Suspension control method, device and equipment, air suspension system and vehicle

Abstract

The invention discloses a suspension control method, device and equipment, an air suspension system and a vehicle. The method comprises the following steps: when a combined adjustment instruction for the suspension height and the suspension rigidity is received; according to the vehicle state, the pressure difference between every two air chambers of a multi-cavity air spring in the suspension, the suspension rigidity adjusting direction in the combined adjusting instruction and the type of an event triggering the combined adjusting instruction, the adjusting sequence between the suspension height and the suspension rigidity is determined; and the suspension height and the suspension rigidity are adjusted according to the adjusting sequence. According to the method and the device, the adjusting sequence is determined by integrating information in multiple aspects, so that the suspension height and the suspension rigidity can be adjusted according to different adjusting sequences in different scenes, the driving experience in multiple scenes is ensured, and energy waste is avoided as far as possible.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a suspension control method, device, equipment, air suspension system, vehicle and computer-readable storage medium. Background Art

[0002] The air suspension system can adjust the suspension height by inflating and deflating the air spring; when the air spring is a multi-chamber air spring, the suspension stiffness can also be adjusted by controlling the switching state of the stiffness control solenoid valve, wherein the stiffness control solenoid valve is a normally open switching valve.

[0003] When the suspension height and stiffness need to be adjusted due to switching of air suspension modes or the need to control the body posture during vehicle movement, the suspension height and stiffness are generally adjusted according to the default adjustment order. For example, the suspension height is adjusted first and then the suspension stiffness by default, or the suspension stiffness is adjusted first and then the suspension height by default. In some scenarios, if the stiffness control solenoid valve needs to be energized to achieve stiffness adjustment, and there is no difference between adjusting the suspension height first and then the suspension stiffness and adjusting the suspension stiffness first and then the suspension height from the perspective of driving experience, it is obvious that adjusting the suspension height first and then the suspension stiffness is beneficial to saving energy consumption. If the suspension stiffness is adjusted first and then the suspension height by default, it will lead to energy waste.

[0004] In summary, the most suitable adjustment order is different in different scenarios. Following the default adjustment order will affect the driving experience or cause energy waste. Summary of the invention

[0005] The present application provides a suspension control method, device, equipment, air suspension system, vehicle and computer-readable storage medium, which can solve the technical problems existing in the prior art that the default adjustment sequence will affect the driving experience or cause energy waste.

[0006] In a first aspect, an embodiment of the present application provides a suspension control method, the suspension control method comprising:

[0007] When receiving a combined adjustment instruction for suspension height and suspension stiffness, determining the adjustment sequence between suspension height and suspension stiffness according to the vehicle state, the pressure difference between two air chambers of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the combined adjustment instruction, and the event type triggering the combined adjustment instruction;

[0008] Adjust the suspension height and suspension stiffness according to the adjustment sequence described.

[0009] In combination with the first aspect, in one implementation, determining the adjustment sequence between the suspension height and the suspension stiffness according to the vehicle state, the pressure difference between the air chambers of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the joint adjustment instruction, and the event type that triggers the joint adjustment instruction includes:

[0010] Detecting whether the event type triggering the joint adjustment instruction is a suspension mode switching event;

[0011] If it is a suspension mode switching event, then detect whether the vehicle state is stationary;

[0012] If the vehicle is in a stationary state, it is detected whether the pressure difference between two air chambers of the multi-chamber air spring in the suspension is less than or equal to a threshold value;

[0013] If both are less than or equal to the threshold, then when the suspension stiffness adjustment direction in the joint adjustment instruction is to increase, the adjustment sequence is determined to be to adjust the suspension height first and then adjust the suspension stiffness;

[0014] If both are less than or equal to the threshold, when the suspension stiffness adjustment direction in the joint adjustment instruction is to adjust the suspension stiffness first and then adjust the suspension height.

[0015] In combination with the first aspect, in an implementation manner, after detecting whether the event type triggering the joint adjustment instruction is a suspension mode switching event, the method further includes:

[0016] If it is not a suspension mode switching event, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0017] In combination with the first aspect, in one implementation, after detecting whether the vehicle state is a stationary state, the method further includes:

[0018] If the vehicle is in a moving state, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0019] In combination with the first aspect, in one embodiment, after detecting whether the pressure difference between two air chambers of the multi-chamber air spring in the suspension is less than or equal to the threshold, the method further includes:

[0020] If there is at least one set of pressure differences between any two air chambers that is greater than a threshold, the adjustment sequence is determined to be to adjust the suspension stiffness first and then adjust the suspension height.

[0021] In a second aspect, an embodiment of the present application provides a suspension control device, the suspension control device comprising:

[0022] a determination module, configured to, when receiving a joint adjustment instruction for suspension height and suspension stiffness, determine an adjustment sequence between suspension height and suspension stiffness according to a vehicle state, a pressure difference between two air chambers of a multi-chamber air spring in the suspension, a suspension stiffness adjustment direction in the joint adjustment instruction, and an event type triggering the joint adjustment instruction, and send the adjustment sequence to an adjustment module;

[0023] The adjustment module is used to adjust the suspension height and the suspension stiffness according to the adjustment sequence.

[0024] In conjunction with the second aspect, in one implementation, the determining module is specifically configured to:

[0025] Detecting whether the event type triggering the joint adjustment instruction is a suspension mode switching event;

[0026] If it is a suspension mode switching event, then detect whether the vehicle state is stationary;

[0027] If the vehicle is in a stationary state, it is detected whether the pressure difference between two air chambers of the multi-chamber air spring in the suspension is less than or equal to a threshold value;

[0028] If both are less than or equal to the threshold, then when the suspension stiffness adjustment direction in the joint adjustment instruction is to increase, the adjustment sequence is determined to be to adjust the suspension height first and then adjust the suspension stiffness;

[0029] If both are less than or equal to the threshold, when the suspension stiffness adjustment direction in the joint adjustment instruction is to adjust the suspension stiffness first and then adjust the suspension height.

[0030] In conjunction with the second aspect, in one implementation, the determining module is specifically configured to:

[0031] If it is not a suspension mode switching event, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0032] In conjunction with the second aspect, in one implementation, the determining module is specifically configured to:

[0033] If the vehicle is in a moving state, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0034] In conjunction with the second aspect, in one implementation, the determining module is specifically configured to:

[0035] If there is at least one set of pressure differences between any two air chambers that is greater than a threshold, the adjustment sequence is determined to be to adjust the suspension stiffness first and then adjust the suspension height.

[0036] In a third aspect, an embodiment of the present application provides an air suspension system, wherein the air suspension system includes the suspension control device as described in the second aspect.

[0037] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising the air suspension system as described in the third aspect.

[0038] In a fifth aspect, an embodiment of the present application provides a suspension control device, comprising a processor, a memory, and a suspension control program stored in the memory and executable by the processor, wherein when the suspension control program is executed by the processor, the steps of the suspension control method described in the first aspect are implemented.

[0039] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a suspension control program is stored, wherein when the suspension control program is executed by a processor, the steps of the suspension control method described in the first aspect are implemented.

[0040] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0041] In the embodiment of the present application, when a joint adjustment instruction for the suspension height and suspension stiffness is received, the adjustment order between the suspension height and suspension stiffness is determined according to the vehicle state, the pressure difference between the two air chambers of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the joint adjustment instruction, and the event type that triggers the joint adjustment instruction; the suspension height and suspension stiffness are adjusted according to the adjustment order. Through the embodiment of the present application, the adjustment order is determined by integrating various information, so that the suspension height and suspension stiffness can be adjusted according to different adjustment orders in different scenarios, thereby ensuring the driving experience in multiple scenarios and avoiding energy waste as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a flow chart of the first embodiment of the suspension control method of the present application;

[0043] Figure 2 A detailed flow chart of determining the adjustment sequence in one embodiment;

[0044] Figure 3 A detailed schematic diagram of a process for determining an adjustment sequence in another embodiment;

[0045] Figure 4 This is a schematic diagram of the functional modules of an embodiment of the suspension control device of the present application;

[0046] Figure 5 This is a schematic diagram of the hardware structure of the suspension control device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0049] In a first aspect, an embodiment of the present application provides a suspension control method.

[0050] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the suspension control method of the present application. Figure 1 As shown, the suspension control method includes:

[0051] Step S10, when a combined adjustment instruction for suspension height and suspension stiffness is received, determining the adjustment sequence between suspension height and suspension stiffness according to the vehicle state, the pressure difference between two air chambers of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the combined adjustment instruction, and the event type that triggers the combined adjustment instruction;

[0052] In this embodiment, there are two adjustment sequences between the suspension height and the suspension stiffness:

[0053] Adjustment sequence 1: first adjust the suspension height and then adjust the suspension stiffness;

[0054] Adjustment sequence 2: first adjust the suspension stiffness and then adjust the suspension height.

[0055] Among them, for a scene, whether adjusting according to adjustment sequence 1 or adjustment sequence 2, the same purpose can be achieved (i.e. adjusting the stiffness to the desired stiffness and the height to the desired height), and from the perspective of driving experience, there is no difference between the two adjustment methods. However, adjustment through adjustment sequence 1 can save energy compared with adjustment sequence 2, so it is obvious that the adjustment sequence should be determined to be adjustment sequence 1.

[0056] For another scenario, whether adjusting according to adjustment sequence 1 or adjustment sequence 2, the same purpose can be achieved (i.e. adjusting the stiffness to the desired stiffness and the height to the desired height). However, from the perspective of driving experience, adjustment sequence 2 can provide a better driving experience than adjustment sequence 1; and from the perspective of energy saving, adjustment through adjustment sequence 1 can save energy compared to adjustment sequence 2. In this case, it is necessary to determine the adjustment sequence based on the importance of driving experience and energy saving. For example, generally speaking, driving experience is more important and its needs should be met first, so the adjustment sequence is determined to be adjustment sequence 2.

[0057] In summary, when receiving a joint adjustment instruction for the suspension height and suspension stiffness, it is necessary to determine whether the two adjustment sequences will lead to different driving experiences under the current scenario. If so, select the adjustment sequence with a better driving experience; if the driving experiences are the same, select a more energy-saving solution to save energy.

[0058] Among them, whether the two adjustment sequences will lead to different driving experiences in the current scenario is determined specifically through the vehicle state, the pressure difference between the two air chambers of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the joint adjustment instruction, and the event type that triggers the joint adjustment instruction.

[0059] Step S20, adjusting the suspension height and suspension stiffness according to the adjustment sequence.

[0060] In this embodiment, after the adjustment sequence is determined, the suspension height and suspension stiffness can be adjusted according to the adjustment sequence. For example, if the adjustment sequence 1 is determined, the suspension height is first adjusted to the desired height and then the suspension stiffness is adjusted to the desired stiffness; if the adjustment sequence 2 is determined, the suspension stiffness is first adjusted to the desired stiffness and then the suspension height is adjusted to the desired height.

[0061] In the embodiment of the present application, when a joint adjustment instruction for the suspension height and suspension stiffness is received, the adjustment order between the suspension height and suspension stiffness is determined according to the vehicle state, the pressure difference between the two air chambers of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the joint adjustment instruction, and the event type that triggers the joint adjustment instruction; the suspension height and suspension stiffness are adjusted according to the adjustment order. Through the embodiment of the present application, the adjustment order is determined by integrating various information, so that the suspension height and suspension stiffness can be adjusted according to different adjustment orders in different scenarios, thereby ensuring the driving experience in multiple scenarios and avoiding energy waste as much as possible.

[0062] Further, in one embodiment, referring to Figure 2 , Figure 2 FIG. 1 is a detailed flow chart of determining the adjustment sequence in one embodiment. Figure 2As shown, the adjustment sequence between the suspension height and the suspension stiffness is determined according to the vehicle state, the pressure difference between the two air chambers of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the joint adjustment instruction, and the event type that triggers the joint adjustment instruction, including:

[0063] Step S101, detecting whether the event type triggering the joint adjustment instruction is a suspension mode switching event;

[0064] In this embodiment, generally speaking, the event types that trigger the joint adjustment instruction can be divided into two categories: one is the suspension mode switching event, and the other is the non-suspension mode switching event. Among them, the non-suspension mode switching event includes the roll suppression event (that is, when the vehicle turns, the vehicle posture is detected to be rolling, and the suspension height and suspension stiffness need to be adjusted to suppress the roll) and the pitch suppression event (that is, when the vehicle accelerates or decelerates, the vehicle posture is detected to be pitching, and the suspension height and suspension stiffness need to be adjusted to suppress the pitching).

[0065] Taking the suspension controller as the executor of this embodiment as an example, the vehicle controller sends a joint adjustment instruction to the suspension controller in the form of a message, and uses different characters to identify the event type that triggers the joint adjustment instruction in a specific position of the message. For example, 0 is used to identify the event type that triggers the joint adjustment instruction as a suspension mode switching event, and 1 is used to identify the event type that triggers the joint adjustment instruction as a roll suppression event or a pitch suppression event.

[0066] When the suspension controller receives the joint adjustment instruction sent by the vehicle controller, the event type that triggers the joint adjustment instruction is determined based on the identification character of the specific bit in the joint adjustment instruction.

[0067] Step S102, if it is a suspension mode switching event, detecting whether the vehicle state is a stationary state;

[0068] In this embodiment, when it is determined that the event type that triggers the joint adjustment instruction is a suspension mode switching event, it is necessary to further determine whether the vehicle state is a stationary state or a moving state. Specifically, it can be determined by the vehicle speed. For example, if the vehicle speed is detected to be less than 5km / h, it is determined that the vehicle is stationary, otherwise it is determined that the vehicle is in a moving state. The "5km / h" here is only for illustrative purposes, and the value can be flexibly set according to actual needs and is not limited here.

[0069] Step S103, if the vehicle is in a stationary state, detecting whether the pressure difference between two air chambers of the multi-chamber air spring in the suspension is less than or equal to a threshold;

[0070] In this embodiment, a multi-chamber air spring refers to an air spring with two or more air chambers. Here, a three-chamber air spring is taken as an example, which includes air chamber 1, air chamber 2 and air chamber 3. That is, it is detected whether the pressure difference 1, pressure difference 2 and pressure difference 3 are all less than or equal to the threshold. Among them, the air pressure value 1 in air chamber 1 can be collected by air pressure sensor 1, and the air pressure value 2 in air chamber 2 can be collected by air pressure sensor 2. The absolute value of the difference between air pressure value 1 and air pressure value 2 is calculated to obtain pressure difference 1. By analogy, pressure difference 2 and pressure difference 3 can be obtained.

[0071] Step S104, if both are less than or equal to the threshold, then when the suspension stiffness adjustment direction in the joint adjustment instruction is to increase, the adjustment sequence is determined to be to adjust the suspension height first and then adjust the suspension stiffness;

[0072] Step S105: If both are less than or equal to the threshold, then when the suspension stiffness adjustment direction in the joint adjustment instruction is to adjust down, the adjustment sequence is determined to adjust the suspension stiffness first and then adjust the suspension height.

[0073] In this embodiment, if the event type that triggers the joint adjustment command is a suspension mode switching event, the vehicle state is stationary and the pressure difference between the two air chambers of the multi-chamber air spring in the suspension is less than or equal to the threshold, it means that at this time, adjusting the suspension height first and then adjusting the suspension stiffness or adjusting the suspension stiffness first and then adjusting the suspension height, from the perspective of driving experience, there is no difference, so it is necessary to consider which adjustment order is more energy-efficient.

[0074] Taking the three-chamber air spring as an example, the stiffness control solenoid valve 1 controls the gas flow between air chamber 1 (volume V1) and air chamber 2 (volume V2), and the stiffness control solenoid valve 2 controls the gas flow between air chamber 1 and air chamber 3 (volume V3). The stiffness control solenoid valve is a normally open switch valve, which is closed after being activated by power. When both solenoid valve 1 and solenoid valve 2 are not powered, the adjustable volume of the air spring is V1+V2+V3, and the suspension stiffness is the lowest at this time; when solenoid valve 1 is not powered and solenoid valve 2 is powered, the adjustable volume of the air spring is V1+V2, and the suspension stiffness is medium-low at this time; when solenoid valve 1 is powered and solenoid valve 2 is not powered, the adjustable volume of the air spring is V1+V3, and the suspension stiffness is medium-high at this time; when solenoid valve 1 and solenoid valve 2 are powered, the adjustable volume of the air spring is V1, and the suspension stiffness is the highest at this time.

[0075] Based on this, if the two adjustment sequences are indistinguishable from the perspective of driving experience, when the suspension stiffness adjustment direction in the joint adjustment instruction is to increase, if the corresponding stiffness control solenoid valve is powered on and activated first, and then the height is adjusted, the stiffness control solenoid valve is always powered on and driven to consume energy during the height adjustment process; if the stiffness control solenoid valve is powered on and activated later, the stiffness control solenoid valve is not powered on and driven to consume energy during the height adjustment process, thus saving the energy consumption of the stiffness control solenoid valve (14V×1.1A×4) during the height adjustment process (generally 10s). Therefore, on the basis of meeting the above conditions, when the suspension stiffness adjustment direction in the joint adjustment instruction is to increase, the adjustment sequence is determined to be to adjust the suspension height first and then adjust the suspension stiffness.

[0076] Correspondingly, when the suspension stiffness adjustment direction in the joint adjustment instruction is to adjust to a smaller value, the corresponding stiffness control solenoid valve is powered off first, which can save the energy consumption of the stiffness control solenoid valve during the height adjustment process. Therefore, on the basis of meeting the above conditions, when the suspension stiffness adjustment direction in the joint adjustment instruction is to adjust to a smaller value, the adjustment sequence is determined to adjust the suspension stiffness first and then adjust the suspension height.

[0077] Further, in one embodiment, referring to Figure 3 , Figure 3 FIG. 1 is a detailed flow chart of determining the adjustment sequence in another embodiment. Figure 3 As shown, after step S101, the following further includes:

[0078] If it is not a suspension mode switching event, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0079] In this embodiment, if it is not a suspension mode switching event, the adjustment sequence is directly determined to adjust the suspension stiffness first and then adjust the suspension height, so as to ensure the riding experience and driving safety.

[0080] Further, in one embodiment, continue to refer to Figure 3 ,like Figure 3 As shown, after step S102, the following further includes:

[0081] If the vehicle is in a moving state, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0082] In this embodiment, if the vehicle is in motion, the passengers can strongly sense the change in stiffness. Therefore, the adjustment sequence is to adjust the suspension stiffness first and then the suspension height, so that the passengers can feel the user experience brought by the change in stiffness, while ensuring the comfort and controllability of the whole vehicle.

[0083] Further, in one embodiment, continue to refer to Figure 3 ,like Figure 3As shown, after step S103, the following further includes:

[0084] If there is at least one set of pressure differences between any two air chambers that is greater than a threshold, the adjustment sequence is determined to be to adjust the suspension stiffness first and then adjust the suspension height.

[0085] In this embodiment, assuming that the stiffness control solenoid valve 1 is open and the stiffness control solenoid valve 2 is closed, the air pressure values ​​of the three air chambers are equal. When the load increases, the air pressure values ​​1 and 2 of air chamber 1 and air chamber 2 increase. Since the stiffness control solenoid valve 2 is closed, the air pressure value 3 of air chamber 3 remains unchanged, which will cause the pressure difference between air chamber 1 and air chamber 3 to be greater than the threshold value, and the pressure difference between air chamber 2 and air chamber 3 to be greater than the threshold value. In this case, if the height is adjusted first and then the stiffness is adjusted, the height will change again during the stiffness adjustment process due to the pressure difference between the air chambers, causing the passengers to feel the height change at two intervals, affecting the riding experience. Therefore, when there is at least one set of pressure differences between the two air chambers greater than the threshold value, the adjustment order is determined to be to adjust the suspension stiffness first and then the suspension height, so that the height change perceived by the passengers is more continuous, improving the riding experience.

[0086] In a second aspect, an embodiment of the present application also provides a suspension control device.

[0087] In one embodiment, referring to Figure 4 , Figure 4 Schematic diagram of the functional modules of an embodiment of the suspension control device of the present application. Figure 4 As shown, the suspension control device includes:

[0088] The determination module 10 is used for, when receiving a joint adjustment instruction for the suspension height and the suspension stiffness, determining an adjustment sequence between the suspension height and the suspension stiffness according to the vehicle state, the pressure difference between the air chambers of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the joint adjustment instruction, and the event type triggering the joint adjustment instruction, and sending the adjustment sequence to the adjustment module 20;

[0089] The adjustment module 20 is used to adjust the suspension height and the suspension stiffness according to the adjustment sequence.

[0090] Further, in one embodiment, the determination module 10 is specifically configured to:

[0091] Detecting whether the event type triggering the joint adjustment instruction is a suspension mode switching event;

[0092] If it is a suspension mode switching event, then detect whether the vehicle state is stationary;

[0093] If the vehicle is in a stationary state, it is detected whether the pressure difference between two air chambers of the multi-chamber air spring in the suspension is less than or equal to a threshold value;

[0094] If both are less than or equal to the threshold, then when the suspension stiffness adjustment direction in the joint adjustment instruction is to increase, the adjustment sequence is determined to be to adjust the suspension height first and then adjust the suspension stiffness;

[0095] If both are less than or equal to the threshold, when the suspension stiffness adjustment direction in the joint adjustment instruction is to adjust the suspension stiffness first and then adjust the suspension height.

[0096] Further, in one embodiment, the determination module 10 is specifically configured to:

[0097] If it is not a suspension mode switching event, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0098] Further, in one embodiment, the determination module 10 is specifically configured to:

[0099] If the vehicle is in a moving state, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0100] Further, in one embodiment, the determination module 10 is specifically configured to:

[0101] If there is at least one set of pressure differences between any two air chambers that is greater than a threshold, the adjustment sequence is determined to be to adjust the suspension stiffness first and then adjust the suspension height.

[0102] Among them, the functional implementation of each module in the above-mentioned suspension control device corresponds to each step in the above-mentioned suspension control method embodiment, and its functions and implementation processes are no longer repeated here.

[0103] In a third aspect, an embodiment of the present application provides an air suspension system.

[0104] In this embodiment, the air suspension system includes the suspension control device as described in the second aspect. Of course, the air suspension system also includes other conventional components, such as multi-chamber air springs, shock absorbers, guide mechanisms, etc., which will not be described in detail here.

[0105] In a fourth aspect, an embodiment of the present application provides a vehicle.

[0106] In this embodiment, the vehicle includes the air suspension system as described in the third aspect. Of course, the vehicle also includes other conventional systems, such as a power system, a braking system, a steering system, a driving system, an electrical system, an air conditioning system, a safety system, etc., which will not be described in detail here.

[0107] In a fifth aspect, an embodiment of the present application provides a suspension control device, which may be an electronic control unit.

[0108] Reference Figure 5 , Figure 5The hardware structure diagram of the suspension control device involved in the embodiment of the present application is shown in FIG. In the embodiment of the present application, the suspension control device may include a processor, a memory, a communication interface, and a communication bus.

[0109] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0110] The communication interface includes input / output (I / O) interface, physical interface and logical interface, etc., which are used to realize the interconnection of devices inside the suspension control device, and the interface used to realize the interconnection between the suspension control device and other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0111] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0112] The processor may be a general-purpose processor, which may call the suspension control program stored in the memory and execute the suspension control method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the suspension control program is called may refer to the various embodiments of the suspension control method of the present application, which will not be described in detail here.

[0113] Those skilled in the art will understand that Figure 5 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0114] In a sixth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0115] The computer-readable storage medium of the present application stores a suspension control program, wherein when the suspension control program is executed by a processor, the steps of the suspension control method described above are implemented.

[0116] Among them, the method implemented when the suspension control program is executed can refer to the various embodiments of the suspension control method of the present application, and will not be repeated here.

[0117] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0118] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0119] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0120] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0121] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0122] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0123] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A suspension control method, characterized in that: The suspension control method comprises: When receiving a combined adjustment instruction for suspension height and suspension stiffness, determining the adjustment sequence between suspension height and suspension stiffness according to the vehicle state, the pressure difference between two air chambers of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the combined adjustment instruction, and the event type triggering the combined adjustment instruction; Adjust the suspension height and suspension stiffness according to the adjustment sequence described.

2. The suspension control method according to claim 1, characterized in that: The step of determining the adjustment sequence between the suspension height and the suspension stiffness according to the vehicle state, the pressure difference between the air chambers of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the joint adjustment instruction, and the event type triggering the joint adjustment instruction includes: Detecting whether the event type triggering the joint adjustment instruction is a suspension mode switching event; If it is a suspension mode switching event, then detect whether the vehicle state is stationary; If the vehicle is in a stationary state, it is detected whether the pressure difference between two air chambers of the multi-chamber air spring in the suspension is less than or equal to a threshold value; If both are less than or equal to the threshold, then when the suspension stiffness adjustment direction in the joint adjustment instruction is to increase, the adjustment sequence is determined to be to adjust the suspension height first and then adjust the suspension stiffness; If both are less than or equal to the threshold, when the suspension stiffness adjustment direction in the joint adjustment instruction is to adjust the suspension stiffness first and then adjust the suspension height.

3. The suspension control method according to claim 2, characterized in that: After detecting whether the event type triggering the joint adjustment instruction is a suspension mode switching event, the method further includes: If it is not a suspension mode switching event, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

4. The suspension control method according to claim 2, characterized in that: After detecting whether the vehicle state is a stationary state, the method further includes: If the vehicle is in a moving state, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

5. The suspension control method according to claim 2, characterized in that: After detecting whether the pressure difference between each two air chambers of the multi-chamber air spring in the suspension is less than or equal to the threshold, the method further includes: If there is at least one set of pressure differences between any two air chambers that is greater than a threshold, the adjustment sequence is determined to be to adjust the suspension stiffness first and then adjust the suspension height.

6. A suspension control device, characterized in that: The suspension control device comprises: a determination module, configured to, when receiving a joint adjustment instruction for suspension height and suspension stiffness, determine an adjustment sequence between suspension height and suspension stiffness according to a vehicle state, a pressure difference between two air chambers of a multi-chamber air spring in the suspension, a suspension stiffness adjustment direction in the joint adjustment instruction, and an event type triggering the joint adjustment instruction, and send the adjustment sequence to an adjustment module; The adjustment module is used to adjust the suspension height and the suspension stiffness according to the adjustment sequence.

7. An air suspension system, characterized in that: The air suspension system includes the suspension control device according to claim 6.

8. A vehicle, characterized in that: The vehicle includes the air suspension system of claim 7 .

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

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a suspension control program, wherein when the suspension control program is executed by a processor, the steps of the suspension control method according to any one of claims 1 to 5 are implemented.

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