A vehicle greeting control method, device, equipment and storage medium

Abstract

The application discloses a vehicle welcoming control method, device and equipment and a storage medium, and the method comprises the following steps: in response to the activation of the welcoming mode, the full active suspension and the air spring of the vehicle are cooperatively controlled to adjust the lowering of the vehicle suspension; if it is detected that the vehicle suspension is lowered to a set height, the full active suspension is controlled to stop outputting active force, and the air spring is controlled to continue adjusting alone until the target welcoming height is reached and the adjusting is stopped. In the application, when the full active suspension and the air spring are cooperatively adjusted to a preset difference from the target height, the active force of the hydraulic pump is removed in advance, the remaining adjustment is completed by the air spring alone, the target height is reached after quick response in the welcoming mode, the hydraulic pump is maintained with zero power consumption, energy consumption and noise are significantly reduced, the double-system fault redundancy capability is possessed, and the driving and riding experience and the system reliability are improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle suspension control technology, and in particular to a vehicle welcome control method, device, equipment, and storage medium. Background Technology

[0002] Among the intelligent functions of vehicles, the welcome mode (or convenient entry and exit mode) is a common feature that enhances the user experience. When the welcome mode is activated, the suspension system actively lowers the vehicle height to facilitate entry and exit for passengers. It maintains the welcome height for a certain period of time until the passengers are seated before returning to the normal driving height.

[0003] In current fully active suspension systems, the welcome mode is a relatively common function. Controlling the welcome mode in a fully active suspension is quite simple; it only requires the hydraulic pumps to operate, drawing oil from the lower chamber and injecting it into the upper chamber to control the suspension's descent to the target welcome height, thus facilitating easy entry for passengers. However, this system has certain drawbacks. Once the suspension reaches the welcome height, to maintain this low profile, the active system needs to continue applying force, meaning the hydraulic pumps must keep running until all passengers are inside and the welcome process is complete before the vehicle height can be restored. During this process, the four hydraulic pumps of the fully active suspension operate continuously, consuming electrical energy, which is a significant burden for new energy vehicles. Furthermore, the noise and vibration from the hydraulic pumps can negatively impact the passenger experience.

[0004] Therefore, how to achieve rapid height adjustment in welcome mode while avoiding continuous operation of the hydraulic pump after reaching the welcome height is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] The main objective of this invention is to provide a vehicle welcome control method, device, equipment, and storage medium. By removing the hydraulic pump's active power in advance when the fully active suspension and air springs adjust to a preset difference from the target height, the remaining adjustment is completed by the air springs alone. This achieves rapid response in welcome mode while maintaining zero power consumption of the hydraulic pump after reaching the target height, significantly reducing energy consumption and noise. It also has dual-system fault redundancy capability, improving the driving experience and system reliability.

[0006] In a first aspect, this application provides a vehicle welcome control method, wherein the method includes the following steps: In response to the activation of the welcome mode, the vehicle's fully active suspension and air springs are coordinated and controlled to adjust the vehicle's suspension descent. If the vehicle suspension is detected to have dropped to a set height, the fully active suspension is controlled to stop outputting active force, and the air spring is controlled to continue adjusting independently until the target welcoming height is reached and then stops.

[0007] In conjunction with the first aspect mentioned above, as an optional implementation method, the hydraulic pump controlling the fully active suspension draws the oil from the lower chamber of the front and rear axle shock absorbers to the upper chamber, while the air pump controlling the air spring draws the high-pressure gas from the front and rear axle air springs to the air tank, causing the vehicle suspension to lower.

[0008] In conjunction with the first aspect mentioned above, as an optional implementation method, it is possible to detect whether a height adjustment command has been received; If a height adjustment command is received, the vehicle welcome mode is activated; otherwise, it is not activated.

[0009] In conjunction with the first aspect mentioned above, as an optional implementation, the vehicle suspension height is monitored in real time during the vehicle suspension descent process; If the vehicle suspension descends to a first set height, the main power of the fully active suspension is reduced to zero, and the air pump of the air spring is controlled to draw the high-pressure gas from the front and rear axle air springs into the air tank until the target welcoming height is reached and then the operation stops.

[0010] In conjunction with the first aspect mentioned above, as an optional implementation, if a malfunction is detected in the fully active suspension during the descent of the vehicle suspension, the air spring is used to continue the remaining height adjustment until the target welcoming height is reached.

[0011] In conjunction with the first aspect mentioned above, as an optional implementation, if a malfunction of the air spring is detected during the descent of the vehicle suspension, the fully active suspension will be used to continue the remaining height adjustment independently. After the vehicle height reaches the target welcoming height, the fully active suspension system will be controlled to continuously output active force to maintain the target welcoming height.

[0012] In conjunction with the first aspect mentioned above, as an optional implementation method, if it is determined that the vehicle's normal driving height will be restored from the target welcoming height, the hydraulic pump of the fully active suspension will draw the oil from the upper chamber of the front and rear axle shock absorbers to the lower chamber, while the air pump of the air spring will draw the high-pressure gas from the air tanks of the front and rear axles to the air spring, so that the suspension will rise to the second set height. During the process of raising the vehicle suspension, if the detected height of the vehicle suspension rises to a second set height, the main power of the fully active suspension is directly reduced to zero, and the air spring is controlled to continue adjusting independently until the normal driving height of the vehicle is reached and then the adjustment stops.

[0013] In conjunction with the first aspect mentioned above, as an optional implementation method, the current load weight of the vehicle can be obtained; The set height is dynamically adjusted based on the current load weight of the vehicle, wherein the load weight and the set height are inversely proportional.

[0014] In conjunction with the first aspect mentioned above, as an optional implementation method, the hydraulic oil temperature and the ambient temperature are obtained. The set height is dynamically corrected based on at least one of the hydraulic oil temperature and the ambient temperature.

[0015] Secondly, this application provides a vehicle welcome control device, which includes: The first control module is used to coordinate the control of the vehicle's fully active suspension and air springs in response to the activation of the welcome mode, so as to adjust the vehicle's suspension descent. The second control module is used to control the fully active suspension to stop outputting active force if the vehicle suspension is detected to have dropped to a set height, and to control the air spring to continue adjusting independently until the target welcoming height is reached and then stop.

[0016] Thirdly, this application also provides an electronic device, the electronic device comprising: a processor; and a memory storing computer-readable instructions, which, when executed by the processor, implement the method described in any one of the first aspects.

[0017] Fourthly, this application also provides a computer-readable storage medium storing computer program instructions that, when executed by a computer, cause the computer to perform the method described in any of the first aspects.

[0018] This application provides a vehicle welcome control method, device, equipment, and storage medium. The method includes the following steps: in response to the activation of the welcome mode, coordinating the control of the vehicle's fully active suspension and air springs to adjust the vehicle suspension descent; if the vehicle suspension is detected to have descended to a set height, controlling the fully active suspension to stop outputting active power, and controlling the air springs to continue adjusting independently until the target welcome height is reached and then stopping. This application, by removing the active power of the hydraulic pump in advance when the fully active suspension and air springs have adjusted to a preset difference from the target height, and allowing the air springs to complete the remaining adjustment independently, achieves rapid response in welcome mode while maintaining zero power consumption of the hydraulic pump after reaching the target height, significantly reducing energy consumption and noise, and providing dual-system fault redundancy capability, thus improving the driving experience and system reliability.

[0019] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0021] Figure 1 This is a flowchart of a vehicle welcome control method provided in the embodiments of this application; Figure 2 This is a schematic diagram of a vehicle welcome control device provided in the embodiments of this application; Figure 3 This is a schematic diagram of an electronic device provided in an embodiment of this application; Figure 4 This is a schematic diagram of a computer-readable program medium provided in an embodiment of this application. Detailed Implementation

[0022] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0023] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the drawings represent functional entities and do not necessarily correspond to physically or logically independent entities.

[0024] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0025] Reference Figure 1 , Figure 1 The diagram shown is a flowchart of a vehicle welcome control method provided by the present invention. Figure 1 As shown, the method includes the following steps: Step S101: In response to the activation of the welcome mode, coordinate the control of the vehicle's fully active suspension and air springs to adjust the vehicle's suspension descent.

[0026] Specifically, it detects whether a height adjustment command has been received; if a height adjustment command is received, the vehicle's welcome mode is activated; otherwise, it is not activated.

[0027] If the welcome mode is activated, the hydraulic pump controlling the fully active suspension draws the oil from the lower chamber of the front and rear axle shock absorbers to the upper chamber, while the air pump controlling the air springs draws the high-pressure gas from the front and rear axle air springs to the air tank, causing the vehicle suspension to drop.

[0028] It should be noted that this application uses the suspension and air springs together to make the vehicle suspension descend quickly, which is faster than relying solely on the suspension.

[0029] Step S102: If the vehicle suspension is detected to have dropped to a set height, the fully active suspension is controlled to stop outputting active force, and the air spring is controlled to continue adjusting independently until the target welcoming height is reached and then stopped.

[0030] Specifically, during the descent of the vehicle suspension, the vehicle suspension height is monitored in real time. If the descent height of the vehicle suspension reaches a first set height, the main power of the fully active suspension is reduced to zero, and the air pump of the air spring is controlled to draw the high-pressure gas from the front and rear axle air springs into the air tank until the target welcoming height is reached and then the operation stops.

[0031] Understandably, when the welcome mode is activated, the hydraulic pump draws oil from the lower chamber of the front axle shock absorber to the upper chamber, while the air pump draws high-pressure gas from the front axle air spring to the air tank, causing the suspension to lower. When the front axle height is ΔH away from the welcome height, the hydraulic pump stops outputting power, but the air spring pump continues to work until the front axle height reaches the welcome height, at which point the air spring pump adjustment stops. Similarly, adjusting the rear axle height is the same as adjusting the front axle height: the hydraulic pump draws oil from the lower chamber of both front and rear axle shock absorbers to the upper chamber, while the air pump draws high-pressure gas from the rear axle air spring to the air tank, causing the suspension to lower. When the rear axle height is ΔH away from the welcome height, the hydraulic pump stops outputting power, but the air spring pump continues to work until the rear axle height reaches the welcome height, at which point the air spring pump adjustment stops. It needs to be explained that the reason the hydraulic pump stops when it reaches the welcoming height △H is because when the active force is 0, the spring stiffness of the shock absorber itself will cause the shock absorber displacement to be restored and raised by a certain distance. Therefore, the remaining height difference is adjusted by the air spring alone, which can ensure the accuracy of the welcoming height. At the same time, it can ensure that the hydraulic pump of the active suspension does not need to continue to work when the vehicle is at the welcoming height. The whole process can ensure the speed of welcoming mode adjustment, and also make the vehicle energy-saving and quiet at the welcoming height.

[0032] For example, suppose the vehicle's current front axle height is 200 mm, the target welcome height is 150 mm, and the set ΔH is 10 mm. When the welcome mode is activated, the system simultaneously starts the hydraulic pump and the air pump: the hydraulic pump draws the oil from the lower chamber of the front axle shock absorber to the upper chamber, and the air pump draws the high-pressure gas from the front axle air spring to the air tank, causing the suspension to begin to descend.

[0033] When the front axle height drops to 160 mm (i.e., 200 mm - 160 mm = 40 mm, 10 mm away from the target height), the ΔH condition is met, and the hydraulic pump stops outputting power. At this time, the air pump continues to work, slowly lowering the front axle height from 160 mm to the target 150 mm, after which the air pump also stops. The rear axle adjustment is similar: assuming an initial rear axle height of 210 mm, a target welcoming height of 160 mm, and ΔH of 10 mm, the hydraulic pump and air pump work simultaneously. When the rear axle drops to 170 mm (10 mm from the target), the hydraulic pump stops. The air pump then works alone, continuing to pump air until the rear axle reaches 160 mm, completing the adjustment.

[0034] In one embodiment, if a malfunction is detected in the fully active suspension during the descent of the vehicle suspension, the remaining height adjustment is completed independently using the air spring until the target welcoming height is reached.

[0035] To illustrate this, consider this example: When the front axle descends to 170 mm (20 mm from the target), the system detects a malfunction in the fully active suspension (such as a hydraulic pump, hydraulic valve, or oil circuit), preventing further hydraulic fluid transfer. At this point, the hydraulic pump immediately stops its active output, but the air spring pump continues to operate, relying solely on air spring deflation (drawing high-pressure gas into the air tank) to lower the suspension height. The air pump alone causes the front axle to continue descending from 170 mm until it reaches the target of 150 mm, at which point it stops. Similarly, if a hydraulic malfunction is detected in the rear axle during descent (e.g., when it reaches 180 mm), the hydraulic system stops, and only the rear axle air spring pump continues to draw air until the rear axle reaches 160 mm.

[0036] In one embodiment, if a malfunction is detected in the air spring during the descent of the vehicle suspension, the fully active suspension will be used to complete the remaining height adjustment independently. After the vehicle height reaches the target welcoming height, the fully active suspension system will be controlled to continuously output active force to maintain the target welcoming height.

[0037] To illustrate the normal descent process: when the front axle descends to 160 mm (10 mm from the target), the hydraulic pump stops, and the air pump operates alone until 150 mm. When the rear axle descends to 170 mm, the hydraulic pump stops, and the air pump operates alone until 160 mm.

[0038] When the front axle descends to 165 mm (15 mm from the target), the system detects a malfunction in the air spring (such as an air pump, air hose, or airbag), preventing further height reduction by pumping air. At this point: the air spring pump immediately stops working. The fully active suspension (hydraulic part) continues to complete the remaining height adjustment independently, that is, it continues to pump oil from the lower chamber of the front axle shock absorber to the upper chamber, lowering the front axle from 165 mm to the target 150 mm. After reaching 150 mm, since the air spring has failed and cannot maintain the height, the fully active suspension system continues to output active force (such as maintaining a certain hydraulic pressure or continuous fine-tuning) to keep the vehicle stable at a welcoming height of 150 mm. The same applies to the rear axle: if the rear axle detects an air spring malfunction when it descends to 175 mm, the air pump stops, and the hydraulic pump continues to work to lower the rear axle from 175 mm to 160 mm, after which the hydraulic system continues to output active force to maintain this height.

[0039] Understandably, if the fully active suspension malfunctions and cannot output active force during the activation of the welcome function, the adjustment action is adjusted separately by the air springs to ensure that the function is completed normally in one go. If the air spring system malfunctions during the activation of the welcome function, the adjustment of this function is continued by the fully active system. The difference is that when the welcome height is reached, the pressure of the air springs cannot be reduced, so the active force needs to be maintained to ensure the vehicle's welcome height.

[0040] In one embodiment, if the vehicle suspension is detected to have dropped to a set height, the fully active suspension is controlled to stop outputting active force, and the air spring is controlled to continue adjusting independently until the target welcoming height is reached and then stopped. This includes: if it is determined that the vehicle has recovered from the target welcoming height to the normal driving height, the hydraulic pump of the fully active suspension is controlled to draw the oil from the upper chamber of the front axle and rear axle shock absorbers to the lower chamber, and the air pump of the air spring is controlled to draw the high-pressure gas from the air tanks of the front axle and rear axle to the air spring, so that the suspension rises to a second set height. During the process of raising the vehicle suspension, if the detected height of the vehicle suspension rises to a second set height, the main power of the fully active suspension is directly reduced to zero, and the air spring is controlled to continue adjusting independently until the normal driving height of the vehicle is reached and then the adjustment stops.

[0041] Understandably, taking the front axle as an example, the hydraulic pump draws oil from the upper chamber of the shock absorber to the lower chamber, while the air pump simultaneously fills the front axle air springs with high-pressure gas from the air tank, causing the suspension to rise. When the front axle height is far from the target normal height ΔH, the hydraulic pump stops outputting driving force (the driving force drops directly to 0), but the air spring pump continues to charge until the front axle height reaches the target normal height, at which point the air pump adjustment stops. Continuing to adjust the front axle, the hydraulic pump draws oil from the upper chamber of the front axle shock absorber to the lower chamber, while the air pump simultaneously fills the rear axle air springs with high-pressure gas from the air tank, causing the suspension to rise. When the rear axle height is far from the standard height ΔH, the hydraulic pump stops outputting driving force, but the air spring pump continues to operate until the rear axle height reaches the standard height, at which point the air spring pump adjustment stops.

[0042] It should be noted that △H, the set height, is adjusted based on the hydraulic oil temperature, ambient temperature, and the vehicle's current load weight.

[0043] To illustrate this more clearly, the set height is dynamically adjusted based on the current load weight of the vehicle, where the load weight and the set height are inversely proportional.

[0044] For example, when the vehicle's standard load is 300 kg, the target welcoming height for the front axle is 150 mm, and for the rear axle it is 160 mm.

[0045] The current detected vehicle load is 500 kg (200 kg more than the standard).

[0046] Correction amount = 200 kg ÷ 100 kg × 5 mm = 10 mm (reduction).

[0047] Corrected target height: front axle = 150 mm 10 mm = 140 mm. Rear axle = 160 mm 10 mm = 150 mm The descent process (assuming no failures) will proceed according to the new objective: When the front axle descends from an initial 200 mm to 140 mm, with ΔH = 10 mm, the hydraulic pump stops operating at 150 mm, while the air pump operates alone up to 140 mm.

[0048] The rear axle is lowered from 210 mm to 150 mm, the hydraulic pump operates at 160 mm and then stops, and the air pump operates alone up to 150 mm.

[0049] That is, ΔH changes with the load of the whole vehicle. The greater the load, the greater the driving force. Therefore, when the driving force drops to 0, the adjustment time required is longer and ΔH needs to be larger. The smaller the load, the smaller ΔH.

[0050] In one embodiment, the hydraulic oil temperature and ambient temperature are acquired, and the set height is dynamically corrected based on at least one of the hydraulic oil temperature and ambient temperature. It is understood that hydraulic oil viscosity is high and response is slow at low temperatures, requiring adjustment of the ΔH value.

[0051] In summary, this application addresses the issue of vehicles equipped with both active suspension and air springs. During the lowering process, both systems work together to rapidly descend. When the vehicle is still a certain distance (ΔH) from the target height, the active suspension's motor pump stops working, and only the air springs continue to fine-tune the descent to the target position. Specifically, when the suspension height reaches ΔH before the preset height, the hydraulic active force drops to zero, ensuring that the air springs immediately and stably operate at the target height during the remaining height adjustment process. There is no interference from the superimposed active force, resulting in a single, precise height adjustment without overshoot or oscillation, leading to a more agile and stable vehicle posture. This application improves the suspension descent rate for rapid welcome descents while conserving energy for maintaining the welcome height and eliminating vibration and noise from the hydraulic pump, thereby enhancing the driving experience.

[0052] Reference Figure 2 , Figure 2 The diagram shown is a schematic of a vehicle welcome control device provided by the present invention. Figure 2 As shown, the device includes: The first control module 201 is used to coordinate the control of the vehicle's fully active suspension and air springs in response to the activation of the welcome mode, so as to adjust the vehicle's suspension descent. The second control module 202 is used to control the fully active suspension to stop outputting active force if the vehicle suspension is detected to have dropped to a set height, and to control the air spring to continue adjusting independently until the target welcoming height is reached and then stop.

[0053] Furthermore, in one possible implementation, the first control module is also used to control the hydraulic pump of the fully active suspension to draw the oil from the lower chamber of the front and rear axle shock absorbers to the upper chamber, while controlling the air pump of the air spring to draw the high-pressure gas from the front and rear axle air springs to the air tank, thereby causing the vehicle suspension to lower.

[0054] Furthermore, in one possible implementation, the first control module is also used to detect whether a height adjustment command has been received; If a height adjustment command is received, the vehicle welcome mode is activated; otherwise, it is not activated.

[0055] Furthermore, in one possible implementation, the second control module is also used to monitor the vehicle suspension height in real time during the descent of the vehicle suspension; If the vehicle suspension descends to a first set height, the main power of the fully active suspension is reduced to zero, and the air pump of the air spring is controlled to draw the high-pressure gas from the front and rear axle air springs into the air tank until the target welcoming height is reached and then the operation stops.

[0056] Furthermore, in one possible implementation, the second control module is also used to, during the descent of the vehicle suspension, if a fault is detected in the fully active suspension, utilize the air spring to continue the remaining height adjustment independently until the height reaches the target welcoming height.

[0057] Furthermore, in one possible implementation, the second control module is also used to, during the descent of the vehicle suspension, if a fault is detected in the air spring, utilize the fully active suspension to continue completing the remaining height adjustment independently, and after the vehicle height reaches the target welcoming height, control the fully active suspension system to continuously output active force to maintain the target welcoming height.

[0058] Furthermore, in one possible implementation, the second control module is also used to control the hydraulic pump of the fully active suspension to draw oil from the upper chamber of the front and rear axle shock absorbers to the lower chamber if it is determined that the suspension has recovered from the target welcoming height to the normal driving height of the vehicle, while controlling the air pump of the air spring to draw high-pressure gas from the air tanks of the front and rear axles to the air spring, so that the suspension rises to the second set height. During the process of raising the vehicle suspension, if the detected height of the vehicle suspension rises to a second set height, the main power of the fully active suspension is directly reduced to zero, and the air spring is controlled to continue adjusting independently until the normal driving height of the vehicle is reached and then the adjustment stops.

[0059] Furthermore, in one possible implementation, a processing module is also included, which is further used to obtain the current load weight of the vehicle; The set height is dynamically adjusted based on the current load weight of the vehicle, wherein the load weight and the set height are inversely proportional.

[0060] Furthermore, in one possible implementation, the processing module is also used to acquire the hydraulic oil temperature and the ambient temperature. The set height is dynamically corrected based on at least one of the hydraulic oil temperature and the ambient temperature.

[0061] The following reference Figure 3 To describe an electronic device 300 according to this embodiment of the present invention. Figure 3The electronic device 300 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0062] like Figure 3 As shown, the electronic device 300 is presented in the form of a general-purpose computing device. The components of the electronic device 300 may include, but are not limited to: at least one processing unit 310, at least one storage unit 320, and a bus 330 connecting different system components (including storage unit 320 and processing unit 310).

[0063] The storage unit stores program code that can be executed by the processing unit 310, causing the processing unit 310 to perform the steps described in the "Embodiment Methods" section of this specification according to various exemplary embodiments of the present invention.

[0064] Storage unit 320 may include readable media in the form of volatile storage units, such as random access memory (RAM) 321 and / or cache memory 322, and may further include read-only memory (ROM) 323.

[0065] Storage unit 320 may also include a program / utility 324 having a set (at least one) of program modules 325, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0066] Bus 330 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0067] Electronic device 300 can also communicate with one or more external devices (e.g., keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with electronic device 300, and / or any device that enables electronic device 300 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 350. Furthermore, electronic device 300 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 360. As shown, network adapter 360 communicates with other modules of electronic device 300 via bus 330. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0068] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0069] According to the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of the present invention can also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of the present invention described in the "Exemplary Methods" section above.

[0070] refer to Figure 4 As shown, a program product 400 for implementing the above-described method according to an embodiment of the present invention is described. This product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0071] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0072] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0073] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0074] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0075] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0076] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

[0077] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

Claims

1. A vehicle welcome control method, characterized in that, include: In response to the activation of the welcome mode, the vehicle's fully active suspension and air springs are coordinated and controlled to adjust the vehicle's suspension descent. If the vehicle suspension is detected to have dropped to a set height, the fully active suspension is controlled to stop outputting active force, and the air spring is controlled to continue adjusting independently until the target welcoming height is reached and then stops.

2. The method according to claim 1, characterized in that, The coordinated control of the vehicle's fully active suspension and air springs to adjust the vehicle's suspension descent includes: The hydraulic pump controlling the fully active suspension draws oil from the lower chamber of the front and rear axle shock absorbers to the upper chamber, while the air pump controlling the air springs draws high-pressure gas from the front and rear axle air springs to the air tank, causing the vehicle suspension to lower.

3. The method according to claim 1, characterized in that, The response to welcome mode activation, coordinating control of the vehicle's fully active suspension and air springs to adjust the vehicle suspension before descent includes: Detect whether a height adjustment command has been received; If a height adjustment command is received, the vehicle welcome mode is activated; otherwise, it is not activated.

4. The method according to claim 1, characterized in that, If the vehicle suspension is detected to have dropped to a set height, the fully active suspension is controlled to stop outputting active force, and the air spring is controlled to continue adjusting independently until the target welcoming height is reached and then stopped. This includes: During the descent of the vehicle suspension, the vehicle suspension height is monitored in real time; If the vehicle suspension descends to a first set height, the main power of the fully active suspension is reduced to zero, and the air pump of the air spring is controlled to draw the high-pressure gas from the front and rear axle air springs into the air tank until the target welcoming height is reached and then the operation stops.

5. The method according to claim 4, characterized in that, include: If a malfunction is detected in the fully active suspension during the vehicle suspension descent, the air springs will be used to continue the remaining height adjustment until the target welcoming height is reached.

6. The method according to claim 5, characterized in that, Also includes: If a malfunction is detected in the air spring during the vehicle suspension descent, the fully active suspension will be used to complete the remaining height adjustment independently. Once the vehicle height reaches the target welcoming height, the fully active suspension system will be controlled to continuously output active force to maintain the target welcoming height.

7. The method according to claim 1, characterized in that, If the vehicle suspension is detected to have dropped to a set height, the fully active suspension is controlled to stop outputting active force, and the air spring is controlled to continue adjusting independently until the target welcoming height is reached and then stopped. This includes: If it is determined that the vehicle will return to its normal driving height from the target welcoming height, the hydraulic pump of the fully active suspension will draw the oil from the upper chamber of the front and rear axle shock absorbers to the lower chamber, and at the same time, the air pump of the air spring will draw the high-pressure gas from the air tanks of the front and rear axles to the air spring, so that the suspension will rise to the second set height. During the process of raising the vehicle suspension, if the detected height of the vehicle suspension rises to a second set height, the main power of the fully active suspension is directly reduced to zero, and the air spring is controlled to continue adjusting independently until the normal driving height of the vehicle is reached and then the adjustment stops.

8. The method according to claim 1, characterized in that, This includes a height setting correction step, which includes: Get the current load weight of the vehicle; The set height is dynamically adjusted based on the current load weight of the vehicle, wherein the load weight and the set height are inversely proportional.

9. The method according to claim 8, characterized in that, Also includes: Obtain hydraulic oil temperature and ambient temperature The set height is dynamically corrected based on at least one of the hydraulic oil temperature and the ambient temperature.

10. A vehicle welcome control device, characterized in that, include: The first control module is used to coordinate the control of the vehicle's fully active suspension and air springs in response to the activation of the welcome mode, so as to adjust the vehicle's suspension descent. The second control module is used to control the fully active suspension to stop outputting active force if the vehicle suspension is detected to have dropped to a set height, and to control the air spring to continue adjusting independently until the target welcoming height is reached and then stop.

11. An electronic device, characterized in that, The electronic device includes: processor; A memory storing computer-readable instructions that, when executed by the processor, implement the method as described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, It stores computer program instructions that, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 9.

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