Vehicle air suspension height compensation method, device and equipment and storage medium

Abstract

The invention discloses a vehicle air suspension height compensation method, device and equipment and a storage medium. Firstly, the driving state of a target vehicle, the road surface unevenness and the current heights (including the heights of the right front air bag, the left front air bag, the right rear air bag and the left rear air bag) of four air bags can be obtained. The average height of the front axle is then calculated from the heights of the right front and left front airbags, and the compensated height of the front axle is determined in conjunction with the target airbag height. Then, the right front air bag and the left front air bag are adjusted according to the compensated height, and balance of the front axle is ensured. And for the rear axle, the driving state of the vehicle, the road surface unevenness, the target height of the air bags and the current height of the right rear air bag and the current height of the left rear air bag are considered, and then corresponding height compensation is conducted on the two air bags of the rear axle. When the vehicle runs on different road shoulders, height compensation control between the air bags can be achieved, so that the heights of the four air bags are effectively coordinated, it is ensured that the vehicle body is kept balanced, and then driving safety and comfort are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle air suspension height compensation method, device, equipment and storage medium. BACKGROUND

[0002] At present, more and more vehicles are equipped with air suspensions in order to improve comfort and body height adjustment. The basic principle of air suspension is to use electromagnetic valves, air cylinders, air pumps and other devices to control the charging and discharging of the four air bags of the vehicle, so as to realize the height adjustment of the vehicle body.

[0003] The current air suspension control system lacks height compensation control between air bags, which further leads to repeated adjustment of air bag inflation and deflation when the vehicle drives on a small shoulder or a large shoulder, and cannot effectively coordinate the height of the four air bags, resulting in the vehicle body cannot keep balance, and further affecting the driving safety.

[0004] Therefore, how to avoid the phenomenon of repeated inflation and deflation of air bags when the vehicle drives on uneven road surface such as small shoulder and large shoulder is a technical problem that technicians in the field urgently need to solve. SUMMARY

[0005] Based on the above problems, the present application provides a vehicle air suspension height compensation method, device, equipment and storage medium, which can realize height compensation control between air bags when the vehicle drives on different road shoulders, effectively coordinate the height of the four air bags, ensure the balance of the vehicle body, and further improve the driving safety and comfort.

[0006] The embodiments of the present application disclose the following technical solutions:

[0007] A vehicle air suspension height compensation method, the method comprises:

[0008] obtaining the driving state, road unevenness and current height of the air bag of the target vehicle; the current height of the air bag includes the current height of the right front air bag, the current height of the left front air bag, the current height of the right rear air bag and the current height of the left rear air bag;

[0009] calculating the average height of the front axle based on the current height of the right front air bag and the current height of the left front air bag;

[0010] determining the height of the front axle after compensation based on the average height of the front axle and the target height of the air bag, and compensating the height of the right front air bag and the left front air bag of the target vehicle based on the height of the front axle after compensation;

[0011] compensating the height of the right rear air bag and the left rear air bag of the target vehicle based on the driving state, the road unevenness, the target height of the air bag, the current height of the right rear air bag and the current height of the left rear air bag.

[0012] In a possible implementation, the determining the front axle compensated height based on the front axle average height and the airbag target height comprises:

[0013] when the front axle average height is less than the airbag target height, determining the front axle average height as the front axle compensated height;

[0014] when the front axle average height is greater than the airbag target height, determining the airbag target height as the front axle compensated height;

[0015] when the front axle average height is equal to the airbag target height, determining the airbag target height or the front axle average height as the front axle compensated height.

[0016] In a possible implementation, the height compensating the right rear airbag and the left rear airbag of the target vehicle based on the driving state, the road roughness, the airbag target height, the right rear airbag current height and the left rear airbag current height comprises:

[0017] when the driving state is the low-speed driving state and the road roughness is less than or equal to a first threshold value, calculating a right rear axle compensated height and a left rear axle compensated height based on the road roughness, the airbag target height, the right rear airbag current height and the left rear airbag current height respectively, and height-compensating the right rear airbag and the left rear airbag of the target vehicle based on the right rear axle compensated height and the left rear axle compensated height respectively;

[0018] when the driving state is the low-speed driving state and the road roughness is greater than the first threshold value, prohibiting the height-compensating the right rear airbag and the left rear airbag of the target vehicle.

[0019] In a possible implementation, the method further comprises:

[0020] when the driving state is the low-speed driving state and the road roughness is less than a second threshold value, calculating a right rear axle compensated height and a left rear axle compensated height based on the road roughness, the airbag target height, the right rear airbag current height and the left rear airbag current height respectively, and height-compensating the right rear airbag and the left rear airbag of the target vehicle based on the right rear axle compensated height and the left rear axle compensated height respectively; or,

[0021] when the driving state is the low-speed driving state and the road roughness is less than or equal to the second threshold value, height-compensating the right rear airbag and the left rear airbag of the target vehicle based on the airbag target height respectively;

[0022] wherein the second threshold value is less than the first threshold value.

[0023] In a possible implementation, the calculating the right rear axle compensated height and the left rear axle compensated height based on the road unevenness, the airbag target height, the right rear airbag current height and the left rear airbag current height respectively comprises:

[0024] If the right rear airbag current height or the left rear airbag current height is greater than the airbag target height, the right rear axle compensated height or the left rear axle compensated height is calculated by using a first compensated height calculation formula;

[0025] If the right rear airbag current height or the left rear airbag current height is less than the airbag target height, the right rear axle compensated height or the left rear axle compensated height is calculated by using a second compensated height calculation formula;

[0026] The first compensated height calculation formula is H1=Ht+road unevenness*0.5, H1 is the rear axle compensated height, and Ht is the airbag target height. The second compensated height calculation formula is H2=Ht-road unevenness*0.5, H2 is the rear axle compensated height.

[0027] In a possible implementation, the method further comprises:

[0028] When the driving state is a high-speed driving state, the right rear airbag and the left rear airbag of the target vehicle are compensated in height based on the airbag target height.

[0029] In a possible implementation, the calculation formula of the road unevenness is as follows:

[0030] Road unevenness=|(FL+RR)-(FR+RL)|

[0031] FL is the left front airbag height, FR is the right front airbag height, RL is the left rear airbag height, and RR is the right rear airbag height.

[0032] A vehicle air suspension height compensation device, the device comprises:

[0033] An acquisition unit is configured to acquire a driving state, a road unevenness and airbag current heights of a target vehicle, the airbag current heights comprising a right front airbag current height, a left front airbag current height, a right rear airbag current height and a left rear airbag current height;

[0034] A first calculation unit is configured to calculate a front axle average height based on the right front airbag current height and the left front airbag current height;

[0035] A front axle height compensation unit is configured to determine a front axle compensated height based on the front axle average height and the airbag target height, and to compensate the right front airbag and the left front airbag of the target vehicle based on the front axle compensated height.

[0036] A rear axle height compensation unit is configured to compensate the right rear airbag and the left rear airbag of the target vehicle based on the driving state, the road roughness, the airbag target height, the right rear airbag current height and the left rear airbag current height.

[0037] The vehicle air suspension height compensation device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the vehicle air suspension height compensation method is implemented.

[0038] A computer readable storage medium, the computer readable storage medium stores instructions, when the instructions run on a terminal device, the terminal device executes the vehicle air suspension height compensation method.

[0039] Compared with the prior art, the present application has the following beneficial effects:

[0040] The application provides a vehicle air suspension height compensation method, device, equipment and storage medium. Specifically, when the vehicle air suspension height compensation method provided by the application is executed, three types of key information can be collected in real time: first, the driving state of the target vehicle; second, the road roughness data calculated by the formula; and third, the current height of the vehicle four-corner air bag, that is, the real-time height values of the right front air bag, the left front air bag, the right rear air bag and the left rear air bag, which provide basic data support for subsequent compensation. Then, for front axle height control, the current heights of the right front air bag and the left front air bag can be extracted first, and the average height of the front axle can be obtained by calculating the average of the two. Then, the average height is compared with the preset air bag target height, and the front axle compensation height is determined according to the difference. Finally, according to the compensation height, the right front air bag and the left front air bag are synchronously adjusted by charging and discharging, so as to ensure the coordinated matching of the air bag heights on both sides of the front axle. For rear axle height control, multi-dimensional parameter decision can be made: taking the driving state of the vehicle as the adjustment reference, combining the quantized value of the road roughness, the preset air bag target height, and the current heights of the right rear air bag and the left rear air bag, the air bags on both sides of the rear axle are respectively compensated in an adaptive manner. The application realizes real-time monitoring and adjustment of the vehicle body height by obtaining the driving state of the vehicle, the road roughness and the current height of the air bag. Through this dynamic adjustment, the system can accurately control the inflation and deflation of the air bag according to the road roughness and the driving state of the vehicle, thereby avoiding the phenomenon of frequent air bag height adjustment in complex road conditions. Especially when passing through a small road shoulder or a large road shoulder, the balance of the vehicle body can be better maintained. BRIEF DESCRIPTION OF DRAWINGS

[0041] To make the technical solutions of the embodiments or the prior art clearer, the following will briefly introduce the drawings needed in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0042] Figure 1 A schematic diagram of an exemplary application scenario provided by the embodiments of the application;

[0043] Figure 2 A method flowchart of a vehicle air suspension height compensation method provided by the embodiments of the application;

[0044] Figure 3 A structural schematic diagram of a vehicle air suspension height compensation device provided by the embodiments of the application. DETAILED DESCRIPTION

[0045] To make the technical solutions of the embodiments or the prior art clearer, the following will briefly introduce the drawings needed in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0046] With the increasing demand for comfort and performance in modern vehicles, more and more vehicles are equipped with air suspension systems such as Figure 1 to achieve adjustable body height and better driving experience. Figure 1 The air suspension in the figure is controlled by a complete set of control devices (the upper dashed box in the figure contains a motor-driven air pump, an air cylinder for storing compressed air, and an integrated pressure sensor. The lower dashed box clearly marks the exclusive control components and execution elements of the four corners of the vehicle, namely the Front Left (FL) solenoid valve, FL air bag, Front Right (FR) solenoid valve, FR air bag, Rear Left (RL) solenoid valve, RL air bag, Rear Right (RR) solenoid valve, and RR air bag). By independently controlling the air path of each air bag through the solenoid valve, the inflation and deflation of the four air bags are adjusted to achieve precise control of the body height. This system can automatically adjust the body height according to different driving environments and load conditions, improving the comfort of the ride, especially in uneven road surfaces or complex driving environments.

[0047] However, despite the comfort improvements brought by air suspension in many aspects, the existing air suspension control system still has certain defects, especially in the height compensation control between air bags. Currently, most air suspension systems do not have precise compensation control for the height difference between the four air bags. This leads to repeated adjustment of air bag inflation and deflation in some special road conditions, such as small shoulders or large shoulders.

[0048] Small shoulders refer to the lower edges of the road on both sides, usually used to provide space for vehicles to avoid in emergency situations. When passing through these sections, the height of the air bag needs to be quickly adjusted to maintain the balance and stability of the vehicle. Large shoulders are relatively wide road edges, usually used for large vehicles or when vehicles are parked, where the road surface changes greatly, and the vehicle may face challenges in height adjustment when passing through. Due to the lack of height coordination between air bags in the existing control system, air bags may have inconsistent inflation and deflation, causing one side of the vehicle body to be higher or lower, affecting the stability of the vehicle.

[0049] This uncoordinated height of the air bags may cause the vehicle body to lose balance, affecting the driving stability and safety. Especially when passing through road shoulders with large height differences quickly, the inclination of the vehicle will intensify, which may cause the vehicle body to tilt or control difficulties, thereby posing a threat to the safety of the driver and passengers.

[0050] To solve this problem, the application provides a vehicle air suspension height compensation method, device, equipment and storage medium. The driving state, road unevenness, right front air bag current height, left front air bag current height, right rear air bag current height and left rear air bag current height of the target vehicle are obtained. Then, the front axle average height is calculated based on the right front air bag current height and the left front air bag current height, and the front axle compensated height is determined based on the front axle average height and the air bag target height, so as to compensate the right front air bag and the left front air bag of the target vehicle based on the front axle compensated height. Meanwhile, the right rear air bag and the left rear air bag of the target vehicle are compensated based on the driving state, road unevenness, air bag target height, right rear air bag current height and left rear air bag current height. The application can keep the vehicle stable in complex road conditions through accurate height compensation control. Especially when the vehicle encounters uneven road such as small road shoulder or large road shoulder during driving, the height difference between the air bags can be effectively reduced, so as to avoid the imbalance of the vehicle body and reduce the risk of vehicle roll, thereby improving the safety of driving.

[0051] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0052] Referring to Figure 2 The figure is a method flowchart of a vehicle air suspension height compensation method provided by the application, as shown in Figure 2 The vehicle air suspension height compensation method can include steps S201-S204:

[0053] S201: Obtain the driving state, road unevenness and air bag current height of the target vehicle.

[0054] To accurately realize the height compensation control of the vehicle air suspension and ensure the balance of the vehicle body under different working conditions, the system first starts the multi-dimensional data acquisition link and comprehensively obtains three types of core basic information: first, the real-time driving state of the target vehicle (such as high-speed driving or low-speed driving), which provides the working condition judgment basis for the subsequent differentiated compensation strategy; second, the road unevenness parameter calculated by the quantization algorithm (directly reflects the road height difference, and is suitable for different road conditions such as small road shoulder and large road shoulder); third, the complete current height data of the four-corner air bags of the vehicle, specifically including the right front air bag (FR) current height, the left front air bag (FL) current height, the right rear air bag (RR) current height and the left rear air bag (RL) current height, which ensures accurate real-time state of each execution element and provides data support for the coordinated compensation adjustment of the front and rear axles.

[0055] In a possible implementation, the driving state includes high-speed driving or low-speed driving. When the current vehicle speed of the target vehicle is greater than or equal to 20 km / h (kilometers per hour), the driving state of the target vehicle is determined as high-speed driving; and when the current vehicle speed of the target vehicle is less than 20 km / h, the driving state of the target vehicle is determined as low-speed driving.

[0056] S202: calculating a front axle average height based on the current height of the right front air bag and the current height of the left front air bag.

[0057] To break the limitation of traditional independent control of the air bags on the left and right sides of the front axle, the two groups of key data of the current height of the right front air bag (FR) and the current height of the left front air bag (FL) that have been collected can be extracted, and the front axle average height can be calculated through an average algorithm (namely, (current height of the right front air bag + current height of the left front air bag) ÷ 2). The average height can convert the height information of the left and right points of the front axle into a single unified height reference, and provide a core reference for subsequent synchronous compensation of the air bags on the left and right sides of the front axle and avoidance of frequent adjustment of a single side, thereby ensuring the overall level of the front axle from the control logic.

[0058] S203: determining a front axle compensated height based on the front axle average height and the air bag target height, and performing height compensation on the right front air bag and the left front air bag of the target vehicle based on the front axle compensated height.

[0059] To realize precise collaborative control of the heights of the air bags on the left and right sides of the front axle, the system can first determine the front axle compensated height based on the numerical relationship between the front axle average height and the preset air bag target height through a "scene judgment" logic, and the specific judgment rules are as follows: if the front axle average height is less than the air bag target height, it indicates that the overall height of the front axle does not reach the target reference, and in this case, the front axle average height is directly determined as the front axle compensated height to avoid imbalance caused by excessive inflation; if the front axle average height is greater than the air bag target height, it indicates that the overall height of the front axle exceeds the target range, and the air bag target height is taken as the front axle compensated height to ensure that the height control conforms to the preset standard; and if the front axle average height is equal to the air bag target height, it indicates that the height of the front axle meets the control requirement, and one of the two can be selected as the front axle compensated height.

[0060] After the front axle compensated height is determined, the system takes it as a unified control reference to simultaneously perform inflation and deflation operations on the right front air bag and the left front air bag. For example, when the compensated height is lower than the current air bag height, the air bags on the left and right sides are simultaneously deflated to the compensated height; and when the compensated height is higher than the current air bag height, the air bags on the left and right sides are simultaneously inflated to the compensated height, thereby avoiding the problem of "single-side adjustment and two-side imbalance" in traditional independent control and ensuring that the front axle always maintains a stable and level state.

[0061] In a possible implementation, in the vehicle air suspension height compensation method, the setting of the air bag target height fully takes into account road condition adaptability and user autonomy, forming a double-mode adjustment logic of "road condition recommendation + free selection": the system will first automatically match and generate a set of air bag height options suitable for the road condition detected by the vehicle in real time (such as flat road, rural dirt road, road shoulder, large road shoulder, steep slope section, etc.), and the number of options and the height range corresponding to different road conditions are different. For example, in the flat road scenario, in order to balance comfort and handling, 3-5 options in the middle height range (such as 300 mm, 320 mm, and 340 mm) are provided; and when facing complex road conditions such as large road shoulder and steep slope, more options covering high and low ranges (such as 280 mm, 300 mm, 330 mm, 360 mm, and 380 mm) are provided to adapt to the height difference of the road surface and the passability of the vehicle body, ensuring that there are enough adaptive heights for users to refer to under each road condition.

[0062] The user can select a height as the final air bag target height from the road condition-specific height options recommended by the system according to the user's driving needs (such as pursuing comfort, focusing on passability, and preferring low vehicle body handling). For example, the user drives the vehicle through a rural dirt road (the road condition is detected as "bumpy unpaved road"), and the system recommends four height options of 290 mm, 310 mm, 330 mm, and 350 mm. If the user wants to reduce the impact of road bumps on the vehicle body, the user can select a higher height of 330 mm or 350 mm as the air bag target height, and the system adjusts the air bag according to the target height.

[0063] Meanwhile, the system also supports a "free selection mode": if the user does not want to be limited by the recommended options of the current road condition (for example, on a flat road, the user wants to temporarily raise the vehicle body to load large items or wants to lower the vehicle body to improve high-speed stability), the user can manually switch to this mode and directly define or slide to select any compliant height within the system's preset air bag height range (such as 0 mm-400 mm, which needs to meet the suspension structure safety threshold) as the air bag target height, meeting the needs of personalized use scenarios.

[0064] S204: Compensate the right rear air bag and the left rear air bag of the target vehicle based on the driving state, the road roughness, the air bag target height, the current height of the right rear air bag, and the current height of the left rear air bag.

[0065] According to the driving state of the target vehicle, the road unevenness, and the air bag target height, and considering the current heights of the right rear air bag and the left rear air bag, the system can compensate the heights of the air bags of the rear axle. Through these information, the system can adjust the inflation amount of the right rear and left rear air bags in real time to cope with road unevenness and driving state changes, so as to ensure the vehicle to maintain stable body height under different conditions. This height compensation mechanism can effectively improve the driving comfort of the vehicle and avoid body imbalance caused by road unevenness.

[0066] Based on the contents of S201-S204, first, the driving state of the target vehicle, the road unevenness, and the current height of the air bag are obtained, wherein the current height of the air bag includes the current height of the right front air bag, the current height of the left front air bag, the current height of the right rear air bag, and the current height of the left rear air bag. Then, the average height of the front axle is calculated based on the current height of the right front air bag and the current height of the left front air bag. Then, the compensated height of the front axle is determined according to the average height of the front axle and the preset air bag target height, and the right front air bag and the left front air bag of the target vehicle are compensated based on this. At the same time, the right rear air bag and the left rear air bag are compensated in combination with the driving state of the vehicle, the road unevenness, the air bag target height, and the current height of the right rear air bag and the left rear air bag. The application can realize height compensation control between the air bags when the vehicle is driving on different road shoulders, effectively coordinate the heights of the four air bags, ensure the balance of the vehicle body, and thus improve the driving safety and comfort.

[0067] In one possible implementation, when determining the compensated height of the front axle, the system takes the numerical relationship between the "average height of the front axle" and the "air bag target height" as the core determination basis, accurately determines the final front axle compensation reference through scene-based logic, and the specific rules are as follows:

[0068] If the average height of the front axle is less than the air bag target height, it means that the overall height of the front axle has not reached the preset target reference. At this time, in order to avoid excessive inflation leading to subsequent repeated adjustment or exceeding the suspension safety range, the current average height of the front axle is directly determined as the compensated height of the front axle, which is used as the reference for subsequent adjustment;

[0069] If the average height of the front axle is greater than the air bag target height, it means that the overall height of the front axle has exceeded the preset standard. In order to ensure the stability of the vehicle body posture and meet the control requirements, the air bag target height is used as the compensated height of the front axle to ensure that the height of the front axle approaches the standard reference;

[0070] If the average height of the front axle is equal to the air bag target height, it means that the height of the front axle fully meets the preset control requirements and no additional adjustment is needed. At this time, the air bag target height or the average height of the front axle can be selected as the compensated height of the front axle, both of which can meet the stable control requirements of the height of the front axle.

[0071] In a possible implementation, the height compensation of the right rear air bag and the left rear air bag of the target vehicle based on the driving state, the road roughness, the air bag target height, the current height of the right rear air bag, and the current height of the left rear air bag comprises:

[0072] When the driving state is a low-speed driving state and the road roughness is less than or equal to a first threshold, right rear axle compensated heights and left rear axle compensated heights are calculated based on the road roughness, the air bag target height, the current height of the right rear air bag, and the current height of the left rear air bag, respectively, and the right rear air bag and the left rear air bag of the target vehicle are compensated in height based on the right rear axle compensated heights and the left rear axle compensated heights, respectively; when the driving state is a low-speed driving state and the road roughness is greater than the first threshold, the height compensation of the right rear air bag and the left rear air bag of the target vehicle is prohibited.

[0073] Specifically, when the right rear air bag and the left rear air bag are compensated in height, the system takes the driving state (whether it is low speed) and the road roughness (the size relationship with the first threshold) as the core scene judgment condition, combines the air bag target height, the current height of the right rear air bag, and the current height of the left rear air bag, and performs a compensation operation in different scenes, and the specific logic is as follows:

[0074] When the system detects that the vehicle is in a low-speed driving state (for example, the vehicle speed is less than or equal to 20 km / h, which adapts to the demand for smoothness in a low-speed scene), and the calculated road roughness is less than or equal to a first threshold (for example, the first threshold is set to 150 mm, which corresponds to a low-roughness road condition such as a small shoulder or slight bumps), the system first integrates multi-dimensional parameters to calculate a compensation reference: based on the air bag target height, the specific value of the road roughness is combined, and the difference between the current height of the right rear air bag, the current height of the left rear air bag, and the target height is compared, respectively, to determine the right rear axle compensated height and the left rear axle compensated height; then, based on the two compensated heights, the right rear air bag and the left rear air bag are controlled to charge and discharge, respectively, to ensure that the heights on both sides of the rear axle not only conform to the target value but also adapt to the current low-roughness road condition, and to avoid repeated adjustments.

[0075] When the vehicle is also in a low-speed driving state, but the road roughness is greater than the first threshold (for example, the roughness is 150 mm, which corresponds to a large-roughness road condition such as a large shoulder or obvious protrusions), to prevent excessive compensation from causing the air bag to frequently charge and discharge and causing the wear of parts, and to avoid the risk of vehicle body tilting due to the dramatic fluctuation of the road condition, the system directly prohibits the height compensation operation of the right rear air bag and the left rear air bag, maintains the current air bag height state, and restores the normal compensation logic when the road roughness falls within the first threshold range.

[0076] In a possible implementation, the method further comprises:

[0077] When the driving state is a low-speed driving state and the road unevenness is less than a second threshold, right rear axle compensated height and left rear axle compensated height are calculated based on the road unevenness, the air bag target height, the right rear air bag current height and the left rear air bag current height respectively, and the right rear air bag and the left rear air bag of the target vehicle are compensated in height based on the right rear axle compensated height and the left rear axle compensated height respectively; or, when the driving state is a low-speed driving state and the road unevenness is less than or equal to the second threshold, the right rear air bag and the left rear air bag of the target vehicle are compensated in height based on the air bag target height respectively; wherein the second threshold is less than the first threshold.

[0078] Specifically, to further improve the accuracy and adaptability of the rear axle air bag compensation in the low-speed driving state, the method subdivides the road unevenness into two compensation strategies with the second threshold (such as 50 mm, and less than the first threshold 150 mm) as the core, and the specific logic is as follows:

[0079] When the system detects that the vehicle is in a low-speed driving state, and the road unevenness is less than the second threshold (such as 50 mm, corresponding to a smooth road with slight bumps, such as a paved road with small potholes, a gentle slope section, etc.), a first fine compensation mode is started: based on the air bag target height as the basic reference, combined with the specific value of the road unevenness (such as 30 mm), and comparing the difference between the current height and the target height of the right rear air bag and the left rear air bag, the right rear axle compensated height and the left rear axle compensated height are calculated respectively (for example, due to the slight undulation of the road, the current height of the left rear air bag is 5 mm lower than the target height, the left rear axle compensated height can be set to "target height-0 mm" to accurately correct, and the right rear axle is calculated in the same way according to the actual deviation); then, according to the two compensated heights, the right rear air bag and the left rear air bag are respectively executed to adjust the air charge and discharge, to ensure that the rear axle height not only conforms to the target value, but also adapts to the slight undulation of the road.

[0080] In addition, for the scene of "road unevenness less than or equal to the second threshold" in the low-speed driving state (covering "less than 50 mm" and "equal to 50 mm" more comprehensive smooth road conditions), a second simplified compensation mode is also provided: without additional calculation of the difference combined with the road unevenness, the preset air bag target height is directly used as the unified regulation standard, and the right rear air bag and the left rear air bag are compensated in height, that is, the right rear air bag is charged to the target height if the current height is lower than the target height, and is discharged to the target height if it is higher, and the left rear air bag is operated in the same way, which ensures the adjustment accuracy while simplifying the control process on smooth roads and improving the compensation efficiency.

[0081] In a possible implementation manner, the right rear axle compensated height and the left rear axle compensated height are calculated based on the road unevenness, the air bag target height, the right rear air bag current height and the left rear air bag current height respectively, comprising:

[0082] If the right rear airbag current height or the left rear airbag current height is greater than the airbag target height, the right rear axle compensated height or the left rear axle compensated height is calculated by using a first compensated height calculation formula; if the right rear airbag current height or the left rear airbag current height is less than the airbag target height, the right rear axle compensated height or the left rear axle compensated height is calculated by using a second compensated height calculation formula; wherein the first compensated height calculation formula is H1=Ht+road roughness×0.5, H1 is the rear axle compensated height, and Ht is the airbag target height; and the second compensated height calculation formula is H2=Ht-road roughness×0.5, H2 is the rear axle compensated height.

[0083] Specifically, to accurately calculate the compensated height of the right rear axle and the left rear axle, the system compares the size relationship of the right rear airbag current height, the left rear airbag current height and the airbag target height, and then calculates according to different formulas in combination with the road roughness. The specific logic is as follows:

[0084] When it is detected that the right rear airbag current height (or the left rear airbag current height) is greater than the airbag target height, it indicates that the height of the airbag on this side exceeds the target reference, and the compensation value needs to be calculated by using the “first compensated height calculation formula” (H1=Ht+road roughness×0.5, wherein H1 is the compensated height of the rear axle on this side, and Ht is the airbag target height). For example, the airbag target height Ht=300mm, the road roughness=20mm, and the current height of the airbag on one side=310mm (greater than Ht). Then the compensated height H1 of this side is 300+20×0.5=310mm. By slightly reserving the height, it is avoided that excessive exhaust leads to the vehicle body to appear to be jolted when it is adapted to the road conditions.

[0085] When it is detected that the right rear airbag current height (or the left rear airbag current height) is less than the airbag target height, it indicates that the height of the airbag on this side does not reach the target reference, and the compensation value needs to be calculated by using the “second compensated height calculation formula” (H2=Ht-road roughness×0.5). Using the above parameters of Ht=300mm and road roughness=20mm, if the current height of the airbag on one side=290mm (less than Ht), the compensated height H2 of this side is 300-20×0.5=290mm. By moderately controlling the inflation range, it is prevented that excessive inflation leads to the imbalance between the vehicle body and the road conditions, and finally it is ensured that the compensated heights of the two rear axles not only fit the target value, but also adapt to the current road undulation.

[0086] In a possible implementation, the method further includes:

[0087] When the driving state is a high-speed driving state, the right rear airbag and the left rear airbag of the target vehicle are compensated in height based on the airbag target height.

[0088] Specifically, the system will separately compare the difference between the current height of the right rear air bag and the air bag target height, and the difference between the current height of the left rear air bag and the air bag target height: if the current height of the right rear air bag is lower than the air bag target height, control the air pump to inflate it until the height approaches or reaches the air bag target height; if the current height of the right rear air bag is higher than the air bag target height, control the electromagnetic valve to exhaust it until the height falls to the air bag target height; the compensation operation of the left rear air bag is the same as that of the right rear air bag, and both aim to accurately match the air bag target height.

[0089] When driving at high speed, no additional differential calculation is needed in combination with the road roughness, but through the independent compensation logic of "taking the target height as the only reference", it is ensured that the right rear and left rear air bag heights are always stable within the preset safe and adaptive high-speed working condition range, avoiding frequent adjustment caused by slight ups and downs of the road, thereby ensuring the overall stability of the vehicle body, reducing the risk of rolling when driving at high speed, and improving driving safety and maneuverability.

[0090] In one possible implementation, the calculation formula of the road roughness is as follows:

[0091] Road roughness = |(FL+RR)-(FR+RL)|;

[0092] Wherein, FL is the left front air bag height; FR is the right front air bag height; RL is the left rear air bag height; RR is the right rear air bag height.

[0093] Referring to Figure 3 , Figure 3 A structural schematic diagram of a vehicle air suspension height compensation device provided by the embodiment of the present application. As Figure 3 shown, the vehicle air suspension height compensation device comprises:

[0094] An acquisition unit 301 is configured to acquire the driving state of a target vehicle, road roughness, and air bag current height; the air bag current height comprises right front air bag current height, left front air bag current height, right rear air bag current height, and left rear air bag current height;

[0095] A first calculation unit 302 is configured to calculate the front axle average height based on the right front air bag current height and the left front air bag current height;

[0096] A front axle height compensation unit 303 is configured to determine the front axle compensated height based on the front axle average height and the air bag target height, and to compensate the right front air bag and the left front air bag of the target vehicle in height based on the front axle compensated height;

[0097] The rear axle height compensation unit 304 is configured to compensate the right rear air spring and the left rear air spring of the target vehicle based on the driving state, the road roughness, the air spring target height, the right rear air spring current height and the left rear air spring current height.

[0098] In a possible implementation, the front axle height compensation unit 303 is specifically configured to:

[0099] determining the front axle average height as the front axle compensation height when the front axle average height is less than the air spring target height;

[0100] determining the air spring target height as the front axle compensation height when the front axle average height is greater than the air spring target height;

[0101] determining the air spring target height or the front axle average height as the front axle compensation height when the front axle average height is equal to the air spring target height.

[0102] In a possible implementation, the rear axle height compensation unit 304 is specifically configured to:

[0103] calculating a right rear axle compensation height and a left rear axle compensation height based on the road roughness, the air spring target height, the right rear air spring current height and the left rear air spring current height respectively, and compensating the right rear air spring and the left rear air spring of the target vehicle based on the right rear axle compensation height and the left rear axle compensation height respectively when the driving state is the low-speed driving state and the road roughness is less than or equal to a first threshold value;

[0104] inhibiting the compensation of the right rear air spring and the left rear air spring of the target vehicle when the driving state is the low-speed driving state and the road roughness is greater than the first threshold value.

[0105] In a possible implementation, the device further includes:

[0106] a second calculation unit configured to calculate a right rear axle compensation height and a left rear axle compensation height based on the road roughness, the air spring target height, the right rear air spring current height and the left rear air spring current height respectively, and compensate the right rear air spring and the left rear air spring of the target vehicle based on the right rear axle compensation height and the left rear axle compensation height respectively when the driving state is the low-speed driving state and the road roughness is less than a second threshold value; or,

[0107] a first rear axle height compensation unit configured to compensate the right rear air spring and the left rear air spring of the target vehicle based on the air spring target height when the driving state is the low-speed driving state and the road roughness is less than or equal to the second threshold value.

[0108] The second threshold is less than the first threshold.

[0109] In a possible implementation, the calculating the right rear axle compensated height and the left rear axle compensated height based on the road unevenness, the air bag target height, the right rear air bag current height and the left rear air bag current height respectively comprises:

[0110] If the right rear air bag current height or the left rear air bag current height is greater than the air bag target height, the right rear axle compensated height or the left rear axle compensated height is calculated by using a first compensated height calculation formula.

[0111] If the right rear air bag current height or the left rear air bag current height is less than the air bag target height, the right rear axle compensated height or the left rear axle compensated height is calculated by using a second compensated height calculation formula.

[0112] The first compensated height calculation formula is H1=Ht+road unevenness×0.5, where H1 is the rear axle compensated height, and Ht is the air bag target height. The second compensated height calculation formula is H2=Ht-road unevenness×0.5, where H2 is the rear axle compensated height.

[0113] In a possible implementation, the device further comprises:

[0114] The second rear axle height compensation unit is configured to, when the driving state is the high-speed driving state, compensate the right rear air bag and the left rear air bag of the target vehicle based on the air bag target height respectively.

[0115] In a possible implementation, the calculation formula of the road unevenness is as follows:

[0116] Road unevenness=|(FL+RR)-(FR+RL)|

[0117] FL is the left front air bag height, FR is the right front air bag height, RL is the left rear air bag height, and RR is the right rear air bag height.

[0118] In addition, the embodiment of the present application further provides a vehicle air suspension height compensation device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the vehicle air suspension height compensation method described above is implemented.

[0119] In addition, the embodiment of the present application further provides a computer readable storage medium, wherein instructions are stored, and when the instructions run on a terminal device, the terminal device executes the vehicle air suspension height compensation method.

[0120] The present application can dynamically monitor and adjust the height of the vehicle body by acquiring the driving state, road roughness and current height of the air bag in real time. The dynamic adjustment mechanism enables the system to accurately control the inflation and exhaust process of the air bag according to the road condition change and the driving state of the vehicle. Unlike the traditional air suspension system, the present application avoids the problem of frequent adjustment of the air bag height on complex roads, especially when passing through a small shoulder or a large shoulder, the stability and balance of the vehicle body can be maintained, and the phenomenon of vehicle body tilting or instability caused by improper adjustment of the air bag is avoided.

[0121] The vehicle air suspension height compensation method, device, equipment and storage medium provided by the present application are described in detail above. The embodiments in the specification are described in a progressive manner, and each embodiment mainly explains the difference from other embodiments. The same or similar parts of each embodiment can be referred to. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the related parts can be referred to the method part. It should be pointed out that for ordinary skilled in the art, without departing from the principle of the present application, some improvements and modifications can be made to the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

[0122] It should be further noted that in this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitation, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or equipment including the element.

Claims

1. A vehicle air suspension height compensation method, characterized by, The method comprises: obtaining the driving state, the road unevenness and the current height of the air bag of the target vehicle; the current height of the air bag comprises the current height of the right front air bag, the current height of the left front air bag, the current height of the right rear air bag and the current height of the left rear air bag; calculating the average height of the front axle based on the current height of the right front air bag and the current height of the left front air bag; determining the compensated height of the front axle based on the average height of the front axle and the target height of the air bag, and compensating the height of the right front air bag and the left front air bag of the target vehicle based on the compensated height of the front axle; compensating the height of the right rear air bag and the left rear air bag of the target vehicle based on the driving state, the road unevenness, the target height of the air bag, the current height of the right rear air bag and the current height of the left rear air bag.

2. The method of claim 1, wherein, The method further comprises: when the driving state is a low-speed driving state and the road unevenness is less than a second threshold, calculating the compensated height of the right rear axle and the compensated height of the left rear axle based on the road unevenness, the target height of the air bag, the current height of the right rear air bag and the current height of the left rear air bag, and compensating the height of the right rear air bag and the left rear air bag of the target vehicle based on the compensated height of the right rear axle and the compensated height of the left rear axle; or, when the driving state is a low-speed driving state and the road unevenness is less than or equal to the second threshold, compensating the height of the right rear air bag and the left rear air bag of the target vehicle based on the target height of the air bag; wherein the second threshold is less than the first threshold.

3. The method of claim 1, wherein, The method further comprises: when the driving state is a low-speed driving state and the road unevenness is less than a second threshold, calculating the compensated height of the right rear axle and the compensated height of the left rear axle based on the road unevenness, the target height of the air bag, the current height of the right rear air bag and the current height of the left rear air bag, and compensating the height of the right rear air bag and the left rear air bag of the target vehicle based on the compensated height of the right rear axle and the compensated height of the left rear axle; or, when the driving state is a low-speed driving state and the road unevenness is less than or equal to the second threshold, compensating the height of the right rear air bag and the left rear air bag of the target vehicle based on the target height of the air bag; 4. The method of claim 3, wherein, wherein the second threshold is less than the first threshold. The method further comprises: when the driving state is a low-speed driving state and the road unevenness is less than a second threshold, calculating the compensated height of the right rear axle and the compensated height of the left rear axle based on the road unevenness, the target height of the air bag, the current height of the right rear air bag and the current height of the left rear air bag, and compensating the height of the right rear air bag and the left rear air bag of the target vehicle based on the compensated height of the right rear axle and the compensated height of the left rear axle; or, when the driving state is a low-speed driving state and the road unevenness is less than or equal to the second threshold, compensating the height of the right rear air bag and the left rear air bag of the target vehicle based on the target height of the air bag; 5. The method according to claim 3 or 4, characterized in that, wherein the second threshold is less than the first threshold. If the right rear air bag current height or the left rear air bag current height is greater than the air bag target height, the right rear axle compensated height or the left rear axle compensated height is calculated by using a first compensated height calculation formula; If the right rear air bag current height or the left rear air bag current height is less than the air bag target height, the right rear axle compensated height or the left rear axle compensated height is calculated by using a second compensated height calculation formula; The first compensated height calculation formula is H1=Ht+road unevenness×0.5, H1 is the rear axle compensated height, and Ht is the air bag target height. The second compensated height calculation formula is H2=Ht-road unevenness×0.5, H2 is the rear axle compensated height.

6. The method of claim 3, wherein, The method further comprises: When the driving state is a high-speed driving state, the right rear air bag and the left rear air bag of the target vehicle are compensated in height based on the air bag target height.

7. The method of claim 1, 3, 4, or 5, wherein, The calculation formula of the road unevenness is as follows: Road unevenness=|(FL+RR)-(FR+RL)| FL is the left front air bag height, FR is the right front air bag height, RL is the left rear air bag height, and RR is the right rear air bag height.

8. A vehicle air suspension height compensating device, characterized by, The device comprises: An acquisition unit configured to acquire a driving state, a road unevenness, and air bag current heights of a target vehicle, wherein the air bag current heights comprise a right front air bag current height, a left front air bag current height, a right rear air bag current height, and a left rear air bag current height; A first calculation unit configured to calculate a front axle average height based on the right front air bag current height and the left front air bag current height; A front axle height compensation unit configured to determine a front axle compensated height based on the front axle average height and an air bag target height, and to compensate the right front air bag and the left front air bag of the target vehicle in height based on the front axle compensated height; A rear axle height compensation unit configured to compensate the right rear air bag and the left rear air bag of the target vehicle in height based on the driving state, the road unevenness, the air bag target height, the right rear air bag current height, and the left rear air bag current height.

9. A vehicle air suspension height compensating apparatus characterized by comprising: It comprises: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle air suspension height compensation method according to any one of claims 1-7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores instructions, and when the instructions run on a terminal device, the terminal device executes the vehicle air suspension height compensation method according to any one of claims 1-7.

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