Control method, control device and electronic equipment for synchronous lifting and lowering of automobile suspension height

Abstract

The present application provides a control method, a control device and an electronic device for synchronously lifting the height of a vehicle suspension, the control method comprising: determining the load weight corresponding to the air spring for each wheel of the target vehicle; determining a preset lifting speed according to the load weight and the pressure value of the air reservoir; determining the target lifting speed of the air spring based on the preset lifting speed and the current length value; determining the required inflation amount of the proportional control valve corresponding to the air spring according to the target lifting speed, the pressure value and the load weight; determining the required proportional valve opening value of the proportional control valve corresponding to the air spring according to the pressure value, the pressure value and the inflation amount of the air reservoir; and controlling the opening of the proportional control valve based on the proportional valve opening value, so that the axle connected to the wheel corresponding to the air spring is lifted and lowered according to the lifting and lowering of the air spring. According to the control method and the control device, the riding comfort of the vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the field of automobile air spring control, and in particular to a control method, a control device and an electronic device for synchronously raising and lowering the height of an automobile suspension. Background Art

[0002] Automobile suspension is the bridge between the car body and the wheels, and is an important system for the ride comfort of the car. Traditional automobile suspension relies on mechanical spring suspension to support the car body, and the height of the car body cannot be adjusted. However, air springs can change the height of the car body according to different road conditions and vehicle conditions, greatly improving the car's ability to pass and ride comfort.

[0003] The current automobile air springs can only be raised and lowered separately for the front and rear axles, and the lifting speed cannot be changed. This will cause the vehicle height to be adjusted out of sync at the four corners of the vehicle, resulting in excessive pitch and roll angles. This will not only seriously affect the stability of the vehicle's posture, but also reduce passenger comfort. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a control method, a control device and an electronic device for the synchronous lifting and lowering of the automobile suspension height. During the rising and falling process of the air spring, the target lifting speed is calculated for the air spring corresponding to each wheel to achieve the synchronous lifting and lowering of each air spring. The axle connected to the wheel corresponding to each air spring is also lifted and lowered according to the lifting and lowering of the air spring, thereby achieving the synchronous lifting and lowering of the automobile suspension height, which not only does not change the driver's driving perspective, but also improves the ride comfort of the vehicle.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling the synchronous lifting and lowering of a vehicle suspension height, the control method comprising:

[0006] When the current running state of the target vehicle and the road surface on which the target vehicle is currently located simultaneously meet predetermined conditions, for an air spring corresponding to each wheel of the target vehicle, the load weight corresponding to the air spring is determined according to the pressure value in the air spring and the current length value of the air spring;

[0007] Obtaining an air cylinder pressure value in an air cylinder in the target vehicle, and determining a preset lifting speed of the air spring according to a load weight corresponding to the air spring and the air cylinder pressure value;

[0008] Determining a target lifting speed of the air spring based on a preset lifting speed of the air spring and a current length value of the air spring;

[0009] Determine the required inflation amount of the proportional control valve corresponding to the air spring according to the target lifting speed of the air spring, the pressure value in the air spring and the load weight of the air spring;

[0010] Determine the proportional valve opening value required by the proportional control valve corresponding to the air spring according to the pressure value of the air reservoir, the pressure value in the air spring and the inflation amount;

[0011] The proportional control valve is opened and controlled based on the proportional valve opening value, so that the axle connected to the wheel corresponding to the air spring is raised and lowered according to the raising and lowering of the air spring.

[0012] Further, the predetermined condition includes that the current running state of the target vehicle is a target control state and the road surface where the target vehicle is currently located is a horizontal road surface, and the target control state includes a stationary state or a dynamically stable state;

[0013] The stationary state means that the speed of the target vehicle is 0; the dynamically stable state means that the speed of the target vehicle is greater than 0, the acceleration is less than the acceleration threshold, the steering wheel angular velocity is less than the angular velocity threshold, the braking force is less than the braking force threshold, the anti-lock braking signal is not activated, and the fault signal is not activated.

[0014] Further, the following steps are performed to determine whether the road surface on which the target vehicle is currently located is a horizontal road surface:

[0015] Obtaining the left front wheel center coordinates, the right front wheel center coordinates, the rear axle center coordinates, the left rear wheel center coordinates and the right rear wheel center coordinates of the target vehicle in the vehicle coordinate system;

[0016] Determine a detection plane based on the left front wheel center point coordinates, the right front wheel center point coordinates and the rear axle center point coordinates;

[0017] Calculating a first distance from the left rear wheel center point coordinate to the detection plane, and a second distance from the right rear wheel center point coordinate to the detection plane;

[0018] If both the first distance and the second distance are smaller than a distance threshold, it is determined that the road surface on which the target vehicle is located is a horizontal road surface.

[0019] Further, determining the load weight corresponding to the air spring according to the pressure value in the air spring and the current length value of the air spring includes:

[0020] Determining a pressure value in the air spring using a pressure sensor in the target vehicle;

[0021] Determine the current length value of the air spring using a height sensor in the target vehicle;

[0022] Based on the current length value, using a preset length conversion relationship, determining a current suspension height value;

[0023] Based on the pressure value and the current suspension height value, the load weight corresponding to the air spring is determined using a load weight comparison table corresponding to the target vehicle.

[0024] Further, determining the target lifting speed of the air spring based on the preset lifting speed of the air spring and the current length value of the air spring includes:

[0025] Based on the current length value of the air spring and the preset lifting cycle time, determine the historical lifting speed of the air spring in the last lifting cycle; wherein the lifting cycle time refers to the time required for the air spring to perform one lifting;

[0026] The historical lifting speed is used as a closed-loop feedback signal, and based on the difference between the preset lifting speed and the historical lifting speed, a PID algorithm is used to determine the target lifting speed of the air spring in the current lifting cycle.

[0027] Further, the determining of the proportional valve opening value required for the proportional control valve corresponding to the air spring according to the air reservoir pressure value, the pressure value in the air spring and the inflation amount includes:

[0028] Determine the difference between the pressure value of the air reservoir and the pressure value in the air spring as the pressure difference;

[0029] Based on the pressure difference and the inflation amount, a proportional valve opening value required by a proportional control valve corresponding to the air spring is determined using a functional relationship between the pressure difference and the inflation amount.

[0030] Furthermore, after the opening of the proportional control valve is controlled based on the proportional valve opening value, the control method further includes:

[0031] Determining a target length value of the air spring according to a target lifting speed of the air spring, a current length value of the air spring, and the lifting cycle time;

[0032] Determining the adjusted length value of the air spring using a height sensor in the target vehicle;

[0033] Determine whether the difference between the adjusted length value and the target length value reaches a preset height error range;

[0034] If not, the adjusted length value is determined as the current length value, and the process returns to the step of determining the target lifting speed of the air spring based on the preset lifting speed of the air spring and the current length value of the air spring.

[0035] In a second aspect, the embodiment of the present application further provides a control device for synchronously raising and lowering the height of a vehicle suspension, the control device comprising:

[0036] A load weight determination module is used to determine the load weight corresponding to each air spring corresponding to each wheel of the target vehicle according to the pressure value in the air spring and the current length value of the air spring when the current running state of the target vehicle and the current road surface of the target vehicle meet predetermined conditions at the same time;

[0037] A preset lifting speed determination module, used to obtain the air cylinder pressure value in the air cylinder in the target vehicle, and determine the preset lifting speed of the air spring according to the load weight corresponding to the air spring and the air cylinder pressure value;

[0038] A target lifting speed determination module, used to determine a target lifting speed of the air spring based on a preset lifting speed of the air spring and a current length value of the air spring;

[0039] An air filling amount determination module determines the air filling amount required by the proportional control valve corresponding to the air spring according to the target lifting speed of the air spring, the pressure value in the air spring and the load weight of the air spring;

[0040] A proportional valve opening value determination module, which determines the proportional valve opening value required by the proportional control valve corresponding to the air spring according to the pressure value of the air reservoir, the pressure value in the air spring and the inflation amount;

[0041] The lifting control module is used to control the opening of the proportional control valve based on the proportional valve opening value, so that the axle connected to the wheel corresponding to the air spring is lifted and lowered according to the lifting and lowering of the air spring.

[0042] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the control method for synchronously raising and lowering the height of a vehicle suspension are performed as described above.

[0043] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the control method for synchronously raising and lowering the height of a vehicle suspension are executed as described above.

[0044] The control method and control device for synchronous lifting of the automobile suspension height provided in the embodiment of the present application, when the current running state of the target vehicle and the road surface where the target vehicle is currently located meet the predetermined conditions at the same time, for the air spring corresponding to each wheel of the target vehicle, the target lifting speed of the air spring is determined, and then the opening of the proportional control valve corresponding to the air spring is controlled according to the target lifting speed, so that the wheel corresponding to the air spring is lifted and lowered according to the lifting and lowering of the air spring. Compared with the method in which the front axle and the rear axle in the traditional vehicle can only be lifted and lowered separately, the present application can calculate the target lifting speed for the air spring corresponding to each wheel during the rising and falling process of the air spring, so as to realize the synchronous lifting and lowering of each air spring, and the axle connected to the wheel corresponding to each air spring is also lifted and lowered according to the lifting and lowering of the air spring, so as to realize the synchronous lifting and lowering of the automobile suspension height, which not only does not change the driver's driving perspective, but also improves the comfort of the vehicle ride.

[0045] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 A flow chart of a method for controlling synchronous lifting and lowering of a vehicle suspension height provided in an embodiment of the present application;

[0048] Figure 2 A schematic diagram of the structure of a control device for synchronously raising and lowering the height of a vehicle suspension provided in an embodiment of the present application;

[0049] Figure 3 A schematic diagram of the structure of another control device for synchronously raising and lowering the height of a vehicle suspension provided in an embodiment of the present application;

[0050] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0052] First, the application scenarios to which the present application is applicable are introduced. The present application can be applied to the field of automobile air spring control.

[0053] Automobile suspension is the bridge between the car body and the wheels, and is an important system for the ride comfort of the car. Traditional automobile suspension relies on mechanical spring suspension to support the car body, and the height of the car body cannot be adjusted. However, air springs can change the height of the car body according to different road conditions and vehicle conditions, greatly improving the car's ability to pass and ride comfort.

[0054] Research has found that the current automobile air springs can only be raised and lowered separately according to the front and rear axles, and the lifting speed cannot be changed. This will cause the vehicle height adjustment at the four corners of the vehicle to be out of sync, resulting in excessive pitch and roll angles of the vehicle body, which will not only seriously affect the stability of the vehicle posture, but also reduce passenger comfort.

[0055] Based on this, an embodiment of the present application provides a control method for synchronously raising and lowering the height of a vehicle suspension, so as to achieve synchronous raising and lowering of each wheel and improve the ride comfort of the vehicle.

[0056] See also Figure 1 , Figure 1 This is a flow chart of a method for controlling the synchronous lifting and lowering of a vehicle suspension height provided in an embodiment of the present application. Figure 1 As shown in, the control method for synchronously raising and lowering the height of a vehicle suspension provided in an embodiment of the present application includes:

[0057] S101, when the current operating state of the target vehicle and the road surface on which the target vehicle is currently located simultaneously meet predetermined conditions, for the air spring corresponding to each wheel of the target vehicle, determine the load weight corresponding to the air spring according to the pressure value in the air spring and the current length value of the air spring.

[0058] It should be noted that the target vehicle refers to a vehicle that needs to perform synchronous wheel lifting and lowering control. The air spring is an important component of the automobile air suspension system. It uses the compression elasticity of air to work and has functions such as buffering, vibration reduction and weight bearing. The air spring has excellent elastic properties and has many advantages over ordinary steel springs. Using air springs in automobile suspension systems can greatly improve the driving smoothness and comfort of the car. The pressure value refers to the pressure value inside the air spring. The current length value refers to the length value of the air spring in the current state. The load weight refers to the mass above the air spring, including the mass of the body structure, seat occupants, etc.

[0059] For the above step S101, during the specific implementation, when the current operating state of the target vehicle and the current road surface where the target vehicle is located simultaneously meet the predetermined conditions, for the air spring corresponding to each wheel of the target vehicle, the load weight corresponding to the air spring is determined according to the pressure value in the air spring and the current length value of the air spring.

[0060] Specifically, the predetermined condition includes that the current running state of the target vehicle is a target control state and the road surface where the target vehicle is currently located is a horizontal road surface, and the target control state includes a stationary state or a dynamically stable state;

[0061] The stationary state means that the speed of the target vehicle is 0; the dynamically stable state means that the speed of the target vehicle is greater than 0, the acceleration is less than the acceleration threshold, the steering wheel angular velocity is less than the angular velocity threshold, the braking force is less than the braking force threshold, the anti-lock braking signal is not activated, and the fault signal is not activated.

[0062] With respect to the above step S101, specifically, whether the road surface where the target vehicle is currently located is a horizontal road surface is determined by the following steps:

[0063] (1) Obtaining the left front wheel center coordinates, the right front wheel center coordinates, the rear axle center coordinates, the left rear wheel center coordinates, and the right rear wheel center coordinates of the target vehicle in the vehicle coordinate system.

[0064] (2) A detection plane is determined based on the left front wheel center point coordinates, the right front wheel center point coordinates and the rear axle center point coordinates.

[0065] (3) Calculating a first distance from the left rear wheel center point coordinates to the detection plane, and a second distance from the right rear wheel center point coordinates to the detection plane.

[0066] (4) If the first distance and the second distance are both less than the distance threshold, it is determined that the road surface on which the target vehicle is located is a horizontal road surface.

[0067] For the above steps (1) to (4), in the specific implementation, first obtain the left front wheel center coordinates, right front wheel center coordinates, rear axle center coordinates, left rear wheel center coordinates and right rear wheel center coordinates of the target vehicle in the vehicle coordinate system. For example, the coordinates of the left front wheel center point A are (x 1 , y1, z1), the coordinates of the right front wheel center point B are (x2, y2, z2), the coordinates of the rear axle center point C are (x3, y3, z3), the coordinates of the left rear wheel center point D are (x4, y4, z4), and the coordinates of the right rear wheel center point E are (x5, y5, z5). Then, based on the coordinates of the left front wheel center point, the right front wheel center point, and the rear axle center point, a detection plane is determined. Here, the detection plane α is composed of the left front wheel center point A, the right front wheel center point B, and the rear axle center point C. The general equation of the detection plane α can be obtained by the following formula:

[0068]

[0069] The general equation for the detection plane α is: ax+by+cz+d=0

[0070] Then, the first distance from the left rear wheel center coordinate to the detection plane and the second distance from the right rear wheel center coordinate to the detection plane are calculated. Specifically, the first distance and the second distance are calculated by the following formula:

[0071]

[0072]

[0073] Wherein, h1 represents the first distance from the left rear wheel center point coordinate to the detection plane, and h2 represents the second distance from the right rear wheel center point coordinate to the detection plane.

[0074] Next, it is determined whether the first distance and the second distance are less than a preset distance threshold. If both the first distance and the second distance are less than the distance threshold, it is determined that the road surface on which the target vehicle is located is a horizontal road surface.

[0075] According to the embodiment provided in the present application, when the current operating state of the target vehicle meets the target control state and the road surface where the target vehicle is located is a horizontal road surface, the wheels of the target vehicle can be controlled to rise and fall synchronously.

[0076] With respect to the above step S101, determining the load weight corresponding to the air spring according to the pressure value in the air spring and the current length value of the air spring includes:

[0077] Step 1011, using a pressure sensor in the target vehicle to determine the pressure value in the air spring.

[0078] It should be noted that the pressure sensor is used to detect the pressure value in the air spring. According to the embodiment provided by the present application, the pressure sensor is integrated inside the air circuit of the target vehicle.

[0079] For the above step 1011, in the specific implementation, the pressure value in the air spring is determined by using the pressure sensor in the target vehicle. The pressure measurement method in the air spring is preferably to close the air spring charging valve and the air spring exhaust valve corresponding to the air spring after the air spring is inflated, and keep the proportional control valve corresponding to the air spring open, so that the pressure value in the air spring can be read. The pressure value in the air spring should be read after each height adjustment is completed or after no adjustment action occurs but the suspension height value changes.

[0080] Step 1012: Determine the current length value of the air spring using a height sensor in the target vehicle.

[0081] Step 1013: Based on the current length value, a current suspension height value is determined using a preset length conversion relationship.

[0082] It should be noted that the height sensor is used to detect the current length value of the air spring. The length conversion relationship refers to the conversion relationship between the current length value of the air spring and the current suspension height value. The current suspension height value refers to the distance from the wheel core to the wheel eyebrow of the wheel in the target vehicle in the current state.

[0083] With respect to the above steps 1012 and 1013, in specific implementation, the current length value of the air spring is determined using a height sensor in the target vehicle. Then, based on the determined current length value of the air spring, a preset length conversion relationship is used to determine the current suspension height value of the target vehicle.

[0084] Step 1014, based on the pressure value and the current suspension height value, using the load weight comparison table corresponding to the target vehicle, determine the load weight corresponding to the air spring.

[0085] It should be noted that the load-weight comparison table records the correspondence between the pressure value in the air spring, the current suspension height value and the load weight corresponding to the air spring. The load-weight comparison table is specifically determined by actual vehicle calibration during actual use of the target vehicle.

[0086] Regarding the above step 1014, in the specific implementation, after the pressure value in the air spring and the current suspension height are determined, the load weight corresponding to the air spring is determined by looking up the load weight comparison relationship table corresponding to the target vehicle.

[0087] S102, obtaining an air cylinder pressure value in an air cylinder in the target vehicle, and determining a preset lifting and lowering speed of the air spring according to a load weight corresponding to the air spring and the air cylinder pressure value.

[0088] It should be noted that the air reservoir is a gas storage device in the automobile braking system, which is used to store the gas compressed by the air pump. The air reservoir pressure value refers to the pressure value in the air reservoir. The preset lifting speed refers to the maximum lifting speed that the air spring can reach.

[0089] For the above step S102, in the specific implementation, first obtain the air cylinder pressure value in the air cylinder in the target vehicle. According to the embodiment provided by the present application, in the specific implementation, the air cylinder pressure value in the air cylinder is also measured by a pressure sensor integrated in the air circuit. The method for measuring the air cylinder pressure value is preferably to close the air spring charging valve and the air cylinder charging valve at the same time when the proportional control valves corresponding to all air springs in the target vehicle are closed, and to open the air spring exhaust valve and the air cylinder exhaust valve, so that the air cylinder pressure value in the air cylinder can be read. The air cylinder pressure value should be read after each use of the air cylinder to exhaust. After determining the air cylinder pressure value in the air cylinder, the preset lifting speed of the air spring is determined according to the load weight and the air cylinder pressure value corresponding to the determined air spring. Here, the method of looking up the lifting speed comparison relationship table can be used to obtain the corresponding preset lifting speed. The lifting speed comparison relationship table records the corresponding relationship between the load weight and the air cylinder pressure value and the preset lifting speed, which is also determined by the actual vehicle calibration during the actual use of the target vehicle.

[0090] S103, determining a target lifting speed of the air spring based on a preset lifting speed of the air spring and a current length value of the air spring.

[0091] It should be noted that the target lifting speed refers to the lifting speed that the air spring needs to achieve in the current wheel synchronous lifting control.

[0092] Regarding the above step S103, in a specific implementation, based on the preset lifting speed of the air spring determined in step S102 and the current length value of the air spring determined in step S101, the target lifting speed of the air spring is determined.

[0093] Specifically, with respect to the above step S103, determining the target lifting speed of the air spring based on the preset lifting speed of the air spring and the current length value of the air spring includes:

[0094] Step 1031, based on the current length value of the air spring and the preset lifting cycle time, determine the historical lifting speed of the air spring in the previous lifting cycle.

[0095] It should be noted that the lifting cycle time refers to the time required for the air spring to perform a lifting during the synchronous lifting control of the wheels. Specifically, the lifting cycle time can be set to 20 milliseconds, which is not specifically limited in this application. The historical lifting speed refers to the lifting speed of the air spring in the previous lifting cycle.

[0096] For the above step 1031, in specific implementation, based on the current length value of the air spring and the preset lifting cycle time, the historical lifting speed of the air spring in the previous lifting cycle is determined. Specifically, the derivative of the current length value of the air spring and the lifting cycle time can be determined as the historical lifting speed of the air spring in the previous lifting cycle.

[0097] Step 1032, using the historical lifting speed as a closed-loop feedback signal, and based on the difference between the preset lifting speed and the historical lifting speed, using a PID algorithm to determine the target lifting speed of the air spring in the current lifting cycle.

[0098] For the above step 1032, in the specific implementation, the historical lifting speed is used as a closed-loop feedback signal, and the PID algorithm is used to determine the target lifting speed of the air spring in the current lifting cycle based on the difference between the preset lifting speed and the historical lifting speed. According to the embodiment provided by the present application, in the specific implementation, the PID (Proportion Integration Differentiation, proportional-integral-differential controller) closed-loop control module is mainly used to determine the target lifting speed. Specifically, the target lifting speed is calculated by the transfer function of the speed loop, as shown in the following formula:

[0099]

[0100] Among them, K ps is the speed loop proportional gain, K is is the speed loop integral constant, s is the difference between the preset lifting speed and the historical lifting speed, G sc It is the target lifting speed of the air spring in the current lifting cycle.

[0101] S104, determining the required inflation amount of the proportional control valve corresponding to the air spring according to the target lifting speed of the air spring, the pressure value in the air spring and the load weight of the air spring.

[0102] It should be noted that the proportional control valve is a hydraulic control valve that can make the parameters (pressure, flow and direction) of the output oil proportional to the changes in the input electrical signal parameters (current, voltage), thereby achieving continuous proportional control. It is a new type of hydraulic control element that combines the advantages of switch-type electro-hydraulic control elements and servo-type electro-hydraulic control elements. This valve can be open-loop controlled or closed-loop controlled by adding feedback links. It has good static performance and dynamic performance that can meet the requirements of general industrial control. The inflation volume refers to the volume of gas that needs to be filled into the proportional control valve.

[0103] For the above step S104, in the specific implementation, the required inflation amount of the proportional control valve corresponding to the air spring is determined according to the target lifting speed of the air spring, the pressure value in the air spring and the load weight of the air spring. Specifically, the required inflation amount of the proportional control valve is calculated by substituting each value into the following formula:

[0104]

[0105] Among them, F d is the buffer block support force, obtained according to the kinematic school A is the effective cross-sectional area, obtained from the kinematic calibration L s The target length value of the air spring during the lifting process is L. s =L ini +Vt, V is the target lifting speed of the air spring; t is the lifting time in the current lifting cycle, L ini is the current length of the air spring; V s is the volume of the air spring, obtained according to the kinematic calibration R is the constant of the ideal gas state equation; T is the ambient temperature, obtained through the temperature sensor; g is the gravitational acceleration; P lni is the pressure value in the air spring; M is the load weight of the air spring; It is the inflation volume required by the proportional control valve corresponding to the air spring.

[0106] S105, determining a proportional valve opening value required for a proportional control valve corresponding to the air spring according to the air reservoir pressure value, the pressure value in the air spring, and the inflation amount.

[0107] It should be noted that the proportional valve opening value refers to the opening degree of the proportional control valve that needs to be opened. For example, when the proportional valve opening value is 50%, it is considered that the proportional control valve needs to be opened halfway.

[0108] With respect to the above step S105, in specific implementation, the proportional valve opening value required by the proportional control valve corresponding to the air spring is determined according to the air reservoir pressure value and the pressure value in the air spring. Specifically, the proportional valve opening value required by the proportional control valve corresponding to the air spring is determined according to the air reservoir pressure value and the pressure value in the air spring, including:

[0109] Step 1051: determine the difference between the pressure value of the air reservoir and the pressure value in the air spring as the pressure difference.

[0110] Step 1052: Based on the pressure difference and the inflation amount, the proportional valve opening value required for the proportional control valve corresponding to the air spring is determined using a functional relationship between the pressure difference and the inflation amount.

[0111] It should be noted that the pressure difference refers to the difference between the pressure value of the air reservoir and the pressure value in the air spring, that is, the pressure difference between the two ends of the proportional control valve. res , the pressure value in the air spring is P lni , then the pressure difference is P res -P lni The functional relationship refers to the corresponding relationship between the pressure difference and the inflation volume. The specific functional relationship can be obtained from the data manual of the target vehicle.

[0112] In the specific implementation of the above steps 1051 to 1052, the difference between the pressure value of the air reservoir and the pressure value in the air spring is determined, and the difference is used as the pressure difference. Based on the determined pressure difference and the inflation amount, the proportional valve opening value required by the proportional control valve corresponding to the air spring is determined using the functional relationship between the pressure difference and the inflation amount.

[0113] S106, controlling the opening of the proportional control valve based on the proportional valve opening value, so that the axle connected to the wheel corresponding to the air spring is raised or lowered according to the raising or lowering of the air spring.

[0114] It should be noted that the axle of a car is also the axle. The axle of a car is connected to the frame through the suspension, and the wheels of the car are installed at both ends. It supports the entire mass of the vehicle and transmits the traction or braking force of the wheels and the lateral force to the frame through the suspension.

[0115] With respect to the above step S106, in the specific implementation, after the proportional valve opening value required by the proportional control valve is determined, the proportional valve opening value controls the opening of the proportional control valve. Specifically, the proportional control valve opening control can be achieved by controlling the PWM (Pulse Width Modulation) frequency. After the proportional control valve is opened, the lifting and lowering of the air spring corresponding to the proportional control valve can be achieved, and then the axle connected to the wheel corresponding to the air spring can be lifted and lowered according to the lifting and lowering of the air spring. In this way, according to the control method for synchronous lifting and lowering of the automobile suspension height provided by the present application, the opening of the proportional control valve corresponding to each air spring is controlled, so that the synchronous lifting and lowering of each air spring can be achieved, and the axle connected to the wheel corresponding to each air spring can also be lifted and lowered according to the lifting and lowering of the air spring, and then the synchronous lifting and lowering of the automobile suspension height can be achieved.

[0116] As an optional implementation, according to the control method for synchronously raising and lowering the height of a vehicle suspension provided by the present application, after the opening of the proportional control valve is controlled based on the opening value of the proportional valve, the control method further includes:

[0117] A: The target length value of the air spring is determined according to the target lifting speed of the air spring, the current length value of the air spring and the lifting cycle time.

[0118] It should be noted that the target length value refers to the length that the air spring needs to reach in the current lifting cycle.

[0119] For the above step A, in the specific implementation, the target length value of the air spring is determined according to the target lifting speed of the air spring, the current length value of the air spring and the lifting cycle time. Specifically, the target length value can be calculated by the following formula:

[0120] L s =L ini +Vt

[0121] Where V is the target lifting speed of the air spring, t is the lifting cycle time in the current lifting cycle, for example, set the lifting cycle time t to 20 milliseconds, L ini is the current length value of the air spring.

[0122] B: Determine the adjusted length value of the air spring using a height sensor in the target vehicle.

[0123] C: Determine whether the difference between the adjusted length value and the target length value reaches a preset height error range.

[0124] D: If not, the adjusted length value is determined as the current length value, and the process returns to the step of determining the target lifting speed of the air spring based on the preset lifting speed of the air spring and the current length value of the air spring.

[0125] It should be noted that the adjusted length value refers to the length value reached by the air spring after a lifting control. The height error range refers to a pre-set range used to determine whether the current lifting of the air spring meets the requirements.

[0126] For the above steps B to D, in the specific implementation, the height sensor in the target vehicle is used to determine the adjusted length value of the air spring, and then it is determined whether the difference between the adjusted length value and the target length value reaches the preset height error range. If so, it is considered that this lifting control is completed, and the proportional control valve is closed. If not, it is considered that this lifting control does not meet the requirements, and step D is executed to determine the adjusted length value as the current length value, and return to the step of determining the target lifting speed of the air spring based on the preset lifting speed of the air spring and the current length value of the air spring in step S103.

[0127] The control method for synchronous lifting of the suspension height of an automobile provided in an embodiment of the present application comprises the following steps: first, when the current running state of a target vehicle and the road surface on which the target vehicle is currently located meet predetermined conditions at the same time, for an air spring corresponding to each wheel of the target vehicle, the load weight corresponding to the air spring is determined according to the pressure value in the air spring and the current length value of the air spring; then, the air cylinder pressure value in the air cylinder in the target vehicle is obtained, and the preset lifting speed of the air spring is determined according to the load weight corresponding to the air spring and the air cylinder pressure value; the target lifting speed of the air spring is determined based on the preset lifting speed of the air spring and the current length value of the air spring; the required inflation amount of the proportional control valve corresponding to the air spring is determined according to the target lifting speed of the air spring, the pressure value in the air spring and the load weight of the air spring; the required proportional valve opening value of the proportional control valve corresponding to the air spring is determined according to the air cylinder pressure value, the pressure value in the air spring and the inflation amount; finally, the proportional control valve is opened based on the proportional valve opening value, so that the axle connected to the wheel corresponding to the air spring is lifted and lowered according to the lifting and lowering of the air spring.

[0128] The present application determines the target lifting speed of the air spring corresponding to each wheel of the target vehicle when the current running state of the target vehicle and the road surface where the target vehicle is currently located meet the predetermined conditions at the same time, and then controls the opening of the proportional control valve corresponding to the air spring according to the target lifting speed, so that the wheel corresponding to the air spring is lifted and lowered according to the lifting and lowering of the air spring. Compared with the method in which the front axle and the rear axle in traditional vehicles can only be lifted and lowered separately, the present application can calculate the target lifting speed for the air spring corresponding to each wheel during the rising and falling process of the air spring, so as to realize the synchronous lifting and lowering of each air spring, and the axle connected to the wheel corresponding to each air spring is also lifted and lowered according to the lifting and lowering of the air spring, so as to realize the synchronous lifting and lowering of the vehicle suspension height, which not only does not change the driver's driving perspective, but also improves the riding comfort of the vehicle.

[0129] See also Figure 2 , Figure 3 , Figure 2 This is a schematic diagram of the structure of a control device for synchronously raising and lowering the height of a vehicle suspension provided in an embodiment of the present application. Figure 3 This is a schematic diagram of the structure of another control device for synchronously raising and lowering the height of a vehicle suspension provided in an embodiment of the present application. Figure 2 As shown in , the control device 200 includes:

[0130] A load weight determination module 201 is used to determine the load weight corresponding to each air spring corresponding to each wheel of the target vehicle according to the pressure value in the air spring and the current length value of the air spring when the current running state of the target vehicle and the current road surface of the target vehicle meet predetermined conditions at the same time;

[0131] A preset lifting speed determination module 202 is used to obtain the air cylinder pressure value in the air cylinder in the target vehicle, and determine the preset lifting speed of the air spring according to the load weight corresponding to the air spring and the air cylinder pressure value;

[0132] A target lifting speed determination module 203 is used to determine a target lifting speed of the air spring based on a preset lifting speed of the air spring and a current length value of the air spring;

[0133] The inflation volume determination module 204 determines the inflation volume required by the proportional control valve corresponding to the air spring according to the target lifting speed of the air spring, the pressure value in the air spring and the load weight of the air spring;

[0134] A proportional valve opening value determination module 205 determines the proportional valve opening value required by the proportional control valve corresponding to the air spring according to the air reservoir pressure value, the pressure value in the air spring and the inflation amount;

[0135] The lifting control module 206 is used to control the opening of the proportional control valve based on the proportional valve opening value, so that the axle connected to the wheel corresponding to the air spring is lifted or lowered according to the lifting or lowering of the air spring.

[0136] Further, the predetermined condition includes that the current running state of the target vehicle is a target control state and the road surface where the target vehicle is currently located is a horizontal road surface, and the target control state includes a stationary state or a dynamically stable state;

[0137] The stationary state means that the speed of the target vehicle is 0; the dynamically stable state means that the speed of the target vehicle is greater than 0, the acceleration is less than the acceleration threshold, the steering wheel angular velocity is less than the angular velocity threshold, the braking force is less than the braking force threshold, the anti-lock braking signal is not activated, and the fault signal is not activated.

[0138] Furthermore, the load weight determination module 201 determines whether the road surface on which the target vehicle is currently located is a horizontal road surface by the following steps:

[0139] Obtaining the left front wheel center coordinates, the right front wheel center coordinates, the rear axle center coordinates, the left rear wheel center coordinates and the right rear wheel center coordinates of the target vehicle in the vehicle coordinate system;

[0140] Determine a detection plane based on the left front wheel center point coordinates, the right front wheel center point coordinates and the rear axle center point coordinates;

[0141] Calculating a first distance from the left rear wheel center point coordinate to the detection plane, and a second distance from the right rear wheel center point coordinate to the detection plane;

[0142] If both the first distance and the second distance are smaller than a distance threshold, it is determined that the road surface on which the target vehicle is located is a horizontal road surface.

[0143] Furthermore, when the load weight determination module 201 is used to determine the load weight corresponding to the air spring according to the pressure value in the air spring and the current length value of the air spring, the load weight determination module 201 is also used to:

[0144] Determining a pressure value in the air spring using a pressure sensor in the target vehicle;

[0145] Determine the current length value of the air spring using a height sensor in the target vehicle;

[0146] Based on the current length value, using a preset length conversion relationship, determining a current suspension height value;

[0147] Based on the pressure value and the current suspension height value, the load weight corresponding to the air spring is determined using a load weight comparison table corresponding to the target vehicle.

[0148] Further, when the target lifting speed determination module 203 is used to determine the target lifting speed of the air spring based on the preset lifting speed of the air spring and the current length value of the air spring, the target lifting speed determination module 203 is also used to:

[0149] Based on the current length value of the air spring and the preset lifting cycle time, determine the historical lifting speed of the air spring in the last lifting cycle; wherein the lifting cycle time refers to the time required for the air spring to perform one lifting;

[0150] The historical lifting speed is used as a closed-loop feedback signal, and based on the difference between the preset lifting speed and the historical lifting speed, a PID algorithm is used to determine the target lifting speed of the air spring in the current lifting cycle.

[0151] Furthermore, when the proportional valve opening value determination module 205 is used to determine the proportional valve opening value required by the proportional control valve corresponding to the air spring according to the air cylinder pressure value, the pressure value in the air spring and the inflation amount, the proportional valve opening value determination module 205 is also used to:

[0152] Determine the difference between the pressure value of the air reservoir and the pressure value in the air spring as the pressure difference;

[0153] Based on the pressure difference and the inflation amount, a proportional valve opening value required by a proportional control valve corresponding to the air spring is determined using a functional relationship between the pressure difference and the inflation amount.

[0154] Further, such as Figure 3 As shown, the control device 200 further includes a judgment module 207. After the proportional control valve is opened based on the proportional valve opening value, the judgment module 207 is used to:

[0155] Determining a target length value of the air spring according to a target lifting speed of the air spring, a current length value of the air spring, and the lifting cycle time;

[0156] Determining the adjusted length value of the air spring using a height sensor in the target vehicle;

[0157] Determine whether the difference between the adjusted length value and the target length value reaches a preset height error range;

[0158] If not, the adjusted length value is determined as the current length value, and the process returns to the step of determining the target lifting speed of the air spring based on the preset lifting speed of the air spring and the current length value of the air spring.

[0159] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown in , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0160] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 1 The steps of the method for controlling the synchronous lifting and lowering of the vehicle suspension height in the method embodiment shown in the embodiment and the specific implementation manner can be referred to the method embodiment, which will not be repeated here.

[0161] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The steps of the method for controlling the synchronous lifting and lowering of the vehicle suspension height in the method embodiment shown in the embodiment and the specific implementation manner can be referred to the method embodiment, which will not be repeated here.

[0162] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0163] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0164] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0165] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0166] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0167] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.

[0168] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for controlling the synchronous lifting and lowering of a vehicle suspension height, characterized in that: The control method comprises: When the current running state of the target vehicle and the road surface on which the target vehicle is currently located simultaneously meet predetermined conditions, for an air spring corresponding to each wheel of the target vehicle, the load weight corresponding to the air spring is determined according to the pressure value in the air spring and the current length value of the air spring; Obtaining an air cylinder pressure value in an air cylinder in the target vehicle, and determining a preset lifting speed of the air spring according to a load weight corresponding to the air spring and the air cylinder pressure value; Determining a target lifting speed of the air spring based on a preset lifting speed of the air spring and a current length value of the air spring; Determine the required inflation amount of the proportional control valve corresponding to the air spring according to the target lifting speed of the air spring, the pressure value in the air spring and the load weight of the air spring; Determine the proportional valve opening value required by the proportional control valve corresponding to the air spring according to the pressure value of the air reservoir, the pressure value in the air spring and the inflation amount; The proportional control valve is opened and controlled based on the proportional valve opening value, so that the axle connected to the wheel corresponding to the air spring is raised and lowered according to the raising and lowering of the air spring.

2. The control method according to claim 1, characterized in that: The predetermined condition includes that the current running state of the target vehicle is a target control state and the road surface where the target vehicle is currently located is a horizontal road surface, and the target control state includes a stationary state or a dynamically stable state; The stationary state means that the speed of the target vehicle is 0; the dynamically stable state means that the speed of the target vehicle is greater than 0, the acceleration is less than the acceleration threshold, the steering wheel angular velocity is less than the angular velocity threshold, the braking force is less than the braking force threshold, the anti-lock braking signal is not activated, and the fault signal is not activated.

3. The control method according to claim 2, characterized in that: Determine whether the road surface where the target vehicle is currently located is a horizontal road surface by the following steps: Obtaining the left front wheel center coordinates, the right front wheel center coordinates, the rear axle center coordinates, the left rear wheel center coordinates and the right rear wheel center coordinates of the target vehicle in the vehicle coordinate system; Determine a detection plane based on the left front wheel center point coordinates, the right front wheel center point coordinates and the rear axle center point coordinates; Calculating a first distance from the left rear wheel center point coordinate to the detection plane, and a second distance from the right rear wheel center point coordinate to the detection plane; If both the first distance and the second distance are smaller than a distance threshold, it is determined that the road surface on which the target vehicle is located is a horizontal road surface.

4. The control method according to claim 1, characterized in that: Determining the load weight corresponding to the air spring according to the pressure value in the air spring and the current length value of the air spring includes: Determining a pressure value in the air spring using a pressure sensor in the target vehicle; Determine the current length value of the air spring using a height sensor in the target vehicle; Based on the current length value, using a preset length conversion relationship, determining a current suspension height value; Based on the pressure value and the current suspension height value, the load weight corresponding to the air spring is determined using a load weight comparison table corresponding to the target vehicle.

5. The control method according to claim 1, characterized in that: The step of determining a target lifting speed of the air spring based on a preset lifting speed of the air spring and a current length value of the air spring comprises: Based on the current length value of the air spring and the preset lifting cycle time, determine the historical lifting speed of the air spring in the last lifting cycle; wherein the lifting cycle time refers to the time required for the air spring to perform one lifting; The historical lifting speed is used as a closed-loop feedback signal, and based on the difference between the preset lifting speed and the historical lifting speed, a PID algorithm is used to determine the target lifting speed of the air spring in the current lifting cycle.

6. The control method according to claim 1, characterized in that: Determining the proportional valve opening value required by the proportional control valve corresponding to the air spring according to the pressure value of the air reservoir, the pressure value in the air spring and the inflation amount includes: Determine the difference between the pressure value of the air reservoir and the pressure value in the air spring as the pressure difference; Based on the pressure difference and the inflation amount, a proportional valve opening value required by a proportional control valve corresponding to the air spring is determined using a functional relationship between the pressure difference and the inflation amount.

7. The control method according to claim 5, characterized in that: After the proportional control valve is opened and controlled based on the proportional valve opening value, the control method further includes: Determining a target length value of the air spring according to a target lifting speed of the air spring, a current length value of the air spring, and the lifting cycle time; Determining the adjusted length value of the air spring using a height sensor in the target vehicle; Determine whether the difference between the adjusted length value and the target length value reaches a preset height error range; If not, the adjusted length value is determined as the current length value, and the process returns to the step of determining the target lifting speed of the air spring based on the preset lifting speed of the air spring and the current length value of the air spring.

8. A control device for synchronously raising and lowering the height of a vehicle suspension, characterized in that: The control device comprises: A load weight determination module is used to determine the load weight corresponding to each air spring corresponding to each wheel of the target vehicle according to the pressure value in the air spring and the current length value of the air spring when the current running state of the target vehicle and the current road surface of the target vehicle meet predetermined conditions at the same time; A preset lifting speed determination module, used to obtain the air cylinder pressure value in the air cylinder in the target vehicle, and determine the preset lifting speed of the air spring according to the load weight corresponding to the air spring and the air cylinder pressure value; A target lifting speed determination module, used to determine a target lifting speed of the air spring based on a preset lifting speed of the air spring and a current length value of the air spring; An air filling amount determination module determines the air filling amount required by the proportional control valve corresponding to the air spring according to the target lifting speed of the air spring, the pressure value in the air spring and the load weight of the air spring; A proportional valve opening value determination module, which determines the proportional valve opening value required by the proportional control valve corresponding to the air spring according to the pressure value of the air reservoir, the pressure value in the air spring and the inflation amount; The lifting control module is used to control the opening of the proportional control valve based on the proportional valve opening value, so that the axle connected to the wheel corresponding to the air spring is lifted and lowered according to the lifting and lowering of the air spring.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the method for controlling the synchronous lifting and lowering of the vehicle suspension height as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for controlling the synchronous lifting and lowering of the vehicle suspension height as claimed in any one of claims 1 to 7 are executed.

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