Method and system for automatically adjusting vehicle height by air suspension when parking on a ramp

Abstract

The present invention relates to a method and system for automatically adjusting the vehicle height of an air suspension during ramp parking. The method includes: obtaining the slope value of a target parking point according to a high-precision map, and retrieving the typical inclination values of the vehicle at multiple preset driving direction angles under the slope value, wherein each typical inclination value is preset with a corresponding air suspension adjustment parameter; detecting the driving direction angle at the previous sampling moment in the parking state, selecting the preset driving direction angle with the smallest difference from the driving direction angle, and assigning its typical inclination value to the driving direction angle, and retrieving the air suspension adjustment parameter corresponding to the typical inclination value to control the telescopic amount of the vehicle's air suspension. The present invention solves the problems of vehicle damage caused by vehicle body tilt during ramp parking and poor riding experience of passengers.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle intelligence, and particularly relates to a method and system for automatically adjusting the vehicle height by an air suspension when parking on a slope. Background Art

[0002] In recent years, more and more passenger cars are equipped with air suspensions. The current main uses of air suspensions are as follows:

[0003] Improve vehicle comfort: Vehicles equipped with air suspensions can use air springs that change hardness and length to adjust the softness, hardness, and length of the air springs. They can be adjusted on some uneven roads to obtain better comfort.

[0004] Improve vehicle driving performance: Through the adjustment of the air suspension, the vehicle's suspension can have different performances, taking into account comfort, sportiness, stability, and passability, so as to obtain better driving performance, effectively improve the riding comfort of passengers, and also have a certain protective effect on the tires.

[0005] Obtain better passing performance: After installing the air suspension, the height of the chassis can be adjusted according to different road conditions compared with before, so as to meet the driving needs under various road conditions. When off-roading, it can also ensure that the off-road vehicle can drive under harsh road conditions, and the passing performance is more excellent.

[0006] Currently, the usage scenarios of air suspensions mainly focus on vehicle driving and the scenario of improving the vehicle's handling performance during driving. With the research and application of air suspensions, there are more and more usage scenarios that air suspensions can be extended to. In order to expand the usage scenarios of air suspensions and enhance the customer experience, it is also necessary to study the extended application of air suspensions in a static environment (such as the parking scenario).

[0007] For example, due to the shortage of parking spaces, vehicles sometimes have to be parked on slopes. When the vehicle is parked on a slope, it will cause discomfort to the driver, and long-term parking of the vehicle on a slope will cause certain damage to the vehicle suspension, tires, and brake calipers. In addition, when the driver drives the vehicle on a slope, the vehicle will tilt due to the slope. When driving on a slope, the vehicle tilt brings a very uncomfortable feeling. Summary of the Invention

[0008] In view of the technical problems existing in the prior art, the present invention provides a method and system for automatically adjusting the vehicle height by an air suspension when parking on a slope, which solves the problems of vehicle damage caused by the vehicle body tilting when parking on a slope and the poor experience of the driver and passengers.

[0009] The technical solutions for the present invention to solve the above technical problems are as follows:

[0010] In a first aspect, the present invention provides a method for automatically adjusting the vehicle height of an air suspension when parking on a ramp, including:

[0011] S1. Obtain the slope value of the target parking point according to the high-precision map, and retrieve the typical inclination values of the vehicle at multiple preset driving direction angles under the slope value, where each typical inclination value is preset with a corresponding air suspension adjustment parameter;

[0012] S2. Detect the driving direction angle at the previous sampling moment in the parking state, select the preset driving direction angle with the smallest difference from the driving direction angle, and assign its typical inclination value to the driving direction angle, and retrieve the air suspension adjustment parameter corresponding to the typical inclination value to control the telescopic amount of the vehicle's air suspension.

[0013] Based on the above technical solution, the present invention can also be improved as follows.

[0014] Further, the method further includes:

[0015] S3. Detect the X-direction inclination angle α and Y-direction inclination angle β of the vehicle body, where the X-direction and Y-direction respectively correspond to the front-rear and left-right directions of the vehicle coordinate system; when |α| < 1° and |β| < 1°, it is determined that the vehicle body is in a horizontal state; when |α| ≥ 1° or |β| ≥ 1°, it is determined that the vehicle body is not in a horizontal state.

[0016] Further, the method further includes:

[0017] S4. When it is determined that the vehicle body is not in a horizontal state, calculate the height difference Δd1 between the front and rear wheels and the height difference Δd2 between the left and right wheels through the X-direction inclination angle α, Y-direction inclination angle β, vehicle wheelbase D1 and vehicle track D2 of the vehicle body;

[0018] Calculate the height values that each wheel needs to be adjusted according to the height difference Δd1 between the front and rear wheels, the height difference Δd2 between the left and right wheels, the height L1 of the left front wheel, the height L2 of the right front wheel, the height L3 of the left rear wheel and the height L4 of the right rear wheel, and adjust the telescopic amount of each air suspension according to the height values that need to be adjusted.

[0019] Further, step S4 includes:

[0020] S401. When it is determined that the vehicle body is not in a horizontal state, obtain the vehicle wheelbase D1 and vehicle track D2, assume that the X-direction inclination angle α is positive when the vehicle head tilts upward, the X-direction inclination angle α is negative when the vehicle head tilts downward, the Y-direction inclination angle β is positive when the vehicle body tilts to the left, and the Y-direction inclination angle β is negative when the vehicle body tilts to the right;

[0021] S402. Assume that the Y-direction inclination angle β of the vehicle is 0°, the height difference between the front wheels and the rear wheels is Δd1. According to the trigonometric function formula, Sin|α| = Δd1 / D1, and Δd1 = arcsin|α| * D1;

[0022] Assume that the X-direction inclination angle α of the vehicle is 0°, the height difference between the left wheels and the right wheels is Δd2. According to the trigonometric function formula, Sin|β| = Δd2 / D2, and Δd2 = arcsin|β| * D2;

[0023] S403. When the α angle is positive and β is positive, taking the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is Δd2, the height value that the left rear wheel needs to be adjusted is -Δd1; the height value that the right rear wheel needs to be adjusted is Δd2 - Δd1;

[0024] When the α angle is positive and β is negative, taking the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is -Δd2, the height value that the left rear wheel needs to be adjusted is -Δd1; the height value that the right rear wheel needs to be adjusted is -Δd2 - Δd1;

[0025] When the α angle is negative and β is positive, taking the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is Δd2, the height value that the left rear wheel needs to be adjusted is Δd1; the height value that the right rear wheel needs to be adjusted is Δd2 + Δd1;

[0026] When the α angle is negative and β is negative, taking the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is -Δd2, the height value that the left rear wheel needs to be adjusted is Δd1; the height value that the right rear wheel needs to be adjusted is -Δd2 + Δd1;

[0027] S404. Adjust the telescopic amount of each air suspension according to the height value that each wheel needs to be adjusted until the stop condition is reached.

[0028] Furthermore, the stop condition is that the vehicle is in a horizontal state or has reached the maximum adjustment range of the air suspension.

[0029] Furthermore, in step S2, detecting the driving direction angle at the previous sampling moment in the parking state includes:

[0030] Detect the driving direction of the vehicle in real time. When it is detected that the vehicle stops, save the driving direction angle at the previous detection moment when the vehicle stops; among them, the conditions for judging that the vehicle stops include:

[0031] a. The vehicle speed is 0 and the vehicle is in a stationary state;

[0032] b. The gear is in P gear;

[0033] c. The brake pedal is in the released state;

[0034] d. The throttle pedal opening is 0.

[0035] In a second aspect, the present invention provides a system for automatically adjusting the vehicle height of an air suspension during ramp parking, including:

[0036] A slope prediction module, which obtains the slope value of the target parking point according to the high-precision map, and retrieves the typical inclination values of the vehicle at multiple preset driving direction angles under the slope value, wherein each typical inclination value is preset with a corresponding air suspension adjustment parameter;

[0037] A height adjustment module, which detects the driving direction angle at the previous sampling moment in the parking state, selects the preset driving direction angle with the smallest difference from the driving direction angle, and assigns its typical inclination value to the driving direction angle, and retrieves the air suspension adjustment parameter corresponding to the typical inclination value to control the telescopic amount of the vehicle's air suspension.

[0038] Furthermore, the system further includes:

[0039] A slope prediction module, which obtains the slope value of the target parking point according to the high-precision map, and retrieves the typical inclination values of the vehicle at multiple preset driving direction angles under the slope value, wherein each typical inclination value is preset with a corresponding air suspension adjustment parameter;

[0040] A height adjustment module, which detects the driving direction angle at the previous sampling moment in the parking state, selects the preset driving direction angle with the smallest difference from the driving direction angle, and assigns its typical inclination value to the driving direction angle, and retrieves the air suspension adjustment parameter corresponding to the typical inclination value to control the telescopic amount of the vehicle's air suspension;

[0041] A level detection module, which detects the X-direction inclination angle α and Y-direction inclination angle β of the vehicle body, where the X-direction and Y-direction respectively correspond to the front-back and left-right directions of the vehicle coordinate system; when |α| < 1° and |β| < 1°, it is determined that the vehicle body is in a horizontal state; when |α| ≥ 1° or |β| ≥ 1°, it is determined that the vehicle body is not in a horizontal state;

[0042] A height fine-tuning module, when it is determined that the vehicle body is not in a horizontal state, calculates the height difference Δd1 between the front and rear wheels and the height difference Δd2 between the left and right wheels through the X-direction inclination angle α, Y-direction inclination angle β, vehicle wheelbase D1 and vehicle track D2 of the vehicle body; calculates the height values that each wheel needs to be adjusted according to the height difference Δd1 between the front and rear wheels, the height difference Δd2 between the left and right wheels, the height L1 of the left front wheel, the height L2 of the right front wheel, the height L3 of the left rear wheel and the height L4 of the right rear wheel, and correspondingly adjusts the telescopic amount of each air suspension according to the height value that needs to be adjusted.

[0043] In a third aspect, the present invention provides an electronic device, including a memory and a processor. When the processor executes a computer management program stored in the memory, the steps of the method for automatically adjusting the vehicle height of the air suspension during ramp parking as described above are implemented.

[0044] In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer management program is stored. When the computer management program is executed by a processor, the steps of the method for automatically adjusting the vehicle height of the air suspension during ramp parking as described above are implemented.

[0045] The beneficial effects of the present invention are as follows: When the vehicle is parked, the present invention provides a road slope signal of the parking point through a high-precision map, obtains the driving direction angle of the vehicle by acquiring the vehicle six-axis gyroscope signal, and calculates the front and rear inclination angles and the left and right inclination angles of the vehicle. According to the front and rear inclination angles and the left and right inclination angles of the vehicle, the heights that need to be adjusted for the four wheels are calculated, and then the heights of the four wheels are controlled to be adjusted so that the vehicle is in a horizontal state after adjustment. The technical solution of the present invention solves the damage to the vehicle suspension, tires and brake calipers caused by the vehicle body being in an inclined state when the vehicle parks on a ramp for a long time. At the same time, when the driver and passengers get on the vehicle again, there is no sense of inclination after entering the vehicle, solving the problem that the driver feels uncomfortable after getting on the vehicle when the vehicle is parked on a ramp, and improving the experience of the driver and passengers. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the vehicle system composition framework of the present invention;

[0047] Figure 2 It is a flowchart of an embodiment of a method of the present invention;

[0048] Figure 3 It is a flowchart of another embodiment of a method of the present invention;

[0049] Figure 4 It is a schematic diagram of the X-direction inclination angle α of the vehicle of the present invention;

[0050] Figure 5 It is a schematic diagram of the Y-direction inclination angle β of the vehicle of the present invention;

[0051] Figure 6 It is a structural block diagram of an embodiment of a system of the present invention;

[0052] Figure 7 It is a structural block diagram of another embodiment of a system of the present invention;

[0053] Figure 8 It is a structural block diagram of an embodiment of the electronic device of the present invention;

[0054] Figure 9 It is a structural block diagram of an embodiment of the computer-readable storage medium of the present invention. Specific Embodiments

[0055] The principles and features of the present invention will be described below in conjunction with the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0056] As Figure 1 shown, the technical solutions of the embodiments of the present invention are based on the following vehicle system.

[0057] The vehicle system involved in the embodiments of the present invention at least includes an air suspension controller, air springs for four wheels, four wheel suspension height sensors, a compressor, a solenoid valve, an air storage tank, a six-axis gyroscope, an intelligent integrated braking system, a power domain control system, a body electronic system, a safety airbag control system, a transmission system, a high-precision map, and positioning.

[0058] The air suspension system involved in the embodiments of the present invention is at least composed of an air suspension controller, four-wheel suspension height sensors, four-wheel air springs, a compressor, a solenoid valve, and an air storage tank, etc. Among them, the four-wheel suspension height sensors can obtain the suspension heights of the four wheels at the left front, right front, left rear, and right rear. The heights of the four-wheel air springs can be adjusted independently, so as to adjust the body height at the four wheels respectively.

[0059] The intelligent integrated braking system provides signals such as vehicle speed, vehicle stationary state, EPB (electronic parking brake) state, and driver brake pedal state.

[0060] The six-axis gyroscope provides signals of X-axis acceleration, Y-axis acceleration, Z-axis acceleration, left and right tilt angles, front and rear tilt angles, and left and right yaw angles based on the vehicle body coordinate system. Generally speaking, the X-axis approximately refers to the front and rear direction of the vehicle body, the Y-axis approximately refers to the left and right direction of the vehicle body, and the Z-axis approximately refers to the up and down direction of the vehicle body.

[0061] The power domain control system provides signals such as vehicle torque and accelerator pedal opening.

[0062] The transmission system provides signals such as vehicle gear position.

[0063] The body electronic system provides signals such as the states of four doors and two covers, vehicle locking state, and vehicle anti-theft state.

[0064] The safety airbag control system provides the signal of the main driver's seat belt state.

[0065] High-precision map and positioning: Provide information on the vehicle navigation starting point and navigation ending point, and provide road information and vehicle positioning information. Among them, the road information includes information such as the curvature and slope of the road. For example, the slope of the destination can be obtained through the high-precision map.

[0066] Based on the above vehicle system, as Figure 1As shown in the figure, this embodiment provides a method for automatically adjusting the vehicle height of an air suspension when parking on a ramp. The method includes:

[0067] S1. Obtain the slope value of the target parking point according to the high-precision map, and retrieve the typical inclination values of the vehicle at multiple preset driving direction angles under the slope value, where each typical inclination value is preset with a corresponding air suspension adjustment parameter;

[0068] S2. Detect the driving direction angle at the previous sampling moment in the parking state, select the preset driving direction angle with the smallest difference from the driving direction angle, and assign its typical inclination value to the driving direction angle, and retrieve the air suspension adjustment parameter corresponding to the typical inclination value to control the telescopic amount of the vehicle's air suspension.

[0069] In this embodiment, it can be understood that, according to the destination input by the driver in the high-precision navigation, it is judged which area the vehicle will finally park in, and the terrain data of this area is obtained from the high-precision map. Through the analysis and calculation of the terrain data, the slope value of the ground in this area is obtained. During the vehicle driving process, the distance between the vehicle and the destination is obtained in real time through GPS positioning. When the distance between the vehicle and the destination reaches the distance threshold (for example, there are still 500 meters left, which can be set by oneself), the air suspension adjustment parameters corresponding to the typical values of the vehicle at several driving direction angles under the slope conditions in this parking area are automatically retrieved.

[0070] The typical inclination values of the above-mentioned multiple preset driving direction angles and their corresponding air suspension adjustment parameters are for calibrating in advance through multiple experiments the suspension adjustment amounts corresponding to different slopes of the vehicle at various typical driving angles and regional grounds. Specifically, assuming that the due north direction is taken as a reference, several typical values of the angle between the driving direction of the vehicle and the due north direction are selected as the preset driving direction angles, that is, the angle by which the vehicle head deviates from the due north direction, such as ±15°, ±30°, ±45°, ±60°, etc. The slope values are divided into several groups of typical inclination values, such as ±2°, ±10°, ±15°, ±20°, ±30°, etc. The air suspension adjustment parameters corresponding to when the vehicle body is adjusted to the horizontal state are pre-tested through experiments and saved when each preset driving direction angle corresponds to multiple typical inclination values.

[0071] When it is detected that the vehicle enters the parking area and it is detected that the vehicle is in a stopped state, then the angle of the actual driving direction of the vehicle is detected by a gyroscope, that is, the vehicle driving direction angle obtained at the previous sampling detection moment of the parking state. The detected driving direction angle is fuzzified and classified, and it is automatically modified to a set of typical values of the driving direction angle closest to it (that is, the aforementioned preset driving direction angle. For example, if the detected actual driving direction angle is +20 degrees, it is automatically modified to +15 degrees). Subsequently, the adjustment amounts of the four sets of air suspensions when the driving angle is +15 under the current slope are automatically matched. Then, the adjustment parameters of the four sets of air suspensions corresponding to the typical value of this angle are retrieved, and the telescopic amounts of the four sets of air suspensions are controlled and adjusted according to the adjustment parameters, so as to adjust the body attitude to a relatively comfortable state, such as approaching the horizontal state.

[0072] In this embodiment, in step S2, detecting the driving direction angle at the previous sampling moment of the parking state includes:

[0073] The driving direction of the vehicle is detected in real time by a gyroscope. When it is detected that the vehicle stops, the driving direction angle at the previous detection moment when the vehicle stops is saved; wherein, the conditions for judging that the vehicle stops include:

[0074] a, the vehicle speed is 0 and the vehicle is in a stationary state;

[0075] b, the gear is in P gear;

[0076] c, the brake pedal is in the released state;

[0077] d, the throttle pedal opening is 0.

[0078] On the basis of the above technical solution, this embodiment can also be improved as follows.

[0079] As a preferred embodiment, as shown in the flowchart of Figure 3 , based on the above embodiment, the method further includes:

[0080] S3, detecting the X-direction inclination angle α and Y-direction inclination angle β of the vehicle body, where the X-direction and Y-direction respectively correspond to the front-rear and left-right directions of the vehicle coordinate system; when |α| < 1° and |β| < 1°, it is determined that the vehicle body is in a horizontal state; when |α| ≥ 1° or |β| ≥ 1°, it is determined that the vehicle body is not in a horizontal state.

[0081] The X-direction inclination angle α and Y-direction inclination angle β of the vehicle body can refer to Figures 4 to 5Schematic diagram. It can be understood that when the vehicle body is in an approximately horizontal state, the damage caused by the vehicle body tilt is small, and the riding experience of the driver and passengers in the vehicle is better in this state. Therefore, when the air suspension controller detects that the vehicle has stopped, it automatically matches a set of typical angle values according to the detected driving direction angle of the vehicle and the current road slope value, retrieves the adjustment parameters of the four groups of air suspensions corresponding to the typical angle values, and after adjusting the telescopic amounts of the four groups of air suspensions according to the control parameters, it will still judge whether the vehicle is in a horizontal state through the information of the six-axis gyroscope. Through step S3, it can be judged whether the vehicle body is in a horizontal state, so as to judge whether it is necessary to further adjust the vehicle body posture.

[0082] As a preferred embodiment, as Figure 3 shown in the flowchart of, the method further includes:

[0083] S4. When it is determined that the vehicle body is not in a horizontal state, calculate the height difference Δd1 between the front and rear wheels and the height difference Δd2 between the left and right wheels through the X-direction inclination angle α, Y-direction inclination angle β of the vehicle body, vehicle wheelbase D1 and vehicle track width D2;

[0084] Calculate the height values that each wheel needs to be adjusted according to the height difference Δd1 between the front and rear wheels, the height difference Δd2 between the left and right wheels, the height L1 of the left front wheel, the height L2 of the right front wheel, the height L3 of the left rear wheel, and the height L4 of the right rear wheel, and adjust the telescopic amounts of the respective air suspensions according to the height values that need to be adjusted.

[0085] It can be understood that in step S3, by detecting the horizontal state of the vehicle body, when it is determined that the horizontal degree of the vehicle body does not reach the optimal value, this embodiment calculates the adjustment amounts of the respective air suspensions required for vehicle body adjustment according to the detected parameters of the vehicle according to the current state of the vehicle body, so as to adjust the vehicle body posture again. The first adjustment of the vehicle body state in step S2 is a rough adjustment, and the second adjustment of the vehicle body posture in step S4 is a fine adjustment based on the first adjustment, making the adjustment of the vehicle body state more accurate.

[0086] As a preferred embodiment, step S4 includes:

[0087] S401. When it is determined that the vehicle body is not in a horizontal state, obtain the vehicle wheelbase D1 and vehicle track width D2. Assume that the X-direction inclination angle α is positive when the vehicle head tilts upward, the X-direction inclination angle α is negative when the vehicle head tilts downward, the Y-direction inclination angle β is positive when the vehicle body tilts to the left, and the Y-direction inclination angle β is negative when the vehicle body tilts to the right;

[0088] S402. Assume that the Y-direction inclination angle β of the vehicle is 0°, the height difference between the front wheels and the rear wheels is Δd1, and according to the trigonometric function formula, Sin|α| = Δd1 / D1, Δd1 = arcsin|α| * D1;

[0089] Assume that the X - direction inclination angle α of the vehicle is 0°, and the height difference between the left and right wheels is Δd2. According to the trigonometric function formula, Sin|β| = Δd2 / D2, and Δd2 = arcsin|β| * D2;

[0090] S403. When the α angle is positive and β is positive, taking the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is Δd2, the height value that the left rear wheel needs to be adjusted is -Δd1; the height value that the right rear wheel needs to be adjusted is Δd2 - Δd1;

[0091] When the α angle is positive and β is negative, taking the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is -Δd2, the height value that the left rear wheel needs to be adjusted is -Δd1; the height value that the right rear wheel needs to be adjusted is -Δd2 - Δd1;

[0092] When the α angle is negative and β is positive, taking the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is Δd2, the height value that the left rear wheel needs to be adjusted is Δd1; the height value that the right rear wheel needs to be adjusted is Δd2 + Δd1;

[0093] When the α angle is negative and β is negative, taking the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is -Δd2, the height value that the left rear wheel needs to be adjusted is Δd1; the height value that the right rear wheel needs to be adjusted is -Δd2 + Δd1;

[0094] S404. According to the height values that each wheel needs to be adjusted, correspondingly adjust the telescopic amounts of each air suspension until the stop condition is reached.

[0095] In steps S401 - S404, for the four possible parking situations of the vehicle on the slope, calculate the height differences between each wheel respectively, and use the height differences between each wheel as the height values to be adjusted to adjust the telescopic amounts of the air suspensions corresponding to each wheel.

[0096] It can be understood that in step S403, although the height L1 of the left front wheel is taken as the reference 0 point as an example, actually, by analogy, any one of the right front wheel height L2, left rear wheel height L3, or right rear wheel height L4 can also be taken as the reference 0 point, so as to adjust the other three.

[0097] After calculating the adjustment parameters of the air suspensions corresponding to each wheel, the air suspension controller adjusts the telescopic amounts of the air springs corresponding to the four wheels, and then the adjustment of the vehicle body state can be completed.

[0098] In the above step S404, the stop condition is that the vehicle is in a horizontal state or has reached the maximum adjustment range of the air suspension.

[0099] Based on the above vehicle system and method embodiments, as Figure 6 shown, this embodiment provides a system for automatically adjusting the vehicle height of an air suspension when parking on a slope, including:

[0100] A slope prediction module, which obtains the slope value of the target parking point according to the high-precision map, and retrieves the typical inclination values of the vehicle at multiple preset driving direction angles under the slope value, where each typical inclination value is preset with a corresponding air suspension adjustment parameter;

[0101] A height adjustment module, which detects the driving direction angle at the previous sampling moment in the parking state, selects the preset driving direction angle with the smallest difference from the driving direction angle, assigns its typical inclination value to the driving direction angle, and retrieves the air suspension adjustment parameter corresponding to the typical inclination value to control the telescopic amount of the vehicle's air suspension.

[0102] It can be understood that a system for automatically adjusting the vehicle height of an air suspension when parking on a slope provided by the present invention corresponds to the method for automatically adjusting the vehicle height of an air suspension when parking on a slope provided by the foregoing embodiments. The relevant technical features of the system for automatically adjusting the vehicle height of an air suspension when parking on a slope can refer to the relevant technical features of the method for automatically adjusting the vehicle height of an air suspension when parking on a slope, and will not be elaborated here.

[0103] Based on the above method embodiments and vehicle system embodiments, as Figure 7 shown, this embodiment provides a system for automatically adjusting the vehicle height of an air suspension when parking on a slope, including:

[0104] A slope prediction module, which obtains the slope value of the target parking point according to the high-precision map, and retrieves the typical inclination values of the vehicle at multiple preset driving direction angles under the slope value, where each typical inclination value is preset with a corresponding air suspension adjustment parameter;

[0105] A height adjustment module, which detects the driving direction angle at the previous sampling moment in the parking state, selects the preset driving direction angle with the smallest difference from the driving direction angle, assigns its typical inclination value to the driving direction angle, and retrieves the air suspension adjustment parameter corresponding to the typical inclination value to control the telescopic amount of the vehicle's air suspension;

[0106] Among them, the conditions for determining that the vehicle is parked include:

[0107] a. The vehicle speed is 0 and the vehicle is in a stationary state;

[0108] b. The gear is in P gear;

[0109] c. The brake pedal is in the released state;

[0110] d. The throttle pedal opening is 0;

[0111] The level detection module detects the X-axis inclination angle α and Y-axis inclination angle β of the vehicle body, where the X-axis and Y-axis respectively correspond to the front-rear and left-right directions of the vehicle coordinate system; when |α| < 1° and |β| < 1°, it is determined that the vehicle body is in a horizontal state; when |α| ≥ 1° or |β| ≥ 1°, it is determined that the vehicle body is not in a horizontal state;

[0112] The height fine-tuning module, when it is determined that the vehicle body is not in a horizontal state, calculates the height difference Δd1 between the front and rear wheels and the height difference Δd2 between the left and right wheels through the X-axis inclination angle α, Y-axis inclination angle β, vehicle wheelbase D1 and vehicle track D2 of the vehicle body; calculates the height values that each wheel needs to be adjusted according to the height difference Δd1 between the front and rear wheels, the height difference Δd2 between the left and right wheels, the height of the left front wheel L1, the height of the right front wheel L2, the height of the left rear wheel L3 and the height of the right rear wheel L4, and adjusts the telescopic amount of each air suspension according to the required adjusted height value.

[0113] Among them, the height fine-tuning module includes the following sub-modules:

[0114] The parameter setting module: when it is determined that the vehicle body is not in a horizontal state, obtains the vehicle wheelbase D1 and vehicle track D2, assumes that the X-axis inclination angle α is positive when the vehicle head tilts upward, the X-axis inclination angle α is negative when the vehicle head tilts downward, the Y-axis inclination angle β is positive when the vehicle body tilts to the left, and the Y-axis inclination angle β is negative when the vehicle body tilts to the right;

[0115] The algorithm setting module: assumes that the Y-axis inclination angle β of the vehicle = 0°, the height difference between the front wheels and the rear wheels is Δd1, and according to the trigonometric function formula, Sin|α| = Δd1 / D1, Δd1 = arcsin|α| * D1;

[0116] Assumes that the X-axis inclination angle α of the vehicle = 0°, the height difference between the left wheel and the right wheel is Δd2, and according to the trigonometric function formula, Sin|β| = Δd2 / D2, Δd2 = arcsin|β| * D2;

[0117] The height calculation module: when the α angle is positive and β is positive, taking the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is Δd2, and the height value that the left rear wheel needs to be adjusted is -Δd1; the height value that the right rear wheel needs to be adjusted is Δd2 - Δd1;

[0118] When the α angle is positive and β is negative, taking the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is -Δd2, and the height value that the left rear wheel needs to be adjusted is -Δd1; the height value that the right rear wheel needs to be adjusted is -Δd2 - Δd1;

[0119] When the angle α is negative and β is positive, with the height L1 of the left front wheel as the reference 0 point, the height value to be adjusted for the right front wheel is Δd2, the height value to be adjusted for the left rear wheel is Δd1; the height value to be adjusted for the right rear wheel is Δd2 + Δd1;

[0120] When the angle α is negative and β is negative, with the height L1 of the left front wheel as the reference 0 point, the height value to be adjusted for the right front wheel is -Δd2, the height value to be adjusted for the left rear wheel is Δd1; the height value to be adjusted for the right rear wheel is -Δd2 + Δd1;

[0121] Fine-tuning execution module: Adjust the telescopic amount of each air suspension according to the height value to be adjusted for each wheel until the stop condition is reached.

[0122] The above stop condition is that the vehicle is in a horizontal state or has reached the maximum adjustment range of the air suspension.

[0123] It can be understood that a system for automatically adjusting the vehicle height of the air suspension during ramp parking provided by the present invention corresponds to the method for automatically adjusting the vehicle height of the air suspension during ramp parking provided by the foregoing embodiments. The relevant technical features of the system for automatically adjusting the vehicle height of the air suspension during ramp parking can refer to the relevant technical features of the method for automatically adjusting the vehicle height of the air suspension during ramp parking, and will not be elaborated herein.

[0124] Please refer to Figure 8 , Figure 8 which is a schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. As Figure 8 shown, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

[0125] Obtain the slope value of the target parking point according to the high-precision map, and retrieve the typical inclination values of the vehicle at multiple preset driving direction angles under the slope value, wherein each typical inclination value is preset with a corresponding air suspension adjustment parameter;

[0126] Detect the driving direction angle at the previous sampling moment of the parking state, select the preset driving direction angle with the smallest difference from the driving direction angle, and assign its typical inclination value to the driving direction angle, and retrieve the air suspension adjustment parameter corresponding to the typical inclination value to control the telescopic amount of the vehicle's air suspension.

[0127] Please refer to Figure 9 , Figure 9 which is a schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. As Figure 9 shown, this embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0128] Obtain the slope value of the target parking spot according to the high-precision map, and retrieve the typical inclination values of the vehicle at multiple preset driving direction angles under the slope value, where each typical inclination value is preset with a corresponding air suspension adjustment parameter;

[0129] Detect the driving direction angle at the previous sampling moment in the parking state, select the preset driving direction angle with the smallest difference from the driving direction angle, and assign its typical inclination value to the driving direction angle, and retrieve the air suspension adjustment parameter corresponding to the typical inclination value to control the telescopic amount of the vehicle's air suspension.

[0130] A method, system, electronic device and storage medium for automatically adjusting the vehicle height of an air suspension when parking on a slope provided by the present invention. When the vehicle is parked, a road slope signal of the parking spot is provided by a high-precision map, the driving direction angle of the vehicle is obtained by acquiring the vehicle's six-axis gyroscope signal, and the front and rear inclination angles and the left and right inclination angles of the vehicle are calculated. Calculate the heights that the four wheels need to be adjusted according to the front and rear inclination angles and the left and right inclination angles of the vehicle, and then control the height adjustment of the four wheels to make the vehicle in a horizontal state after adjustment. If it is detected that the vehicle body state is not in a horizontal state after the first adjustment, the vehicle body is finely adjusted again. The technical solution of this embodiment combines rough adjustment and fine adjustment to make the adjustment of the vehicle body level more accurate. The technical solution of this embodiment solves the damage to the vehicle suspension, tires and brake calipers caused by the vehicle body being in an inclined state when the vehicle parks on a slope for a long time. At the same time, when the driver and passengers get on the vehicle again, there is no sense of inclination after getting into the vehicle, solving the problem that the driver feels uncomfortable when getting into the vehicle parked on a slope, and improving the experience of the driver and passengers.

[0131] It should be noted that in the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0132] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, system, or computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0133] The present invention will be described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0134] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0135] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0136] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0137] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A method for automatically adjusting the vehicle height of an air suspension when parking on a ramp, characterized in that, Including: S1. Obtain the slope value of the target parking point according to the high-precision map, and retrieve the typical inclination values of the vehicle at multiple preset driving direction angles under the slope value. Each typical inclination value is preset with a corresponding air suspension adjustment parameter; S2. Detect the driving direction angle at the previous sampling moment in the parking state, select the preset driving direction angle with the smallest difference from the driving direction angle, and assign its typical inclination value to the driving direction angle. Retrieve the air suspension adjustment parameter corresponding to the typical inclination value to control the telescopic amount of the vehicle's air suspension; S3. Detect the X-direction inclination angle α and Y-direction inclination angle β of the vehicle body, where the X-direction and Y-direction respectively correspond to the front-back and left-right directions of the vehicle coordinate system. When |α| < 1° and |β| < 1°, it is determined that the vehicle body is in a horizontal state; when |α| ≥ 1° or |β| ≥ 1°, it is determined that the vehicle body is not in a horizontal state; S4. When it is determined that the vehicle body is not in a horizontal state, calculate the height difference Δd1 between the front and rear wheels and the height difference Δd2 between the left and right wheels through the X-direction inclination angle α, Y-direction inclination angle β, vehicle wheelbase D1, and vehicle track width D2 of the vehicle body; Calculate the height values that each wheel needs to be adjusted according to the height difference Δd1 between the front and rear wheels, the height difference Δd2 between the left and right wheels, the height L1 of the left front wheel, the height L2 of the right front wheel, the height L3 of the left rear wheel, and the height L4 of the right rear wheel, and adjust the telescopic amount of each air suspension according to the height values that need to be adjusted; Step S4 includes: S401. When it is determined that the vehicle body is not in a horizontal state, obtain the vehicle wheelbase D1 and vehicle track width D2. Assume that the X-direction inclination angle α is positive when the vehicle head tilts upward, the X-direction inclination angle α is negative when the vehicle head tilts downward, the Y-direction inclination angle β is positive when the vehicle body tilts to the left, and the Y-direction inclination angle β is negative when the vehicle body tilts to the right; S402. Assume that the Y-direction inclination angle β of the vehicle = 0°, and the height difference between the front wheels and the rear wheels is Δd1. According to the trigonometric function formula, sin|α| = Δd1 / D1, and Δd1 = sin|α| * D1; Assume that the X-direction inclination angle α of the vehicle = 0°, and the height difference between the left wheels and the right wheels is Δd2. According to the trigonometric function formula, sin|β| = Δd2 / D2, and Δd2 = sin|β| * D2; S403. When the α angle is positive and β is positive, taking the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is Δd2, the height value that the left rear wheel needs to be adjusted is -Δd1; the height value that the right rear wheel needs to be adjusted is Δd2 - Δd1; When the α angle is positive and β is negative, taking the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is -Δd2, the height value that the left rear wheel needs to be adjusted is -Δd1; the height value that the right rear wheel needs to be adjusted is -Δd2 - Δd1; When the α angle is negative and β is positive, taking the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is Δd2, the height value that the left rear wheel needs to be adjusted is Δd1; the height value that the right rear wheel needs to be adjusted is Δd2 + Δd1; When the α angle is negative and the β angle is negative, with the height L1 of the left front wheel as the reference 0 point, the height value to be adjusted for the right front wheel is -Δd2, the height value to be adjusted for the left rear wheel is Δd1; the height value to be adjusted for the right rear wheel is -Δd2 + Δd1; S404. Adjust the telescopic amount of each air suspension according to the height value to be adjusted for each wheel until the stop condition is reached.

2. The method for automatically adjusting the vehicle height of an air suspension during ramp parking according to claim 1, characterized in that, The stop condition is that the vehicle is in a horizontal state or has reached the maximum adjustment range of the air suspension.

3. The method for automatically adjusting the vehicle height of an air suspension during ramp parking according to claim 1, characterized in that, In step S2, detecting the driving direction angle at the previous sampling moment in the parking state includes: Real-time detecting the driving direction of the vehicle. When it is detected that the vehicle stops, save the driving direction angle at the previous detection moment when the vehicle stops; wherein, the conditions for judging that the vehicle stops include: a. The vehicle speed is 0 and the vehicle is in a stationary state; b. The gear is in P gear; c. The brake pedal is in the released state; d. The throttle pedal opening is 0.

4. A system for automatically adjusting the vehicle height of an air suspension when parking on a ramp, characterized in that, It includes: A slope prediction module, obtaining the slope value of the target parking point according to the high-precision map, and retrieving the typical inclination values of the vehicle at multiple preset driving direction angles under the retrieved slope value, wherein each typical inclination value is preset with corresponding air suspension adjustment parameters; A height adjustment module, detecting the driving direction angle at the previous sampling moment in the parking state, selecting the preset driving direction angle with the smallest difference from the driving direction angle and assigning its typical inclination value to the driving direction angle, and retrieving the air suspension adjustment parameters corresponding to the typical inclination value to control the telescopic amount of the vehicle's air suspension; A levelness detection module, detecting the X-direction inclination angle α and Y-direction inclination angle β of the vehicle body, where the X-direction and Y-direction respectively correspond to the front-rear and left-right directions of the vehicle coordinate system; when |α| < 1° and |β| < 1°, it is determined that the vehicle body is in a horizontal state; when |α| ≥ 1° or |β| ≥ 1°, it is determined that the vehicle body is not in a horizontal state; A height fine-tuning module, when it is determined that the vehicle body is not in a horizontal state, calculating the height differences Δd1 between the front and rear wheels and Δd2 between the left and right wheels through the X-direction inclination angle α, Y-direction inclination angle β, vehicle wheelbase D1, and vehicle track width D2 of the vehicle body; calculating the height values that each wheel needs to be adjusted according to the height differences Δd1 between the front and rear wheels, height differences Δd2 between the left and right wheels, left front wheel height L1, right front wheel height L2, left rear wheel height L3, and right rear wheel height L4, and adjusting the telescopic amount of each air suspension according to the height value to be adjusted, which includes the following sub-modules: A parameter setting module: when it is determined that the vehicle body is not in a horizontal state, obtain the vehicle wheelbase D1 and vehicle track width D2, assuming that the X-direction inclination angle α is positive when the vehicle head tilts upward, the X-direction inclination angle α is negative when the vehicle head tilts downward, the Y-direction inclination angle β is positive when the vehicle body tilts to the left, and the Y-direction inclination angle β is negative when the vehicle body tilts to the right; An algorithm setting module: assuming that the Y-direction inclination angle β of the vehicle = 0°, and the height difference between the front and rear wheels is Δd1, according to the trigonometric function formula, sin|α| = Δd1 / D1, and Δd1 = sin|α| * D1; Assume that the X-direction inclination angle α of the vehicle is 0°, and the height difference between the left and right wheels is Δd2. According to the trigonometric function formula, sin|β| = Δd2 / D2, and Δd2 = sin|β| * D2; Height calculation module: When the α angle is positive and β is positive, with the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is Δd2, the height value that the left rear wheel needs to be adjusted is -Δd1; the height value that the right rear wheel needs to be adjusted is Δd2 - Δd1; When the α angle is positive and β is negative, with the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is -Δd2, the height value that the left rear wheel needs to be adjusted is -Δd1; the height value that the right rear wheel needs to be adjusted is -Δd2 - Δd1; When the α angle is negative and β is positive, with the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is Δd2, the height value that the left rear wheel needs to be adjusted is Δd1; the height value that the right rear wheel needs to be adjusted is Δd2 + Δd1; When the α angle is negative and β is negative, with the height L1 of the left front wheel as the reference 0 point, the height value that the right front wheel needs to be adjusted is -Δd2, the height value that the left rear wheel needs to be adjusted is Δd1; the height value that the right rear wheel needs to be adjusted is -Δd2 + Δd1; Fine-tuning execution module: Adjust the telescopic amount of each air suspension according to the height value that each wheel needs to be adjusted until the stop condition is reached.

5. An electronic device, characterized in that, It includes a memory and a processor. When the processor executes the computer management program stored in the memory, it realizes the steps of the method for automatically adjusting the vehicle height by the air suspension during ramp parking as described in any one of claims 1-3.

6. A computer-readable storage medium, characterized in that, It stores a computer management program, and when the computer management program is executed by the processor, it realizes the steps of the method for automatically adjusting the vehicle height by the air suspension during ramp parking as described in any one of claims 1-3.

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