Method, device, electronic device and storage medium for adjusting suspension control parameters

Abstract

This invention discloses a method, apparatus, electronic device, and storage medium for adjusting suspension control parameters. The method includes: acquiring the current wheel position of a target wheel of a target vehicle and pre-stored historical driving records; wherein the historical driving records include recorded undulation information of recorded undulating roads traversed by the target vehicle during historical driving; determining whether the current wheel position is within or near the recorded undulating road; if so, predicting the next driving position of the target wheel, and determining the next position undulation data based on the recorded undulation information, and adjusting the suspension control parameters based on the next position undulation data. The technical solution of this invention can improve the accuracy of the acquired suspension control data, effectively control the suspension, and contribute to a smoother vehicle ride.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of vehicle control technology, and in particular to a method, device, electronic device and storage medium for adjusting suspension control parameters. Background Art

[0002] One of the purposes of suspension control is to reduce the impact of road roughness on vehicle body vibration. Especially for semi-active suspension or active suspension, the characteristics of road roughness determine the selection of control parameters.

[0003] The existing technology generally adopts high-precision maps to simply understand the road conditions through high-precision maps, and determine the control reference according to the road conditions. However, high-precision maps can only reflect the direction, width and type of the road, and cannot reflect the undulations of the road. Therefore, it is impossible to accurately determine the control parameters based on high-precision maps; and the current coverage of high-precision maps on roads and the frequency of updates cannot meet the availability and accuracy of the information required for suspension control. Summary of the invention

[0004] The embodiments of the present invention provide a method, device, electronic device and storage medium for adjusting suspension control parameters, so as to improve the accuracy of acquired suspension control data, effectively control the suspension, and help the vehicle to travel more smoothly.

[0005] In a first aspect, an embodiment of the present invention provides a method for adjusting a suspension control parameter, comprising:

[0006] Acquire the current wheel position of the target wheel of the target vehicle and the pre-stored historical driving record; wherein the historical driving record includes the recorded ups and downs information of the recorded ups and downs road that the target vehicle has passed through during the historical driving;

[0007] Determining whether the current wheel position is within the recorded undulating road or within an adjacent area of ​​the recorded undulating road;

[0008] If yes, predict the next driving position of the target wheel, determine next position fluctuation data of the next driving position based on the recorded fluctuation information, and adjust suspension control parameters based on the next position fluctuation data.

[0009] In a second aspect, an embodiment of the present invention further provides a device for adjusting suspension control parameters, the device comprising:

[0010] A historical driving record acquisition module, used to acquire the current wheel position of the target wheel of the target vehicle and the pre-stored historical driving record; wherein the historical driving record includes the recorded ups and downs information of the recorded ups and downs of the road that the target vehicle has passed through during the historical driving;

[0011] A position determination module, used to determine whether the current wheel position is within the recorded undulating road or within the adjacent area of ​​the recorded undulating road; if so, entering the suspension control parameter adjustment module;

[0012] The suspension control parameter adjustment module is used to predict the next driving position of the target wheel, determine the next position fluctuation data of the next driving position based on the recorded fluctuation information, and adjust the suspension control parameters based on the next position fluctuation data.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0014] one or more processors;

[0015] a storage device for storing one or more programs,

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for adjusting suspension control parameters provided by any embodiment of the present invention.

[0017] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for adjusting the suspension control parameters provided by any embodiment of the present invention is implemented.

[0018] A method for adjusting suspension control parameters provided in an embodiment of the present invention determines whether the current wheel position is within a recorded undulating road or in an adjacent area of ​​a recorded undulating road through the current wheel position of the target wheel and pre-stored recorded undulation information; when it is within a recorded undulating road or in an adjacent area, it indicates that the target wheel is about to travel on the undulating road, and the road has been recorded, and the next position undulation data of the next driving position can be determined through the recorded undulation information, thereby adjusting the suspension control parameters according to the next position undulation data, solving the problem that the suspension control parameters cannot be determined in advance based on the undulation data, and achieving the effect of improving the accuracy of the obtained suspension control data and effectively controlling the suspension, which helps the vehicle to travel more smoothly.

[0019] In addition, a suspension control parameter adjustment device, an electronic device and a storage medium provided by the present invention correspond to the above method and have the same beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A flow chart of a method for adjusting suspension control parameters provided by an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of wheel position calculation provided by an embodiment of the present invention;

[0023] Figure 3 A flowchart of another method for adjusting suspension control parameters provided by an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of a suspension structure provided by an embodiment of the present invention;

[0025] Figure 5 A structural diagram of a suspension control parameter adjustment device provided by an embodiment of the present invention;

[0026] Figure 6 A structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0028] It should be mentioned before discussing the exemplary embodiments in more detail that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the operations (or steps) as sequential processes, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0029] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0030] Embodiment 1

[0031] Figure 1A flowchart of a method for adjusting suspension control parameters provided in an embodiment of the present invention. The method can be executed by a suspension control parameter adjustment device, which can be implemented by software and / or hardware and can be configured in a terminal and / or server to implement the suspension control parameter adjustment method in an embodiment of the present invention.

[0032] like Figure 1 As shown, the method of this embodiment may specifically include:

[0033] S101. Acquire the current wheel position of a target wheel of a target vehicle and a pre-stored historical driving record.

[0034] The historical driving record includes the recorded ups and downs information of the recorded ups and downs of the road that the target vehicle has passed in the historical driving. The number of target wheels can be one or more. Exemplarily, the target wheels can be determined as the two rear wheels of the target vehicle, and the current wheel positions of the two rear wheels can be determined respectively.

[0035] In a specific implementation, the current wheel position of the target wheel can be determined by a positioning device installed on the target vehicle, and the positioning device can be a satellite positioning system. For example, the positioning device can be installed on the target wheel, so as to directly determine the current wheel position of the target wheel during driving; the positioning device can also be installed on the body of the target vehicle, and the current wheel position of the target wheel during driving can be determined based on the positional relationship between the installation position and the target wheel.

[0036] In this embodiment, the method of obtaining the current wheel position of the target wheel of the target vehicle specifically includes: obtaining the vehicle position information collected by the positioning device installed on the target vehicle, determining the distance between the positioning device and the target wheel; determining the angle between the line connecting the positioning device and the target wheel and the body direction of the target vehicle; and determining the current wheel position based on the distance, the angle and the vehicle position information. The vehicle position information includes the longitude value, the latitude value and the heading angle of the target vehicle.

[0037] In a specific implementation, the positioning device may be installed at the body position of the target vehicle, and the installation position is set to (x0, y0). Figure 2 A schematic diagram of wheel position calculation provided by an embodiment of the present invention; Figure 2 As shown, the two rear wheels of the target vehicle can be determined as target wheels, and the wheel coordinate positions are set to (x1, y1) and (x2, y2) respectively.

[0038] Specifically, the positioning device includes a positioning antenna, and the distance between the positioning antenna and the two rear wheels is set to l1 and l2 respectively; the angles between the line connecting the antenna and the two rear wheels and the front of the vehicle body are α1 and α2 respectively. The positioning device can provide the current position information of the vehicle in real time, including: longitude, latitude, and heading angle.

[0039] It should be noted that the longitude determined by the positioning device is the same as the installation position coordinate x0 of the positioning device, the latitude determined by the positioning device is the same as the installation position coordinate y0 of the positioning device, the heading angle can be set to β, and the deviation between the vehicle body side slip angle and the heading angle can be ignored. Therefore, the specific positions (x1, y1) and (x2, y2) of the left and right rear wheels can be determined by the positional relationship between the installation position coordinates and the left and right rear wheel coordinates. x1 can be obtained based on x0, l1, β and α1, y1 can be obtained based on y0, l1, β and α1, x2 can be obtained based on x0, l2, β and α2, and y2 can be obtained based on y0, l2, β and α2.

[0040] S102, determining whether the current wheel position is within a recorded undulating road or within an adjacent area of ​​a recorded undulating road; if yes, proceeding to S103.

[0041] Specifically, the pre-stored recorded undulation information includes the longitude value, latitude value, heading angle and road surface height of each position of the recorded undulation road. It is possible to determine whether the current wheel position is within the recorded undulation road or in an adjacent area of ​​the recorded undulation road through the longitude value, latitude value of each position of the recorded undulation road and the longitude value and latitude value of the current wheel position.

[0042] In a specific implementation, an area within a preset distance adjacent to a recorded undulating road can be determined as an adjacent area of ​​the recorded undulating road. The preset distance can be set to 50 meters. Those skilled in the art can determine the preset distance according to actual application conditions, and the embodiment of the present invention is not limited to this. Exemplarily, during each driving process of the vehicle, the current wheel position of the target wheel can be calculated in real time with the closest distance to the recorded undulating road stored in the controller. When the distance is less than a certain threshold (such as 50 meters) and the absolute value of the deviation from the recorded heading angle is less than a preset angle value, it can be determined that the current wheel position is in the adjacent area of ​​the recorded undulating road.

[0043] S103, predicting the next driving position of the target wheel, and determining next position fluctuation data of the next driving position based on the recorded fluctuation information, and adjusting the suspension control parameters based on the next position fluctuation data.

[0044] In this embodiment, when the current wheel position has entered a recorded undulating road or an adjacent area of ​​a recorded undulating road, in order to improve the smoothness and comfort of the vehicle's driving, the next driving position of the target vehicle can be predicted based on the target vehicle's current driving direction, speed and the current wheel position of the target wheel, thereby determining the next position undulation data of the next driving position based on the recorded undulation information of the recorded undulating road, and adjusting the suspension control parameters based on the next position undulation data.

[0045] Specifically, the next driving position may be the driving position of the target wheel at the prediction moment; if the prediction moment may be the next second, the next driving position may be the driving position of the target wheel at the next second, or may be the driving position of the target wheel at the next microsecond. The prediction moment may be determined according to the current driving speed of the target vehicle. When the driving speed is fast, the driving position of the target wheel at the next microsecond may be predicted as the next driving position; when the driving speed is slow, the driving position of the target wheel at the next second may be predicted as the next driving position.

[0046] Optionally, the suspension control parameters include compression damping parameters and extension damping parameters; wherein, adjusting the suspension control parameters based on the next position fluctuation data includes: when the next position fluctuation data is data reflecting a raised terrain, reducing the value of the compression damping parameter; when the next position fluctuation data is data reflecting a recessed terrain, reducing the value of the extension damping parameter.

[0047] In a specific implementation, the suspension control parameters can be adjusted based on the next position undulation data through the pre-control logic of the suspension system. The pre-control logic calculates the arrival time of the vehicle based on the current vehicle speed and the accurate distance between the wheel and the terrain undulation position. When the time enters the pre-control period (for example, 50 milliseconds), the control parameters of the active suspension are adjusted.

[0048] When the next position undulation data reflects a road bump, the value of the reduced compression damping parameter can be determined according to the specific value of the next position undulation data reflecting the bump terrain; when the next position undulation data reflects a road pothole, the value of the reduced extension damping parameter can be determined according to the specific value of the next position undulation data reflecting the pothole terrain. By adjusting the compression damping parameter or the extension damping parameter, the vibration of the vehicle body when driving on the undulating road is reduced.

[0049] In this embodiment, after adjusting the suspension control parameters based on the next position fluctuation data, it also includes: when the target wheel reaches the next driving position, determining the actual position fluctuation data corresponding to the next driving position; when the difference between the actual position fluctuation data and the next position fluctuation data is greater than the preset difference, updating the recorded fluctuation information based on the actual position fluctuation data.

[0050] In a specific implementation, when the target wheel travels on a bumpy road, the actual position fluctuation data for each driving position can be determined. Exemplarily, the actual position fluctuation data for each driving position can be determined by a height sensor installed between the wheel and the vehicle body. The actual position fluctuation data of the next driving position can be compared with the recorded position fluctuation data of the next driving position. When the difference between the two is large, it means that the recorded data has changed and is inaccurate. In order to ensure that the suspension control parameters can be accurately determined based on the recorded fluctuation information during the next driving process, the position fluctuation data of the position can be updated based on the actual position fluctuation data, thereby updating the recorded fluctuation information.

[0051] A method for adjusting suspension control parameters provided in an embodiment of the present invention determines whether the current wheel position is within a recorded undulating road or in an adjacent area of ​​a recorded undulating road through the current wheel position of the target wheel and pre-stored recorded undulation information; when it is within a recorded undulating road or in an adjacent area, it indicates that the target wheel is about to travel on the undulating road, and the road has been recorded, and the next position undulation data of the next driving position can be determined through the recorded undulation information, thereby adjusting the suspension control parameters according to the next position undulation data, solving the problem that the suspension control parameters cannot be determined in advance based on the undulation data, and achieving the effect of improving the accuracy of the obtained suspension control data and effectively controlling the suspension, which helps the vehicle to travel more smoothly.

[0052] Embodiment 2

[0053] Figure 3 It is a flow chart of another method for adjusting suspension control parameters provided by an embodiment of the present invention. This embodiment is optimized based on the above-mentioned technical solutions. Optionally, it also includes: if not, obtaining the height information collected by the height sensor installed on the target wheel, and determining whether the road on which the target vehicle is currently traveling is an undulating road to be recorded based on the height information; if it is an undulating road to be recorded, obtaining the vehicle position information collected by the positioning device installed on the target vehicle, and generating the undulating information to be recorded corresponding to the undulating road to be recorded based on the vehicle position information and the height information, and recording the undulating information to be recorded in the historical driving record. Among them, the explanations of the terms that are the same or corresponding to the above-mentioned embodiments are not repeated here.

[0054] like Figure 3 As shown, the method of this embodiment may specifically include:

[0055] S201. Acquire the current wheel position of a target wheel of a target vehicle and a pre-stored historical driving record.

[0056] S202, determining whether the current wheel position is within a recorded undulating road or within an adjacent area of ​​a recorded undulating road; if yes, proceeding to S203; if no, proceeding to S204.

[0057] S203, predicting the next driving position of the target wheel, and determining next position fluctuation data of the next driving position based on the recorded fluctuation information, and adjusting the suspension control parameters based on the next position fluctuation data.

[0058] When the wheel contacts the next driving position of the undulating road surface, the recorded undulation information of the recorded undulating road surface can be recalibrated according to the actual position undulation data, and the suspension control parameters corresponding to the calibrated undulation data can be determined accordingly.

[0059] The recording format of the undulation information can be [longitude, latitude, heading angle, road surface height]. Each undulation fluctuation can be decomposed into a sequence combination of ridges that compress the suspension and pits that extend the suspension according to the recording format. The suspension height data collected in real time is used as the basis for further enhancing, maintaining or terminating the control data.

[0060] S204, obtaining height information collected by a height sensor installed between the target wheel and the vehicle body, and determining whether the road the target vehicle is currently traveling on is an undulating road to be recorded based on the height information; if it is an undulating road to be recorded, proceeding to step S205.

[0061] In a specific implementation, when the current wheel position is not within a recorded undulating road or within an adjacent area of ​​a recorded undulating road, the suspension control parameters can be adjusted according to the default adjustment method. When the current wheel position is not within a recorded undulating road or within an adjacent area of ​​a recorded undulating road, there may be the following two situations: 1. The current area is not a historical driving area where the target vehicle has traveled, and the first record is required; 2. The current area is a historical driving area, but the historical driving process was not an undulating road, such as the current area is a flat highway. For the above two situations, it is necessary to first determine the height information of the target wheel to determine whether the current driving road is now an undulating road, so as to provide a basis for determining the suspension control parameters for subsequent driving.

[0062] In this embodiment, the height information may be determined by a suspension system installed on the target vehicle. Figure 4 A schematic diagram of a suspension structure provided by an embodiment of the present invention is shown in FIG. Figure 4As shown, the suspension system also includes a suspension height sensor, a shock absorber, a damping and height active adjustment actuator and a spring. The suspension height sensor is installed between the vehicle body and the wheel. The suspension height sensor can be installed between the four wheels of the target vehicle and the vehicle body to detect the up and down bounce of the wheel, that is, the height information. Exemplarily, the two rear wheels of the target vehicle can be determined as the target wheels, and the measured height information is H1 and H2 respectively. The height value of the vehicle in a stationary state is set to 0, upward is a positive value, and downward is a negative value.

[0063] In a specific implementation, the height information includes a height value and direction information; wherein, determining whether the road on which the target vehicle is currently traveling is an undulating road to be recorded based on the height information includes: determining whether the height value is greater than a preset height threshold; if greater, determining that the road on which the target vehicle is currently traveling is an undulating road to be recorded.

[0064] For example, the preset height threshold can be set to 1 cm. When the height value of the target wheel jumping up and down is greater than 1 cm, the current road is determined to be an undulating road to be recorded. If the height value of the target wheel jumping up and down is less than or equal to 1 cm, the current road can be determined to be a flat road, and there is no need to record the height information.

[0065] Optionally, obtaining height information collected by a height sensor installed on the target wheel includes: determining a current speed of the target vehicle and an expected accuracy of collected data, and determining a time interval for obtaining height information based on the current speed and the expected accuracy of collected data; and obtaining height information collected by the height sensor installed on the target wheel according to the time interval.

[0066] In a specific implementation, since the target vehicle is in a driving state, the height information can be obtained multiple times, thereby obtaining the height conditions at different positions of the driving route. The frequency of collecting height information on roads of the same distance can be determined by setting the time interval and / or distance interval for obtaining the height information, which can also be understood as the accuracy of the collected data. Therefore, when setting the time interval and / or distance interval, it can be determined according to the required accuracy of the collected data.

[0067] For example, when it is desired to collect terrain information with an accuracy of e when the vehicle speed is V, the value range of the time interval T can be set as:

[0068] T<=(3.6×e) / V

[0069] For example, if you want to collect terrain information with an accuracy of 0.01 m at a vehicle speed of 72 km / h, the sampling time interval T needs to be less than (3.6×0.01) / 72=0.0005 seconds.

[0070] S205, obtaining vehicle position information collected by a positioning device installed on the target vehicle, generating ups and downs information to be recorded corresponding to the ups and downs road to be recorded based on the vehicle position information and height information, and recording the ups and downs information to be recorded in the historical driving record.

[0071] In a specific implementation, the ups and downs information to be recorded corresponding to the ups and downs road to be recorded can be generated based on the vehicle position information and height information, and the recording format of the ups and downs information to be recorded can be [longitude, latitude, heading angle, road surface height]. The ups and downs information to be recorded at each position of the road can be recorded in the historical driving record in the form of an array sequence, and the historical driving record is stored in the vehicle controller.

[0072] In an embodiment of the present invention, when the current wheel position is not within a recorded undulating road or within an adjacent area of ​​a recorded undulating road, height information can be collected based on a height sensor to generate undulation information to be recorded. By recording the undulation information to be recorded, historical driving records can be enriched, which makes it easier to predetermine the undulation conditions of the road during subsequent driving, and to more accurately and effectively adjust suspension control parameters based on the recorded undulation conditions.

[0073] Embodiment 3

[0074] Figure 5 This is a structural diagram of a suspension control parameter adjustment device provided in an embodiment of the present invention, and the device is used to execute the suspension control parameter adjustment method provided in any of the above embodiments. The device and the suspension control parameter adjustment method of the above embodiments belong to the same inventive concept, and the details not described in detail in the embodiment of the suspension control parameter adjustment device can refer to the embodiment of the suspension control parameter adjustment method. The device may specifically include:

[0075] The historical driving record acquisition module 10 is used to acquire the current wheel position of the target wheel of the target vehicle and the pre-stored historical driving record; wherein the historical driving record includes the recorded ups and downs information of the recorded ups and downs of the road that the target vehicle has passed through during the historical driving;

[0076] A position determination module 11 is used to determine whether the current wheel position is within the recorded undulating road or within the adjacent area of ​​the recorded undulating road; if yes, then enter the suspension control parameter adjustment module;

[0077] The suspension control parameter adjustment module 12 is used to predict the next driving position of the target wheel, determine the next position fluctuation data of the next driving position based on the recorded fluctuation information, and adjust the suspension control parameters based on the next position fluctuation data.

[0078] Based on any optional technical solution in the embodiments of the present invention, optionally, the device further includes:

[0079] A height information acquisition module is used to obtain height information collected by a height sensor installed between the target wheel and the vehicle body if the current wheel position is not within the recorded undulating road and is not within the adjacent area of ​​the recorded undulating road, and determine whether the road currently traveled by the target vehicle is an undulating road to be recorded based on the height information; if it is an undulating road to be recorded, obtain vehicle position information collected by a positioning device installed on the target vehicle, generate undulating information to be recorded corresponding to the undulating road to be recorded based on the vehicle position information and the height information, and record the undulating information to be recorded in the historical driving record.

[0080] Based on any optional technical solution in the embodiments of the present invention, optionally, the altitude information includes altitude value and direction information; wherein the altitude information acquisition module includes:

[0081] The undulating road to be recorded determining unit is used to determine whether the height value is greater than a preset height threshold; if greater, determine that the road currently traveled by the target vehicle is the undulating road to be recorded.

[0082] Based on any optional technical solution in the embodiments of the present invention, optionally, the height information acquisition module includes:

[0083] The current speed determination unit is used to determine the current speed of the target vehicle and the expected data collection accuracy, and based on the current speed and the expected data collection accuracy, determine the time interval for obtaining the height information; according to the time interval, obtain the height information collected by the height sensor installed on the target wheel.

[0084] Based on any optional technical solution in the embodiment of the present invention, optionally, the historical driving record acquisition module 10 includes:

[0085] A vehicle position information acquisition unit is used to acquire the vehicle position information collected by a positioning device installed on the target vehicle, determine the distance between the positioning device and the target wheel; determine the angle between the line connecting the positioning device and the target wheel and the body direction of the target vehicle; based on the distance, angle and the vehicle position information, determine the current wheel position; wherein the vehicle position information includes the longitude value, latitude value and heading angle of the target vehicle.

[0086] Based on any optional technical solution in the embodiments of the present invention, optionally, the device further includes:

[0087] An actual position fluctuation data determination unit is used to determine the actual position fluctuation data corresponding to the next driving position when the target wheel reaches the next driving position after adjusting the suspension control parameters based on the next position fluctuation data; when the difference between the actual position fluctuation data and the next position fluctuation data is greater than a preset difference, update the recorded fluctuation information based on the actual position fluctuation data.

[0088] Based on any optional technical solution in the embodiment of the present invention, optionally, the suspension control parameter includes a compression damping parameter and an extension damping parameter; wherein the suspension control parameter adjustment module 12 includes:

[0089] The suspension control parameter adjustment unit is used to reduce the value of the compression damping parameter when the next position fluctuation data is data reflecting a raised terrain; and to reduce the value of the extension damping parameter when the next position fluctuation data is data reflecting a recessed terrain.

[0090] The device for adjusting suspension control parameters provided in the embodiment of the present invention can execute the method for adjusting suspension control parameters provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0091] It is worth noting that in the embodiment of the above-mentioned suspension control parameter adjustment device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0092] Embodiment 4

[0093] Figure 6 A structural diagram of an electronic device provided by an embodiment of the present invention. Figure 6 A block diagram of an exemplary electronic device 20 suitable for implementing an embodiment of the present invention is shown. The electronic device 20 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0094] like Figure 6 As shown, the electronic device 20 is in the form of a general computing device. The components of the electronic device 20 may include but are not limited to: one or more processors or processing units 201, a system memory 202, and a bus 203 connecting different system components (including the system memory 202 and the processing unit 201).

[0095] Bus 203 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0096] The electronic device 20 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 20, including volatile and non-volatile media, removable and non-removable media.

[0097] The system memory 202 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 204 and / or cache memory 205. The electronic device 20 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 206 may be used to read and write non-removable, non-volatile magnetic media. A disk drive for reading and writing removable non-volatile disks (such as "floppy disks"), and an optical disk drive for reading and writing removable non-volatile optical disks (such as CD-ROM, DVD-ROM or other optical media) may be provided. In these cases, each drive may be connected to the bus 203 via one or more data medium interfaces. The memory 202 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of various embodiments of the present invention.

[0098] A program / utility 208 having a set (at least one) of program modules 207 may be stored, for example, in the memory 202, such program modules 207 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 207 generally perform the functions and / or methods of the embodiments described herein.

[0099] The electronic device 20 may also communicate with one or more external devices 209 (e.g., keyboards, pointing devices, displays 210, etc.), may communicate with one or more devices that enable a user to interact with the electronic device 20, and / or may communicate with any device that enables the electronic device 20 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 211. Furthermore, the electronic device 20 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 212. As shown, the network adapter 212 communicates with other modules of the electronic device 20 via a bus 203. It should be understood that other hardware and / or software modules may be used in conjunction with the electronic device 20, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0100] The processing unit 201 executes various functional applications and data processing by running programs stored in the system memory 202 .

[0101] An electronic device provided by the present invention can implement the following method: obtaining the current wheel position of the target wheel of the target vehicle and the pre-stored historical driving record; wherein the historical driving record includes the recorded undulation information of the recorded undulating road that the target vehicle passed during the historical driving; determining whether the current wheel position is within the recorded undulating road or within the adjacent area of ​​the recorded undulating road; if so, predicting the next driving position of the target wheel, and determining the next position undulation data of the next driving position based on the recorded undulation information, and adjusting the suspension control parameters based on the next position undulation data. The embodiment of the present invention improves the accuracy of the obtained suspension control data and effectively controls the suspension, which helps the vehicle to travel more smoothly.

[0102] Embodiment 5

[0103] An embodiment of the present invention provides a storage medium containing computer executable instructions. When the computer executable instructions are executed by a computer processor, they are used to perform a method for adjusting a suspension control parameter. The method includes:

[0104] The current wheel position of the target wheel of the target vehicle and the pre-stored historical driving record are obtained; wherein the historical driving record includes the recorded undulation information of the recorded undulation road that the target vehicle has passed in the historical driving; it is determined whether the current wheel position is within the recorded undulation road or in the vicinity of the recorded undulation road; if so, the next driving position of the target wheel is predicted, and the next position undulation data of the next driving position is determined based on the recorded undulation information, and the suspension control parameters are adjusted based on the next position undulation data. The embodiment of the present invention improves the accuracy of the obtained suspension control data and effectively controls the suspension, which helps the vehicle to travel more smoothly.

[0105] Of course, the computer executable instructions of a storage medium including computer executable instructions provided in an embodiment of the present invention are not limited to the above method operations, and can also execute related operations in the suspension control parameter adjustment method provided in any embodiment of the present invention.

[0106] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, a device or a device or used in combination with it.

[0107] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0108] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0109] Computer program code for performing the operation of embodiments of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0110] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for adjusting suspension control parameters, characterized in that: include: Acquire the current wheel position of the target wheel of the target vehicle and the pre-stored historical driving record; wherein the historical driving record includes the recorded ups and downs information of the recorded ups and downs road that the target vehicle has passed through during the historical driving; Determining whether the current wheel position is within the recorded undulating road or within an adjacent area of ​​the recorded undulating road; If yes, predict the next driving position of the target wheel, determine next position fluctuation data of the next driving position based on the recorded fluctuation information, and adjust the suspension control parameters based on the next position fluctuation data; If not, obtaining height information collected by a height sensor installed between the target wheel and the vehicle body, and determining whether the road currently traveled by the target vehicle is an undulating road to be recorded based on the height information; If it is an undulating road to be recorded, then obtaining vehicle position information collected by a positioning device installed on the target vehicle, generating undulating information to be recorded corresponding to the undulating road to be recorded based on the vehicle position information and the height information, and recording the undulating information to be recorded in the historical driving record in the form of an array sequence; The step of obtaining the current wheel position of the target wheel of the target vehicle comprises: Acquire vehicle position information collected by a positioning device installed on the target vehicle, and determine the distance between the positioning device and the target wheel; Determining an angle between a line connecting the positioning device and the target wheel and a body direction of the target vehicle; The current wheel position is determined based on the distance, the angle and the vehicle position information; wherein the vehicle position information includes the longitude value, the latitude value and the heading angle of the target vehicle.

2. The method according to claim 1, characterized in that The altitude information includes altitude value and direction information; wherein, The determining, based on the height information, whether the road currently traveled by the target vehicle is a undulating road to be recorded comprises: Determine whether the height value is greater than a preset height threshold; If it is greater than, it is determined that the road the target vehicle is currently traveling on is the undulating road to be recorded.

3. The method according to claim 1, characterized in that The step of acquiring height information collected by a height sensor installed on the target wheel includes: Determine the current speed of the target vehicle and the expected data collection accuracy, and determine the time interval for obtaining the height information based on the current speed and the expected data collection accuracy; According to the time interval, the height information collected by the height sensor installed on the target wheel is obtained.

4. The method according to claim 1, characterized in that: After adjusting the suspension control parameters based on the next position fluctuation data, the method further includes: When the target wheel reaches the next driving position, determining actual position fluctuation data corresponding to the next driving position; When the difference between the actual position fluctuation data and the next position fluctuation data is greater than a preset difference, the recorded fluctuation information is updated based on the actual position fluctuation data.

5. The method according to claim 1, characterized in that The suspension control parameters include compression damping parameters and extension damping parameters; wherein, The adjusting the suspension control parameters based on the next position fluctuation data comprises: When the next position fluctuation data is data reflecting a convex terrain, reducing the value of the compression damping parameter; When the next position fluctuation data is data reflecting the topography of a pit, the value of the extension damping parameter is reduced.

6. A device for adjusting suspension control parameters, characterized in that: include: A historical driving record acquisition module, used to acquire the current wheel position of the target wheel of the target vehicle and the pre-stored historical driving record; wherein the historical driving record includes the recorded ups and downs information of the recorded ups and downs of the road that the target vehicle has passed through during the historical driving; A position determination module, used to determine whether the current wheel position is within the recorded undulating road or within the adjacent area of ​​the recorded undulating road; if so, entering the suspension control parameter adjustment module; A suspension control parameter adjustment module, used for predicting the next driving position of the target wheel, determining next position fluctuation data of the next driving position based on the recorded fluctuation information, and adjusting the suspension control parameters based on the next position fluctuation data; A height information acquisition module is used to acquire height information collected by a height sensor installed between the target wheel and the vehicle body if the current wheel position is not within the recorded undulating road and is not within the adjacent area of ​​the recorded undulating road, and determine whether the road currently traveled by the target vehicle is an undulating road to be recorded based on the height information; if it is an undulating road to be recorded, acquire vehicle position information collected by a positioning device installed on the target vehicle, generate undulating information to be recorded corresponding to the undulating road to be recorded based on the vehicle position information and the height information, and record the undulating information to be recorded in the form of an array sequence in the historical driving record; A vehicle position information acquisition unit is used to acquire the vehicle position information collected by a positioning device installed on the target vehicle, determine the distance between the positioning device and the target wheel; determine the angle between the line connecting the positioning device and the target wheel and the body direction of the target vehicle; based on the distance, angle and the vehicle position information, determine the current wheel position; wherein the vehicle position information includes the longitude value, latitude value and heading angle of the target vehicle.

7. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method for adjusting suspension control parameters as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for adjusting the suspension control parameters as described in any one of claims 1 to 5 is implemented.

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