset ceiling damping coefficient of the current vehicle, and determines a floor control damping force according to the sprung vertical velocity, unsprung vertical velocity and a preset floor damping coefficient, determines a road roughness according to the body pitch angular velocity, body roll angular velocity, unsprung vertical acceleration and unsprung vertical velocity of the current vehicle, determines a shock absorber operating mode according to the current driving mode of the vehicle, determines a floor and floor distribution coefficient according to the road roughness and the shock absorber operating mode, determines a target damping force according to the ceiling control damping force, the floor control damping force and the floor and floor distribution coefficient, and then performs vibration reduction control on the current vehicle according to the target damping force. The embodiment of the present invention determines the road roughness according to the current vehicle body pitch angular velocity, body roll angular velocity, unsprung vertical acceleration and unsprung vertical velocity, determines the floor and ground cover distribution coefficient according to the current road roughness and the shock absorber operation mode, and determines the target damping force in combination with the ceiling cover control damping force and the ground cover control damping force obtained by real-time calculation, thereby being able to determine a more accurate ceiling cover and ground cover distribution scheme for various complex road conditions, achieving optimal control of the semi-active suspension floor and ground cover when the vehicle is driving, and improving the accuracy of the vehicle's semi-active suspension control, thereby improving the vehicle's ride comfort, handling stability and driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solution in the embodiments of the present invention, the following introduction is made to the drawings required for use in the embodiments of the present invention. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solution of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0062] Figure 1 A flow chart of steps of a method for controlling a semi-active suspension floor and ceiling of a vehicle provided by an embodiment of the present invention;

[0063] Figure 2 A flowchart of steps for determining a sprung vertical velocity, an unsprung vertical velocity, a vehicle body pitch angular velocity, a vehicle body roll angular velocity, and an unsprung vertical acceleration provided by an embodiment of the present invention;

[0064] Figure 3 A step flow chart of step S101 provided in an embodiment of the present invention;

[0065] Figure 4 Another step flow chart of step S101 provided in an embodiment of the present invention;

[0066] Figure 5 A step flow chart of step S102 provided in an embodiment of the present invention;

[0067] Figure 6 A step flow chart of step S1021 provided in an embodiment of the present invention;

[0068] Figure 7 A step flow chart of step S1022 provided in an embodiment of the present invention;

[0069] Figure 8 A step flow chart of step S103 provided in an embodiment of the present invention;

[0070] Fig. 9 A flow chart of steps for pre-building a partition coefficient library provided in an embodiment of the present invention;

[0071] Fig.10 A step flow chart of step S104 provided in an embodiment of the present invention;

[0072] Fig.11 Another step flow chart of step S104 provided in an embodiment of the present invention;

[0073] Fig.12 A schematic diagram of the structure of a vehicle semi-active suspension skylight control system provided by an embodiment of the present invention;

[0074] Fig.13 A schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention;

[0075] Fig.14 A schematic diagram of the structure of a storage medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0076] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limitations on the present application. It should be noted that, although the functional module division is performed in the system schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in a different order from the module division in the system schematic diagram or the flow chart. For the step numbers in the following embodiments, they are only set for the convenience of explanation, and the order between the steps is not limited in any way. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0077] In the description of the present invention, the meaning of "a plurality" is two or more. If there is a description of the first or the second, it is only for the purpose of distinguishing the technical features, and it cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features. In addition, unless otherwise defined, all technical and scientific terms used in this document have the same meaning as those commonly understood by technicians in the technical field of this application. The terms used in this document are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0078] In the related technology, a road roughness recognition device that can sense the road surface state and adjust the suspension state accordingly is used for semi-active suspension control. The road roughness recognition device includes a traditional wheel or body acceleration sensor, a height sensor, and a single or binocular camera, etc. However, the method based on single or binocular camera visual recognition is currently mainly used for controlling the vertical movement of the vehicle body under specific road conditions (such as speed bumps, potholes, etc.). This method has insufficient recognition ability for continuous random types of roads and is more suitable for semi-active suspension control under a single specific road condition.

[0079] The embodiment of the present invention determines the road roughness according to the current vehicle body pitch angular velocity, body roll angular velocity, unsprung vertical acceleration and unsprung vertical velocity, determines the floor and ground cover distribution coefficient according to the current road roughness and the shock absorber operation mode, and determines the target damping force in combination with the ceiling cover control damping force and the ground cover control damping force obtained by real-time calculation, thereby being able to determine a more accurate ceiling cover and ground cover distribution scheme for various complex road conditions, achieving optimal control of the semi-active suspension floor and ground cover when the vehicle is driving, and improving the accuracy of the vehicle's semi-active suspension control, thereby improving the vehicle's ride comfort, handling stability and driving safety.

[0080] The vehicle semi-active suspension skylight control method provided in the embodiment of the present application can be applied to the terminal, can also be applied to the server side, and can also be software running in the terminal or the server side. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a set-top box, etc.; the server side can be configured as an independent physical server, or a server cluster or distributed system composed of multiple physical servers, and can also be configured as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application that implements the vehicle semi-active suspension skylight control method, etc., but is not limited to the above forms.

[0081] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0082] It should be noted that in each specific implementation of the present application, when it comes to the need to perform relevant processing based on data related to user identity or characteristics such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first, and the collection, use, and processing of these data will comply with the relevant laws, regulations, and standards of the relevant countries and regions. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or consent, the necessary user-related data for the normal operation of the embodiment of the present application will be obtained.

[0083] like Figure 1 FIG. 1 is a flow chart showing a method for controlling a semi-active suspension floor and ceiling of a vehicle according to an embodiment of the present invention. Figure 1 The embodiment of the present invention provides a vehicle semi-active suspension floor and canopy control method, which specifically includes the following steps:

[0084] S101, determining a skyhook control damping force according to a current sprung vertical velocity, an unsprung vertical velocity, and a preset skyhook damping coefficient of the vehicle, and determining a groundhook control damping force according to the sprung vertical velocity, the unsprung vertical velocity, and a preset groundhook damping coefficient;

[0085] S102, determining the road roughness according to the current vehicle body pitch angular velocity, vehicle body roll angular velocity, unsprung vertical acceleration and unsprung vertical velocity;

[0086] S103, determining a shock absorber operating mode according to a current vehicle driving mode, and determining a floor-shelving distribution coefficient according to road roughness and the shock absorber operating mode;

[0087] S104: Determine a target damping force according to the ceiling control damping force, the floor ceiling control damping force, and the floor ceiling distribution coefficient, and then perform vibration reduction control on the current vehicle according to the target damping force.

[0088] Specifically, the system architecture of the embodiment of the present invention includes a semi-active suspension control unit, a height sensor and a damping control shock absorber. The semi-active suspension control unit includes an IMU chip with a built-in controller. The IMU chip is connected to other controllers (such as a body controller) through a CAN or Ethernet network. The two connection points of the height sensor are located at the control arm and the subframe, respectively, and are used to measure the height displacement of the unsprung mass part of the vehicle. The unsprung vertical velocity is obtained by differential operation, and the unsprung vertical acceleration can be obtained by differential operation again. The IMU chip can provide acceleration and angular velocity signals of the six degrees of freedom of the vehicle body. The IMU chip has special requirements for the layout of the controller. The main points are as follows: The IMU needs to be arranged horizontally and arranged at the center of mass of the vehicle as much as possible, and a distance difference of 50mm can be accepted to measure the body posture, namely the roll angular velocity and lateral acceleration; if the IMU is arranged far away from the center of mass, the three body accelerations and three angular velocities at the center of mass need to be calculated by software algorithms. The CAN network signal input includes a vehicle speed signal, a brake master cylinder pressure signal, and an accelerator pedal opening signal, etc., which are mainly used to transmit driving mode signals in the embodiment of the present invention.

[0089] like Figure 2 FIG. 1 is a flowchart of a step flow chart of determining the sprung vertical velocity, the unsprung vertical velocity, the vehicle body pitch angular velocity, the vehicle body roll angular velocity and the unsprung vertical acceleration provided by an embodiment of the present invention, with reference to FIG. Figure 2 As an optional embodiment, the vehicle semi-active suspension skylight control method further includes the step of determining the sprung vertical velocity, the unsprung vertical velocity, the vehicle body pitch angular velocity, the vehicle body roll angular velocity and the unsprung vertical acceleration, which specifically includes:

[0090] S201, obtaining the sprung vertical acceleration, the body pitch angular velocity, and the body roll angular velocity of the current vehicle through a semi-active suspension control unit, and performing an integration operation on the sprung vertical acceleration to obtain the sprung vertical velocity;

[0091] S202, obtaining the vehicle body height of the unsprung mass portion of the current vehicle through a height sensor, performing a differential operation on the vehicle body height to obtain an unsprung vertical velocity, and performing a differential operation on the unsprung vertical velocity to obtain an unsprung vertical acceleration.

[0092] Specifically, the input signals mainly include the vehicle height signal of the unsprung mass part provided by the height sensor, and the sprung vertical acceleration, vehicle pitch angular velocity, and vehicle roll angular velocity provided by the IMU chip. The sprung vertical velocity is calculated based on the integral of the sprung vertical acceleration, and the unsprung vertical velocity and unsprung vertical acceleration are calculated based on the differential of the vehicle height.

[0093] like Figure 3 FIG. 1 is a flowchart of step S101 provided in an embodiment of the present invention, referring to FIG. Figure 3 As an optional implementation, the skyhook control damping force is determined according to the sprung vertical velocity, the unsprung vertical velocity and the preset skyhook damping coefficient of the current vehicle, which specifically includes:

[0094] S1011, determining a shock absorber speed according to a vector difference between a sprung vertical speed and an unsprung vertical speed;

[0095] S1012, when the shock absorber speed is in the same direction as the sprung vertical speed, determining the ceiling control damping force according to the product of the sprung vertical speed and the ceiling damping coefficient;

[0096] S1013: When the shock absorber speed is inconsistent with the sprung vertical speed, determine that the ceiling control damping force is 0.

[0097] Specifically, the calculation of the ceiling control damping force is based on the following formula:

[0098]

[0099] Among them, F sky is the ceiling control damping force, C sky is the ceiling damping coefficient, is the vertical velocity on the sprung is the unsprung vertical velocity.

[0100] From the above formula, we can know that the ceiling control damping force calculation is based on the sprung vertical velocity of the vehicle body and the ceiling damping coefficient, and only when the sprung vertical velocity and the shock absorber velocity are equal When the directions are consistent, the ceiling control damping force can achieve positive control to suppress the movement of the sprung mass part; when the vertical velocity of the sprung mass is opposite to the shock absorber velocity, the ceiling control damping force will instead produce negative control that intensifies the movement of the sprung mass part. Therefore, ceiling damping control is generally not performed in this case (the ceiling control damping force is 0).

[0101] like Figure 4 FIG. 1 is another step flow chart of step S101 provided in an embodiment of the present invention, referring to FIG. Figure 4 As an optional implementation, the ground shelf control damping force is determined according to the sprung vertical velocity, the unsprung vertical velocity and a preset ground shelf damping coefficient, which specifically includes:

[0102] S1011, determining a shock absorber speed according to a vector difference between a sprung vertical speed and an unsprung vertical speed;

[0103] S1014, when the shock absorber speed is in the same direction as the unsprung sag speed, determining the ground shelf control damping force according to the product of the unsprung sag speed and the ground shelf damping coefficient;

[0104] S1015: When the shock absorber speed is inconsistent with the unsprung vertical speed, determine that the floor shelf control damping force is 0.

[0105] Specifically, the calculation of the ground shelf control damping force is based on the following formula:

[0106]

[0107] Among them, F ground is the damping force of the ground shed, C ground is the damping coefficient of the ground shed.

[0108] From the above formula, we can know that the calculation of the floor shelf control damping force is based on the unsprung sag velocity of the wheel and the floor shelf damping coefficient, and only when the unsprung sag velocity and the shock absorber velocity are equal When the directions are consistent, the floor shelf control damping force can effectively suppress the movement of the unsprung mass part; when the unsprung vertical velocity is opposite to the shock absorber speed, the floor shelf control damping force will instead produce ineffective control that aggravates the vibration of the unsprung mass part. Therefore, in this case, the floor shelf damping control is generally not performed (the floor shelf control damping force is 0).

[0109] like Figure 5 FIG. 1 is a flow chart of step S102 provided in an embodiment of the present invention, referring to FIG. Figure 5 As an optional implementation, the road roughness is determined according to the current vehicle body pitch angular velocity, vehicle body roll angular velocity, unsprung sag acceleration and unsprung sag velocity, which specifically includes:

[0110] S1021, determining a sprung roughness level according to a vehicle body pitch angular velocity, a vehicle body roll angular velocity, and a preset sprung parameter threshold range;

[0111] S1022, determining an unsprung roughness level according to the unsprung vertical acceleration, the unsprung vertical velocity, and a preset unsprung parameter threshold range;

[0112] S1023: Determine the road roughness according to the sprung roughness level and the unsprung roughness level.

[0113] like Figure 6 FIG. 1 is a flow chart of step S1021 provided in an embodiment of the present invention, referring to FIG. Figure 6 As an optional implementation, the sprung parameter threshold range includes a plurality of pitch angular velocity threshold ranges and a plurality of roll angular velocity threshold ranges, and the sprung roughness level is determined according to the vehicle body pitch angular velocity, the vehicle body roll angular velocity and the preset sprung parameter threshold ranges, which specifically includes:

[0114] S10211, determining a first spring roughness level according to a vehicle body pitch angular velocity and a pitch angular velocity threshold range;

[0115] S10212, determining a second sprung roughness level according to the vehicle body roll angular velocity and the roll angular velocity threshold range;

[0116] S10213. Determine the highest level of the first sprung roughness level and the second sprung roughness level as the sprung roughness level.

[0117] like Figure 7 FIG. 1 is a flow chart of step S1022 provided in an embodiment of the present invention, referring to FIG. Figure 7 As an optional implementation, the unsprung parameter threshold range includes a plurality of vertical acceleration threshold ranges and a plurality of vertical velocity threshold ranges. The unsprung roughness level is determined according to the unsprung vertical acceleration, the unsprung vertical velocity and the preset unsprung parameter threshold ranges, which specifically includes:

[0118] S10221, determining a first unsprung roughness level according to the unsprung vertical acceleration and a vertical acceleration threshold range;

[0119] S10222, determining a second unsprung roughness level according to the unsprung vertical velocity and the vertical velocity threshold range;

[0120] S10223. Determine the highest level of the first unsprung roughness level and the second unsprung roughness level as the unsprung roughness level.

[0121] Specifically, there are many factors that affect the road roughness. The embodiment of the present invention calculates the road roughness based on the unsprung vertical acceleration, unsprung vertical velocity, pitch angular velocity and roll angular velocity, and divides the road roughness level. Based on the vehicle motion data collected under various road conditions, the four parameter thresholds are divided into six levels L1 to L6 from low to high; when the unsprung acceleration and unsprung velocity are at different levels, the higher level is selected as the unsprung roughness level A (A1 to A6); when the pitch angular velocity and roll angular velocity are at different levels, the higher level is selected as the sprung roughness level B (B2 to B6), thereby dividing the road roughness into 36 levels of unsprung roughness levels and sprung roughness levels, as shown in Table 1 below.

[0122] Table 1

[0123] B6 A1B6 A2B6 A3B6 A4B6 A5B6 A6B6 B5 A1B5 A2B5 A3B5 A4B5 A5B5 A6B5 B4 A1B4 A2B4 A3B4 A4B4 A5B4 A6B4 B3 A1B3 A2B3 A3B3 A4B3 A5B3 A6B3 B2 A1B2 A2B2 A3B2 A4B2 A5B2 A6B2 B1 A1B1 A2B1 A3B1 A4B1 A5B1 A6B1 Road roughness A1 A2 A3 A4 A5 A6

[0124] like Figure 8 FIG. 1 is a flow chart of step S103 provided in an embodiment of the present invention, referring to FIG. Figure 8 As an optional implementation, the shock absorber operation mode is determined according to the current vehicle driving mode, and the floor-shelving distribution coefficient is determined according to the road roughness and the shock absorber operation mode, which specifically includes:

[0125] S1031, obtaining a driving mode through a vehicle body controller, and determining a corresponding shock absorber operating mode according to the driving mode;

[0126] S1032: Match the preset distribution coefficient library according to the road roughness and the shock absorber operation mode to obtain the floor and roof distribution coefficient.

[0127] like Fig. 9 FIG. 1 is a flowchart of a step of pre-building a partition coefficient library provided by an embodiment of the present invention, referring to FIG. Fig. 9 As an optional implementation, the vehicle semi-active suspension floor-to-ceiling control method further includes the step of pre-building a distribution coefficient library, which specifically includes:

[0128] S301, obtaining test data of the test vehicle under different road roughness, different shock absorber operation modes, and different floor-to-ceiling distribution coefficients;

[0129] S302, determining the optimal floor-shelter allocation coefficient under the target road roughness and the target shock absorber operation mode according to the test data, and using the target road roughness and the target shock absorber operation mode as keys and the optimal floor-shelter allocation coefficient as values ​​to generate an allocation coefficient key-value pair;

[0130] S303, constructing a distribution coefficient library according to the distribution coefficient key-value pairs.

[0131] Specifically, the floor and roof distribution coefficient is related to the road roughness level and the shock absorber operating mode. Generally speaking, the shock absorber operating mode is divided into three levels: comfort, standard, and sport. First, fix the shock absorber operating mode, set the floor and roof distribution coefficient in the comfort mode based on simulation or real vehicle test data, conduct comprehensive tests and verifications under different road conditions, and lock the final optimal floor and roof distribution coefficient; then apply the optimal floor and roof distribution coefficient to the economy and sports modes, and conduct comprehensive tests in the two modes respectively. If the effect is not good, the optimal floor and roof distribution coefficient of some working conditions can be scaled or fine-tuned to determine the final optimal floor and roof distribution coefficient under different road roughness and different shock absorber operating modes, thereby forming a distribution coefficient key-value pair and constructing a distribution coefficient library.

[0132] After obtaining the current road roughness level and shock absorber operating mode through the above steps, the current road roughness level and shock absorber operating mode are used as keys to perform matching searches in the distribution coefficient library to obtain the corresponding floor and roof distribution coefficients.

[0133] like Fig.10 FIG. 1 is a flowchart of step S104 provided in an embodiment of the present invention, referring to FIG. Fig.10 As an optional implementation, the target damping force is determined according to the ceiling control damping force, the floor control damping force and the floor-ceiling distribution coefficient, which specifically includes:

[0134] S1041. Determine a ceiling shed control weight and a ground shed control weight according to a ceiling shed allocation coefficient;

[0135] S1042. Perform weighted summation of the ceiling control damping force and the floor shelf control damping force according to the ceiling control weight and the floor shelf control weight to obtain a target damping force.

[0136] Specifically, the calculation formula of the target damping force is as follows:

[0137] F=α×F sky +(1-α)F ground

[0138] Among them, F is the target damping force, α is the ceiling control weight, and 1-α is the floor control weight.

[0139] like Fig.11 FIG. 1 is another step flow chart of step S104 provided in an embodiment of the present invention, referring to FIG. Fig.11 As an optional implementation, the current vehicle is subjected to vibration reduction control according to the target damping force, which specifically includes:

[0140] S1043, obtaining a preset damping force MAP table;

[0141] S1044, querying the damping force MAP table according to the shock absorber speed and the target damping force to obtain a target shock absorber current;

[0142] S1045: Input the target shock absorber current into the damping control shock absorber of the current vehicle, so that the damping control shock absorber performs vibration reduction control on the current vehicle.

[0143] Specifically, a damping force MAP table based on the shock absorber hardware measured with shock absorber speed and current is obtained, and the target shock absorber current is obtained by querying the target damping force and shock absorber speed calculated in the above steps. An example of the damping force MAP table is shown in Table 2 below.

[0144] Table 2

[0145]

[0146] The target damper current at the current moment is input into the damping control damper of the current vehicle, so that the damping control damper performs continuous damping control on the current vehicle.

[0147] The method steps of the embodiment of the present invention are described above. It can be understood that the embodiment of the present invention determines the road roughness according to the current vehicle body pitch angular velocity, body roll angular velocity, unsprung vertical acceleration and unsprung vertical velocity, determines the floor and ceiling distribution coefficient according to the current road roughness and the shock absorber operation mode, and determines the target damping force by combining the ceiling control damping force and the floor ceiling control damping force calculated in real time, so that a more accurate ceiling and floor ceiling distribution scheme can be determined for various complex road conditions, and the optimal control of the semi-active suspension floor and ceiling when the vehicle is driving is achieved, thereby improving the accuracy of the vehicle semi-active suspension control, thereby improving the ride comfort, handling stability and driving safety of the vehicle.

[0148] like Fig.12 FIG. 1 is a schematic diagram of the structure of a vehicle semi-active suspension skylight control system provided by an embodiment of the present invention, referring to FIG. Fig.12 The embodiment of the present invention provides a vehicle semi-active suspension skylight control system, comprising:

[0149] A skylight control damping force determination module, used to determine the skylight control damping force according to the sprung vertical velocity, unsprung vertical velocity and preset skylight damping coefficient of the current vehicle, and to determine the skylight control damping force according to the sprung vertical velocity, unsprung vertical velocity and preset skylight damping coefficient;

[0150] A road roughness determination module, used to determine the road roughness according to the current vehicle body pitch angular velocity, body roll angular velocity, unsprung sag acceleration and unsprung sag velocity;

[0151] A floor-shelving distribution coefficient determination module, used to determine a shock absorber operation mode according to a current vehicle driving mode, and to determine a floor-shelving distribution coefficient according to road roughness and the shock absorber operation mode;

[0152] The vibration reduction control module is used to determine the target damping force according to the ceiling control damping force, the floor control damping force and the floor and ceiling distribution coefficient, and then perform vibration reduction control on the current vehicle according to the target damping force.

[0153] The contents of the above method embodiments are all applicable to the present system embodiments. The functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0154] The embodiment of the present invention further provides an electronic device, the electronic device comprising: a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for realizing connection and communication between the processor and the memory, and the program is executed by the processor to realize the above-mentioned vehicle semi-active suspension skylight control method. The electronic device can be any intelligent terminal including a tablet computer, a vehicle-mounted computer, etc.

[0155] like Fig.13 FIG. 1 is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention, referring to FIG. Fig.13 , an embodiment of the present invention provides an electronic device, including:

[0156] The processor 1301 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present invention.

[0157] The memory 1302 may be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1302 may store an operating system and other application programs. When the technical solution provided in the embodiments of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1302, and the processor 1301 calls and executes the vehicle semi-active suspension floor-to-ceiling control method of the embodiment of the present invention;

[0158] Input / output interface 1303, used to implement information input and output;

[0159] The communication interface 1304 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0160] A bus 1305 that transmits information between the various components of the device (e.g., the processor 1301, the memory 1302, the input / output interface 1303, and the communication interface 1304);

[0161] The processor 1301 , the memory 1302 , the input / output interface 1303 and the communication interface 1304 are connected to each other in communication within the device via a bus 1305 .

[0162] like Fig.14 FIG. 1 is a schematic diagram of a storage medium according to an embodiment of the present invention. Fig.14 An embodiment of the present invention further provides a storage medium, which is a computer-readable storage medium used for computer-readable storage. The storage medium stores one or more programs 1401, and the one or more programs 1401 can be executed by one or more processors to implement the above-mentioned vehicle semi-active suspension floor-to-ceiling control method.

[0163] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0164] An embodiment of the present invention further provides a vehicle, the vehicle comprising the above-mentioned vehicle semi-active suspension skylight control system or an electric drive assembly of the electronic device.

[0165] Specifically, the vehicle may be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle may also be an operating vehicle, such as a van, bus, small truck or large trailer. The vehicle may be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it may be a hybrid vehicle or a pure electric vehicle.

[0166] The embodiment of the present invention further provides a computer program product or a computer program, wherein the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes Figure 1 The method shown.

[0167] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the above-mentioned boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part for which is described as a larger operation is performed independently.

[0168] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise specified to the contrary, one or more of the above-mentioned functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present invention. More specifically, in view of the properties, functions and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional skills of the engineer. Therefore, those skilled in the art can implement the present invention set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0169] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the above methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0170] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0171] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and editable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the above-mentioned program is printed, since the above-mentioned program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or processing in other suitable ways as necessary, and then stored in a computer memory.

[0172] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0173] In the above description of this specification, the description with reference to the terms "one embodiment / example", "another embodiment / example" or "certain embodiments / examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0174] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0175] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A vehicle semi-active suspension floor and ceiling control method, characterized in that: The following steps are involved: Determining a skyhook control damping force according to a current sprung vertical velocity, an unsprung vertical velocity, and a preset skyhook damping coefficient of the vehicle, and determining a groundhook control damping force according to the sprung vertical velocity, the unsprung vertical velocity, and a preset groundhook damping coefficient; determining the road roughness according to the body pitch angular velocity, the body roll angular velocity, the unsprung sag acceleration and the unsprung sag velocity of the current vehicle; Determining a shock absorber operating mode according to the current vehicle driving mode, and determining a floor-to-ceiling distribution coefficient according to the road roughness and the shock absorber operating mode; A target damping force is determined according to the skyhook control damping force, the floorhook control damping force and the skyhook and floorhook distribution coefficient, and then vibration reduction control is performed on the current vehicle according to the target damping force.

2. A vehicle semi-active suspension floor-to-ceiling control method according to claim 1, characterized in that: The vehicle semi-active suspension skylight control method further includes the step of determining the sprung vertical velocity, the unsprung vertical velocity, the vehicle body pitch angular velocity, the vehicle body roll angular velocity, and the unsprung vertical acceleration, which specifically includes: The sprung vertical acceleration, the vehicle body pitch angular velocity, and the vehicle body roll angular velocity of the current vehicle are acquired by a semi-active suspension control unit, and the sprung vertical acceleration is integrated to obtain the sprung vertical velocity; The vehicle body height of the unsprung mass part of the current vehicle is acquired through a height sensor, the vehicle body height is differentiated to obtain the unsprung vertical velocity, and the unsprung vertical velocity is differentiated to obtain the unsprung vertical acceleration.

3. A vehicle semi-active suspension floor-to-ceiling control method according to claim 1, characterized in that: The step of determining the skyhook control damping force according to the current sprung vertical velocity, the unsprung vertical velocity and the preset skyhook damping coefficient of the vehicle specifically includes: determining a shock absorber velocity based on a vector difference between the sprung vertical velocity and the unsprung vertical velocity; When the shock absorber speed is in the same direction as the sprung vertical speed, determining the skyhook control damping force according to the product of the sprung vertical speed and the skyhook damping coefficient; When the absorber velocity is inconsistent with the sprung vertical velocity, the skyhook control damping force is determined to be zero.

4. A vehicle semi-active suspension floor-to-ceiling control method according to claim 1, characterized in that: The determining of the ground shelf control damping force according to the sprung vertical velocity, the unsprung vertical velocity and a preset ground shelf damping coefficient specifically includes: determining a shock absorber velocity based on a vector difference between the sprung vertical velocity and the unsprung vertical velocity; When the shock absorber speed is in the same direction as the unsprung sag speed, determining the ground shelf control damping force according to the product of the unsprung sag speed and the ground shelf damping coefficient; When the shock absorber speed is inconsistent with the unsprung vertical speed, the ground shelf control damping force is determined to be zero.

5. The method for controlling a semi-active suspension floor and ceiling of a vehicle according to claim 1, characterized in that: The determining of the road roughness according to the body pitch angular velocity, the body roll angular velocity, the unsprung sag acceleration and the unsprung sag velocity of the current vehicle specifically includes: determining a sprung roughness level according to the vehicle body pitch angular velocity, the vehicle body roll angular velocity, and a preset sprung parameter threshold range; determining an unsprung roughness level according to the unsprung sag acceleration, the unsprung sag velocity, and a preset unsprung parameter threshold range; The road roughness is determined based on the sprung roughness level and the unsprung roughness level.

6. A vehicle semi-active suspension floor-to-ceiling control method according to claim 5, characterized in that: The sprung parameter threshold range includes a plurality of pitch angular velocity threshold ranges and a plurality of roll angular velocity threshold ranges, and the sprung roughness level is determined according to the vehicle body pitch angular velocity, the vehicle body roll angular velocity and the preset sprung parameter threshold range, which specifically includes: determining a first sprung roughness level according to the vehicle body pitch angular velocity and the pitch angular velocity threshold range; determining a second sprung roughness level according to the vehicle body roll angular velocity and the roll angular velocity threshold range; A highest level of the first sprung roughness level and the second sprung roughness level is determined as the sprung roughness level.

7. A vehicle semi-active suspension floor-to-ceiling control method according to claim 5, characterized in that: The unsprung parameter threshold range includes a plurality of vertical acceleration threshold ranges and a plurality of vertical velocity threshold ranges. The unsprung roughness level is determined according to the unsprung vertical acceleration, the unsprung vertical velocity and the preset unsprung parameter threshold range, which specifically includes: determining a first unsprung roughness level according to the unsprung vertical acceleration and the vertical acceleration threshold range; determining a second unsprung roughness level according to the unsprung vertical velocity and the vertical velocity threshold range; A highest level of the first unsprung roughness level and the second unsprung roughness level is determined as the unsprung roughness level.

8. The method for controlling a semi-active suspension floor and ceiling of a vehicle according to claim 1, characterized in that: The step of determining the shock absorber operating mode according to the current vehicle driving mode, and determining the floor-to-ceiling distribution coefficient according to the road roughness and the shock absorber operating mode, specifically includes: Acquiring the driving mode through a vehicle body controller, and determining a corresponding operating mode of the shock absorber according to the driving mode; The floor and roof distribution coefficient is obtained by matching the road roughness and the shock absorber operation mode in a preset distribution coefficient library.

9. A vehicle semi-active suspension floor-to-ceiling control method according to claim 8, characterized in that: The vehicle semi-active suspension floor-to-ceiling control method further includes the step of pre-building the distribution coefficient library, which specifically includes: Obtain test data of the test vehicle under different road roughness, different shock absorber operation modes and different floor-to-ceiling distribution coefficients; Determine the optimal floor-shelving distribution coefficient under the target road roughness and the target shock absorber operation mode according to the test data, and use the target road roughness and the target shock absorber operation mode as keys and the optimal floor-shelving distribution coefficient as values ​​to generate a distribution coefficient key-value pair; The distribution coefficient library is constructed according to the distribution coefficient key-value pairs.

10. The method for controlling a semi-active suspension floor and ceiling of a vehicle according to claim 1, characterized in that: The determining of the target damping force according to the ceiling control damping force, the floor control damping force and the floor-ceiling distribution coefficient specifically includes: Determining a ceiling control weight and a ground shelf control weight according to the ceiling and ground shelf allocation coefficient; The target damping force is obtained by performing weighted summation on the ceiling control damping force and the floor control damping force according to the ceiling control weight and the floor control weight.

11. A vehicle semi-active suspension floor-to-ceiling control method according to claim 3 or 4, characterized in that: The performing vibration reduction control on the current vehicle according to the target damping force specifically includes: Get the preset damping force MAP table; querying the damping force MAP table according to the damper speed and the target damping force to obtain a target damper current; The target damper current is input to a damping control damper of the current vehicle so that the damping control damper performs vibration damping control on the current vehicle.

12. A vehicle semi-active suspension skylight control system, characterized in that: include: A skylight control damping force determination module, used to determine the skylight control damping force according to the sprung vertical velocity, the unsprung vertical velocity and the preset skylight damping coefficient of the current vehicle, and to determine the skylight control damping force according to the sprung vertical velocity, the unsprung vertical velocity and the preset skylight damping coefficient; a road roughness determination module, configured to determine the road roughness according to the body pitch angular velocity, the body roll angular velocity, the unsprung sag acceleration and the unsprung sag velocity of the current vehicle; A floor-shelving distribution coefficient determination module, configured to determine a shock absorber operation mode according to the current vehicle driving mode, and determine a floor-shelving distribution coefficient according to the road roughness and the shock absorber operation mode; The vibration reduction control module is used to determine a target damping force according to the skyhook control damping force, the groundhook control damping force and the skyhook and groundhook distribution coefficient, and then perform vibration reduction control on the current vehicle according to the target damping force.

13. An electronic device, characterized in that: The electronic device includes a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for realizing connection and communication between the processor and the memory. When the program is executed by the processor, the steps of the vehicle semi-active suspension skylight control method as described in any one of claims 1 to 11 are realized.

14. A storage medium, the storage medium being a computer-readable storage medium, used for computer-readable storage, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the vehicle semi-active suspension floor-to-ceiling control method as described in any one of claims 1 to 11.

15. A vehicle, characterized in that: The vehicle includes the vehicle semi-active suspension skylight control system as described in claim 12 or the electronic device as described in claim 13.

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