Vehicle body posture control method and control device based on dual-chamber air spring

Abstract

The present application provides a vehicle body posture control method and control device based on a dual-chamber air spring, comprising: obtaining driving parameters during vehicle driving; determining the driving state of the vehicle according to the driving parameters; wherein the driving state includes a long bend driving state, a sudden deceleration driving state, and a sudden acceleration driving state; determining each target dual-chamber air spring to be adjusted in the vehicle according to the driving state; and adjusting the spring stiffness of the target dual-chamber air spring by opening the separation valve between the main chamber and the sub-chamber in each target dual-chamber air spring to control the vehicle body posture. In this way, the spring stiffness can be adjusted by opening the separation valve of the dual-chamber air spring, thereby realizing anti-pitch control of the vehicle in the sudden deceleration and sudden acceleration driving states and realizing anti-roll control of the vehicle in the long bend driving state, thereby improving the riding comfort and safety of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method and a device for controlling vehicle body posture based on a dual-chamber air spring. Background Art

[0002] As people's living standards improve, their demands for automobile safety and comfort are getting higher and higher. During the driving process of a vehicle, the body posture will change. For example, when the vehicle is driving on a long curved road, the body will roll; when the vehicle is accelerating or decelerating rapidly, the body will pitch. The pitch and roll movement of the body will bring discomfort to the driver and passengers, and also affect the ride comfort and safety of the vehicle. Summary of the invention

[0003] In view of this, the purpose of the present application is to provide a control method and a control device for a vehicle body posture based on a dual-chamber air spring, which can determine the driving state according to the driving parameters of the vehicle, and determine the dual-chamber air spring to be adjusted according to the driving state, and then open the separation valve between the main chamber and the sub-chamber in the dual-chamber air spring to be adjusted to adjust the vehicle body posture. In this way, by opening the separation valve of the dual-chamber air spring, the spring stiffness can be adjusted, thereby realizing anti-pitch control of the vehicle in the state of rapid deceleration and rapid acceleration, and realizing anti-roll control of the vehicle in the state of long curved road driving, thereby improving the comfort and safety of the vehicle.

[0004] The embodiment of the present application provides a vehicle body posture control method based on a dual-chamber air spring, wherein the dual-chamber spring includes a main chamber, a sub-chamber and a separation valve; the main chamber and the sub-chamber are connected by the separation valve; when the separation valve is opened, the main chamber and the sub-chamber are connected; when the separation valve is closed, the main chamber and the sub-chamber are disconnected; the control method includes:

[0005] Acquire driving parameters of the vehicle during driving;

[0006] Determine the driving state of the vehicle according to the driving parameters; wherein the driving state includes a long curve driving state, a sudden deceleration driving state and a sudden acceleration driving state;

[0007] determining each target dual-chamber air spring to be adjusted in the vehicle according to the driving state;

[0008] By opening a separation valve between a main chamber and a sub-chamber in each target dual-chamber air spring, the spring stiffness of the target dual-chamber air spring is adjusted to control the body posture of the vehicle.

[0009] Furthermore, the driving parameters include vehicle speed, steering wheel angle, lateral acceleration, accelerator pedal position, longitudinal acceleration, and brake master cylinder pressure.

[0010] Determining the driving state of the vehicle according to the driving parameter includes:

[0011] When the vehicle speed value is greater than or equal to a first preset vehicle speed threshold and the lateral acceleration value is greater than a preset lateral acceleration threshold, or when the vehicle speed value is less than the first preset vehicle speed threshold and the steering wheel angle value is greater than a steering wheel angle threshold determined by the vehicle speed value, it is determined that the driving state of the vehicle is a long curve driving state; wherein the steering wheel angle threshold is positively correlated with the vehicle speed value;

[0012] If the longitudinal acceleration value indicates that the longitudinal acceleration of the vehicle is the same as the forward direction of the vehicle, when the vehicle speed value is greater than or equal to a second preset vehicle speed threshold and the accelerator pedal position exceeds a preset pedal position, or when the vehicle speed value is less than the second preset vehicle speed threshold and the longitudinal acceleration value is greater than a first preset longitudinal acceleration threshold, it is determined that the driving state of the vehicle is a rapid acceleration driving state;

[0013] If the longitudinal acceleration value indicates that the longitudinal acceleration of the vehicle is opposite to the forward direction of the vehicle, then when the vehicle speed value is greater than or equal to a third preset vehicle speed threshold and the brake master cylinder pressure value is greater than the preset brake master cylinder pressure threshold, or when the vehicle speed value is less than the third preset vehicle speed threshold and the longitudinal acceleration value is greater than the second preset longitudinal acceleration threshold, it is determined that the driving state of the vehicle is a sudden deceleration driving state.

[0014] Further, the driving parameters include a height measurement value of a suspension height sensor corresponding to each wheel in the vehicle;

[0015] Determining the driving state of the vehicle according to the driving parameter includes:

[0016] Determine, based on the height measurement value of the suspension height sensor corresponding to each wheel of the vehicle, a first height average value between the height measurement values ​​of the suspension height sensor corresponding to each front wheel of the vehicle, a second height average value between the height measurement values ​​of the suspension height sensor corresponding to each rear wheel, a third height average value between the height measurement values ​​of the suspension height sensor corresponding to each wheel on the left side of the vehicle, and a fourth height average value between the height measurement values ​​of the suspension height sensor corresponding to each wheel on the right side of the vehicle;

[0017] If the first height average value is greater than the second height average value, and the difference between the first height average value and the second height average value is greater than a first preset difference threshold, determining that the driving state of the vehicle is a rapid acceleration driving state;

[0018] If the second height average value is greater than the first height average value, and the difference between the second height average value and the first height average value is greater than a second preset difference threshold, it is determined that the driving state of the vehicle is a rapid deceleration driving state;

[0019] If the absolute value of the difference between the third average height value and the fourth average height value is greater than a third preset difference threshold, it is determined that the driving state of the vehicle is a long curve driving state.

[0020] Further, determining each target dual-chamber air spring to be adjusted in the vehicle according to the driving state includes:

[0021] When the vehicle is in a state of rapid acceleration, determining the dual-chamber air spring corresponding to each rear wheel of the vehicle as a target dual-chamber air spring;

[0022] When the vehicle is in a state of rapid deceleration, determining the dual-chamber air spring corresponding to each front wheel of the vehicle as a target dual-chamber air spring;

[0023] When the vehicle is in a state of driving on a long curved road, the dual-chamber air spring corresponding to each wheel on the steering side of the vehicle is determined as a target dual-chamber air spring.

[0024] Furthermore, the steering wheel angle threshold is determined from the vehicle speed value by the following formula:

[0025] S m = kV + b;

[0026] Among them, S m represents the steering wheel angle threshold; V represents the vehicle speed value; k and d represent the coefficients of the fitted formula respectively.

[0027] The embodiment of the present application also provides a vehicle body posture control device based on a dual-chamber air spring, wherein the dual-chamber spring includes a main chamber, a sub-chamber and a separation valve; the main chamber and the sub-chamber are connected through the separation valve; when the separation valve is opened, the main chamber and the sub-chamber are connected; when the separation valve is closed, the main chamber and the sub-chamber are disconnected; the control device includes:

[0028] An acquisition module, used for acquiring driving parameters of the vehicle during driving;

[0029] A first determination module is used to determine the driving state of the vehicle according to the driving parameters; wherein the driving state includes a long bend driving state, a sudden deceleration driving state and a sudden acceleration driving state;

[0030] a second determination module, configured to determine each target dual-chamber air spring to be adjusted in the vehicle according to the driving state;

[0031] The opening module is used to adjust the spring stiffness of the target dual-chamber air spring by opening a separation valve between a main chamber and a sub-chamber in each target dual-chamber air spring to control the body posture of the vehicle.

[0032] Furthermore, the driving parameters include vehicle speed, steering wheel angle, lateral acceleration, accelerator pedal position, longitudinal acceleration, and brake master cylinder pressure.

[0033] When the first determination module is used to determine the driving state of the vehicle according to the driving parameter, the first determination module is used to:

[0034] When the vehicle speed value is greater than or equal to a first preset vehicle speed threshold and the lateral acceleration value is greater than a preset lateral acceleration threshold, or when the vehicle speed value is less than the first preset vehicle speed threshold and the steering wheel angle value is greater than a steering wheel angle threshold determined by the vehicle speed value, it is determined that the driving state of the vehicle is a long curve driving state; wherein the steering wheel angle threshold is positively correlated with the vehicle speed value;

[0035] If the longitudinal acceleration value indicates that the longitudinal acceleration of the vehicle is the same as the forward direction of the vehicle, when the vehicle speed value is greater than or equal to a second preset vehicle speed threshold and the accelerator pedal position exceeds a preset pedal position, or when the vehicle speed value is less than the second preset vehicle speed threshold and the longitudinal acceleration value is greater than a first preset longitudinal acceleration threshold, it is determined that the driving state of the vehicle is a rapid acceleration driving state;

[0036] If the longitudinal acceleration value indicates that the longitudinal acceleration of the vehicle is opposite to the forward direction of the vehicle, then when the vehicle speed value is greater than or equal to a third preset vehicle speed threshold and the brake master cylinder pressure value is greater than the preset brake master cylinder pressure threshold, or when the vehicle speed value is less than the third preset vehicle speed threshold and the longitudinal acceleration value is greater than the second preset longitudinal acceleration threshold, it is determined that the driving state of the vehicle is a sudden deceleration driving state.

[0037] Further, the driving parameters include a height measurement value of a suspension height sensor corresponding to each wheel in the vehicle;

[0038] When the first determination module is used to determine the driving state of the vehicle according to the driving parameter, the first determination module is used to:

[0039] Determine, based on the height measurement value of the suspension height sensor corresponding to each wheel of the vehicle, a first height average value between the height measurement values ​​of the suspension height sensor corresponding to each front wheel of the vehicle, a second height average value between the height measurement values ​​of the suspension height sensor corresponding to each rear wheel, a third height average value between the height measurement values ​​of the suspension height sensor corresponding to each wheel on the left side of the vehicle, and a fourth height average value between the height measurement values ​​of the suspension height sensor corresponding to each wheel on the right side of the vehicle;

[0040] If the first height average value is greater than the second height average value, and the difference between the first height average value and the second height average value is greater than a first preset difference threshold, determining that the driving state of the vehicle is a rapid acceleration driving state;

[0041] If the second height average value is greater than the first height average value, and the difference between the second height average value and the first height average value is greater than a second preset difference threshold, it is determined that the driving state of the vehicle is a rapid deceleration driving state;

[0042] If the absolute value of the difference between the third average height value and the fourth average height value is greater than a third preset difference threshold, it is determined that the driving state of the vehicle is a long curve driving state.

[0043] Further, when the second determination module is used to determine each target dual-chamber air spring to be adjusted in the vehicle according to the driving state, the second determination module is used to:

[0044] When the vehicle is in a state of rapid acceleration, determining the dual-chamber air spring corresponding to each rear wheel of the vehicle as a target dual-chamber air spring;

[0045] When the vehicle is in a state of rapid deceleration, determining the dual-chamber air spring corresponding to each front wheel of the vehicle as a target dual-chamber air spring;

[0046] When the vehicle is in a state of driving on a long curved road, the dual-chamber air spring corresponding to each wheel on the steering side of the vehicle is determined as a target dual-chamber air spring.

[0047] Furthermore, the first determination module determines the steering wheel angle threshold from the vehicle speed value by using the following formula:

[0048] S m = kV + b;

[0049] Among them, Sm represents the steering wheel angle threshold; V represents the vehicle speed value; k and b represent the coefficients of the fitted formula respectively.

[0050] An embodiment of the present application also provides an electronic device, including: 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 a method for controlling the vehicle body posture based on a dual-chamber air spring are performed as described above.

[0051] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of a vehicle body posture control method based on a dual-chamber air spring as described above are executed.

[0052] A method and device for controlling vehicle body posture based on a dual-chamber air spring are provided in an embodiment of the present application, comprising: obtaining driving parameters during vehicle driving; determining a driving state of the vehicle based on the driving parameters; wherein the driving state includes a long bend driving state, a sudden deceleration driving state, and a sudden acceleration driving state; determining each target dual-chamber air spring to be adjusted in the vehicle based on the driving state; and adjusting the spring stiffness of the target dual-chamber air spring by opening a partition valve between a main chamber and a sub-chamber in each target dual-chamber air spring to control the vehicle body posture.

[0053] In this way, the spring stiffness can be adjusted by opening the separation valve of the dual-chamber air spring, thereby achieving anti-pitch control of the vehicle under rapid deceleration and acceleration and anti-roll control of the vehicle under long curving road conditions, thereby improving the ride comfort and safety of the vehicle.

[0054] 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

[0055] 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.

[0056] Figure 1 A flow chart showing a method for controlling a vehicle body posture based on a dual-chamber air spring provided in an embodiment of the present application is shown;

[0057] Figure 2 A schematic structural diagram of a dual-chamber air spring provided in an embodiment of the present application is shown;

[0058] Figure 3 A schematic structural diagram of a vehicle body posture control device based on a dual-chamber air spring provided in an embodiment of the present application is shown;

[0059] Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0060] 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.

[0061] Research has found that as people's living standards improve, their demands for automobile safety and comfort are increasing. During the driving process of a vehicle, the body posture will change. For example, when the vehicle is driving on a long curved road, the body will roll; when the vehicle is accelerating or decelerating rapidly, the body will pitch. The pitch and roll movement of the body will cause discomfort to the driver and passengers, and also affect the ride comfort and safety of the vehicle.

[0062] Based on this, the embodiment of the present application provides a control method and control device for the vehicle body posture based on a dual-chamber air spring. By opening the separation valve of the dual-chamber air spring, the spring stiffness is adjusted, thereby realizing anti-pitch control of the vehicle under rapid deceleration and rapid acceleration, and realizing anti-roll control of the vehicle under long curving road driving conditions, thereby improving the riding comfort and safety of the vehicle.

[0063] See also Figure 1 , Figure 1 This is a flow chart of a method for controlling a vehicle body posture based on a dual-chamber air spring provided in an embodiment of the present application. Figure 1 As shown in , the control method provided by the embodiment of the present application includes:

[0064] S101. Acquire driving parameters of a vehicle during driving.

[0065] S102: Determine the driving state of the vehicle according to the driving parameters.

[0066] The driving states include long bend driving state, sudden deceleration driving state and sudden acceleration driving state. When the vehicle is in a long bend driving state, the vehicle body will roll, that is, the height of the steering side of the vehicle body is lower than the height of the non-steering side of the vehicle body; when the vehicle is in a sudden deceleration driving state and a sudden acceleration driving state, the vehicle body will pitch; specifically, when the vehicle is in a sudden acceleration driving state, the vehicle body posture is high at the front and low at the back; when the vehicle is in a sudden deceleration driving state, the vehicle body posture is low at the front and high at the back.

[0067] With respect to the above steps S101 and S102, in a possible implementation manner, the driving parameters include a vehicle speed value, a steering wheel angle value, a lateral acceleration value, an accelerator pedal position, a longitudinal acceleration value, and a brake master cylinder pressure value.

[0068] Among them, the above driving parameters can be determined through the CAN signal of the whole vehicle; longitudinal acceleration refers to the acceleration along the direction of the vehicle body, that is, the forward direction of the vehicle; therefore, when the vehicle accelerates, the longitudinal acceleration value is greater than zero; when the vehicle decelerates, the longitudinal acceleration value is less than zero; lateral acceleration refers to the acceleration perpendicular to the longitudinal acceleration direction, that is, the lateral direction of the vehicle body.

[0069] At this time, step S102 can be implemented by the following method (I); specifically, step S102 may include the following steps:

[0070] S1021. When the vehicle speed value is greater than or equal to a first preset vehicle speed threshold and the lateral acceleration value is greater than the preset lateral acceleration threshold, or when the vehicle speed value is less than the first preset vehicle speed threshold and the steering wheel angle value is greater than the steering wheel angle threshold determined by the vehicle speed value, it is determined that the driving state of the vehicle is a long curve driving state.

[0071] The steering wheel angle threshold is positively correlated with the vehicle speed value. Positive correlation means that the variables change in the same direction, that is, when the independent variable changes from small to large, the dependent variable also changes from small to large. Correspondingly, when the vehicle speed value increases, the steering wheel angle threshold determined by the vehicle speed value also increases.

[0072] In a possible implementation manner, the steering wheel angle threshold value may be determined from the vehicle speed value by the following formula (1):

[0073] S m =kV+b; (1)

[0074] Among them, S mrepresents the steering wheel angle threshold; V represents the vehicle speed value; k and b represent the coefficients of the fitted formula respectively.

[0075] Accordingly, according to the above formula, when the vehicle speed value V is less than the first preset vehicle speed threshold and the steering wheel angle value S satisfies the following specific relationship (2), it can be determined that the driving state of the vehicle is a long curve driving state:

[0076] S>S m = kV + b; (2)

[0077] Wherein, S represents the steering wheel angle value.

[0078] S1022. If the longitudinal acceleration value indicates that the longitudinal acceleration of the vehicle is the same as the forward direction of the vehicle, then when the vehicle speed value is greater than or equal to a second preset vehicle speed threshold and the accelerator pedal position exceeds the preset pedal position, or when the vehicle speed value is less than the second preset vehicle speed threshold and the longitudinal acceleration value is greater than the first preset longitudinal acceleration threshold, it is determined that the driving state of the vehicle is a rapid acceleration driving state.

[0079] S1023. If the longitudinal acceleration value indicates that the longitudinal acceleration of the vehicle is opposite to the forward direction of the vehicle, then when the vehicle speed value is greater than or equal to a third preset vehicle speed threshold and the brake master cylinder pressure value is greater than the preset brake master cylinder pressure threshold, or when the vehicle speed value is less than the third preset vehicle speed threshold and the longitudinal acceleration value is greater than the second preset longitudinal acceleration threshold, it is determined that the driving state of the vehicle is a sudden deceleration driving state.

[0080] Among them, the first preset vehicle speed threshold, the second preset vehicle speed threshold, the third preset vehicle speed threshold, the preset pedal position, the first preset longitudinal acceleration threshold, the second preset longitudinal acceleration threshold, the preset lateral acceleration threshold, the preset brake master cylinder pressure threshold and the coefficients k and b in formula (1) can all be obtained in advance through actual vehicle calibration experiments.

[0081] Specifically, for a test vehicle of the same model as the vehicle, multiple actual vehicle experiments can be carried out, the actual vehicle experiments including controlling the test vehicle to pass through a long curved road, controlling the test vehicle to perform a sudden acceleration movement, and controlling the test vehicle to perform a sudden deceleration movement; recording the experimental data in each actual vehicle experiment, the experimental data including an experimental vehicle speed value, an experimental steering wheel angle value, an experimental lateral acceleration value, an experimental accelerator pedal position, an experimental longitudinal acceleration value, and an experimental brake master cylinder pressure value; based on the experimental data, dividing a first preset vehicle speed threshold, a second preset vehicle speed threshold, and a third preset vehicle speed threshold; based on the experimental data, setting a preset pedal position, a first preset longitudinal acceleration threshold, a second preset longitudinal acceleration threshold, a preset lateral acceleration threshold, and a preset brake master cylinder pressure threshold; and based on the experimental data, fitting and calibrating the vehicle speed value and steering wheel angle value when the vehicle is driving on a long curved road to obtain the above formula (1).

[0082] In another possible implementation, the driving parameter includes a height measurement value of a suspension height sensor corresponding to each wheel of the vehicle, wherein the height measurement value can be determined by a suspension height sensor signal.

[0083] At this time, step S102 can be implemented by the following method (two); specifically, step S102 may include the following steps:

[0084] S1024. Determine, based on the height measurement value of the suspension height sensor corresponding to each wheel in the vehicle, a first height average value between the height measurement values ​​of the suspension height sensor corresponding to each front wheel in the vehicle, a second height average value between the height measurement values ​​of the suspension height sensor corresponding to each rear wheel, a third height average value between the height measurement values ​​of the suspension height sensor corresponding to each wheel on the left side of the vehicle, and a fourth height average value between the height measurement values ​​of the suspension height sensor corresponding to each wheel on the right side of the vehicle.

[0085] Taking a common four-wheeled sedan as an example, the first average height value is the average height measurement value of the suspension height sensors corresponding to the two front wheels of the vehicle; the second average height value is the average height measurement value of the suspension height sensors corresponding to the two rear wheels of the vehicle; the third average height value is the average height measurement value of the suspension height sensors corresponding to the two left wheels of the vehicle; the fourth average height value is the average height measurement value of the suspension height sensors corresponding to the two right wheels of the vehicle.

[0086] S1025. If the first height average value is greater than the second height average value, and the difference between the first height average value and the second height average value is greater than a first preset difference threshold, it is determined that the driving state of the vehicle is a rapid acceleration driving state.

[0087] S1026. If the second height average value is greater than the first height average value, and the difference between the second height average value and the first height average value is greater than a second preset difference threshold, it is determined that the driving state of the vehicle is a sudden deceleration driving state.

[0088] S1027: If the absolute value of the difference between the third average height value and the fourth average height value is greater than a third preset difference threshold, it is determined that the driving state of the vehicle is a long curve driving state.

[0089] Similarly, the first preset difference threshold, the second preset difference threshold and the third preset difference threshold can all be obtained in advance through actual vehicle calibration experiments.

[0090] Specifically, for a test vehicle of the same model as the vehicle, multiple actual vehicle experiments can be carried out, the actual vehicle experiments include controlling the test vehicle to pass through a long turning road, controlling the test vehicle to perform sudden acceleration, and controlling the test vehicle to perform sudden deceleration; recording experimental data in each actual vehicle experiment, the experimental data include the height measurement value of the suspension height sensor corresponding to each wheel in the test vehicle; based on the experimental data, determining multiple groups of first experimental height average values ​​and second experimental height average values ​​of the test vehicle in a sudden acceleration state; multiple groups of first experimental height average values ​​and second experimental height average values ​​of the test vehicle in a sudden deceleration state; and multiple groups of third experimental height average values ​​and fourth experimental height average values ​​of the test vehicle in a long turning road driving state.

[0091] The first preset difference threshold is calibrated based on multiple groups of first experimental height average values ​​and second experimental height average values ​​of the test vehicle in a rapid acceleration state; the second preset difference threshold is calibrated based on multiple groups of first experimental height average values ​​and second experimental height average values ​​of the test vehicle in a rapid deceleration state; the third preset difference threshold is calibrated based on multiple groups of third experimental height average values ​​and fourth experimental height average values ​​of the test vehicle in a long curve driving state.

[0092] It should be noted that, in specific implementation, the above method (1) or the above method (2) can be used alone to determine the driving state of the vehicle, or the above method (1) and the above method (2) can be used simultaneously to determine the driving state of the vehicle.

[0093] S103 . Determine each target dual-chamber air spring to be adjusted in the vehicle according to the driving state.

[0094] In a possible implementation, step S103 may include:

[0095] S1031. When the vehicle is in a state of rapid acceleration, determine the dual-chamber air spring corresponding to each rear wheel in the vehicle as a target dual-chamber air spring.

[0096] S1032. When the vehicle is in a state of rapid deceleration, determine the dual-chamber air spring corresponding to each front wheel of the vehicle as a target dual-chamber air spring.

[0097] S1033. When the vehicle is in a state of driving on a long curved road, determine the dual-chamber air spring corresponding to each wheel on the steering side of the vehicle as the target dual-chamber air spring.

[0098] Among them, when using the above method (1) to determine the driving state of the vehicle, the turning side of the vehicle can be determined according to the lateral acceleration direction of the vehicle; when using the above method (2) to determine the driving state of the vehicle, the turning side of the vehicle can be determined according to the size relationship between the third height average value and the fourth height average value.

[0099] S104, adjusting the spring stiffness of each target dual-chamber air spring by opening a separation valve between a main chamber and a sub-chamber in the target dual-chamber air spring to control the body posture of the vehicle.

[0100] It should be noted that when the vehicle is no longer in a long bend, rapid acceleration or rapid deceleration driving state, and returns to a normal driving state, the separation valve between the main chamber and the auxiliary chamber in each target dual-chamber air spring is closed, and the control of the vehicle body posture is exited.

[0101] See also Figure 2 , Figure 2 This is a schematic diagram of the structure of a dual-chamber air spring provided in an embodiment of the present application. Figure 2 As shown in, the dual-chamber air spring provided in the embodiment of the present application includes a main chamber 210, a sub-chamber 220 and a separating valve 230; the main chamber 210 and the sub-chamber 220 are connected via the separating valve 230; when the separating valve 230 is opened, the main chamber 210 and the sub-chamber 220 are connected; when the separating valve 230 is closed, the main chamber 210 and the sub-chamber 220 are disconnected.

[0102] Specifically, when the vehicle is in a normal driving state (i.e., not in a long bend, rapid acceleration or rapid deceleration driving state), the separation valve 230 in the dual-chamber air spring corresponding to each wheel of the vehicle is closed; at this time, the vehicle body load is borne by the main chamber 210.

[0103] When the vehicle is in a long curve driving state or a sudden acceleration driving state or a sudden deceleration driving state, the separation valve 230 in the target dual-chamber air spring corresponding to each target wheel is opened; at this time, the vehicle body load is changed from being carried by the main chamber 210 to being carried by the main chamber 210 and the sub-chamber 220 together, so that the spring stiffness increases. The increase in spring stiffness reduces the deformation of the air spring under the same vehicle body load, resulting in an increase in the vehicle body height at the target wheel position, thereby controlling the vehicle body posture, thereby achieving anti-pitch control of the vehicle in the sudden deceleration and acceleration driving states and achieving anti-roll control of the vehicle in the long curve driving state.

[0104] For example, when it is determined according to the driving parameters that the vehicle is in a state of rapid acceleration, the vehicle pitches, and specifically, the vehicle body posture is high at the front and low at the back. At this time, the control method provided in the embodiment of the present application can determine the dual-chamber air spring corresponding to each rear wheel in the vehicle as the target dual-chamber air spring, and open the separation valve 230 between the main chamber 210 and the sub-chamber 220 in each target dual-chamber air spring to increase the spring stiffness.

[0105] In this way, under the same body load, the deformation of the air spring corresponding to the rear wheel of the vehicle is reduced, resulting in an increase in the body height at the rear wheel position, thereby achieving anti-pitch control of the vehicle under rapid acceleration.

[0106] A method for controlling vehicle body posture based on a dual-chamber air spring is provided in an embodiment of the present application, comprising: obtaining driving parameters during vehicle driving; determining a driving state of the vehicle based on the driving parameters; wherein the driving state includes a long bend driving state, a sudden deceleration driving state, and a sudden acceleration driving state; determining each target dual-chamber air spring to be adjusted in the vehicle based on the driving state; and adjusting the spring stiffness of the target dual-chamber air spring by opening a partition valve between a main chamber and a sub-chamber in each target dual-chamber air spring to control the vehicle body posture.

[0107] In this way, the spring stiffness can be adjusted by opening the separation valve of the dual-chamber air spring, thereby achieving anti-pitch control of the vehicle under rapid deceleration and acceleration and anti-roll control of the vehicle under long curving road conditions, thereby improving the ride comfort and safety of the vehicle.

[0108] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of a vehicle body posture control device based on a dual-chamber air spring provided in an embodiment of the present application. The dual-chamber spring includes a main chamber, a secondary chamber and a separation valve; the main chamber and the secondary chamber are connected by the separation valve; when the separation valve is opened, the main chamber and the secondary chamber are connected; when the separation valve is closed, the main chamber and the secondary chamber are disconnected. Figure 3 As shown in , the control device 300 includes:

[0109] The acquisition module 310 is used to acquire the driving parameters of the vehicle during driving;

[0110] A first determination module 320 is used to determine the driving state of the vehicle according to the driving parameters; wherein the driving state includes a long curve driving state, a sudden deceleration driving state and a sudden acceleration driving state;

[0111] A second determination module 330 is used to determine each target dual-chamber air spring to be adjusted in the vehicle according to the driving state;

[0112] The opening module 330 is used to adjust the spring stiffness of the target dual-chamber air spring by opening a separation valve between a main chamber and a sub-chamber in each target dual-chamber air spring to control the body posture of the vehicle.

[0113] Furthermore, the driving parameters include vehicle speed, steering wheel angle, lateral acceleration, accelerator pedal position, longitudinal acceleration, and brake master cylinder pressure.

[0114] When the first determination module 320 is used to determine the driving state of the vehicle according to the driving parameter, the first determination module 320 is used to:

[0115] When the vehicle speed value is greater than or equal to a first preset vehicle speed threshold and the lateral acceleration value is greater than a preset lateral acceleration threshold, or when the vehicle speed value is less than the first preset vehicle speed threshold and the steering wheel angle value is greater than a steering wheel angle threshold determined by the vehicle speed value, it is determined that the driving state of the vehicle is a long curve driving state; wherein the steering wheel angle threshold is positively correlated with the vehicle speed value;

[0116] If the longitudinal acceleration value indicates that the longitudinal acceleration of the vehicle is the same as the forward direction of the vehicle, when the vehicle speed value is greater than or equal to a second preset vehicle speed threshold and the accelerator pedal position exceeds a preset pedal position, or when the vehicle speed value is less than the second preset vehicle speed threshold and the longitudinal acceleration value is greater than a first preset longitudinal acceleration threshold, it is determined that the driving state of the vehicle is a rapid acceleration driving state;

[0117] If the longitudinal acceleration value indicates that the longitudinal acceleration of the vehicle is opposite to the forward direction of the vehicle, then when the vehicle speed value is greater than or equal to a third preset vehicle speed threshold and the brake master cylinder pressure value is greater than the preset brake master cylinder pressure threshold, or when the vehicle speed value is less than the third preset vehicle speed threshold and the longitudinal acceleration value is greater than the second preset longitudinal acceleration threshold, it is determined that the driving state of the vehicle is a sudden deceleration driving state.

[0118] Further, the driving parameters include a height measurement value of a suspension height sensor corresponding to each wheel in the vehicle;

[0119] When the first determination module 320 is used to determine the driving state of the vehicle according to the driving parameter, the first determination module 320 is used to:

[0120] Determine, based on the height measurement value of the suspension height sensor corresponding to each wheel of the vehicle, a first height average value between the height measurement values ​​of the suspension height sensor corresponding to each front wheel of the vehicle, a second height average value between the height measurement values ​​of the suspension height sensor corresponding to each rear wheel, a third height average value between the height measurement values ​​of the suspension height sensor corresponding to each wheel on the left side of the vehicle, and a fourth height average value between the height measurement values ​​of the suspension height sensor corresponding to each wheel on the right side of the vehicle;

[0121] If the first height average value is greater than the second height average value, and the difference between the first height average value and the second height average value is greater than a first preset difference threshold, determining that the driving state of the vehicle is a rapid acceleration driving state;

[0122] If the second height average value is greater than the first height average value, and the difference between the second height average value and the first height average value is greater than a second preset difference threshold, it is determined that the driving state of the vehicle is a rapid deceleration driving state;

[0123] If the absolute value of the difference between the third average height value and the fourth average height value is greater than a third preset difference threshold, it is determined that the driving state of the vehicle is a long curve driving state.

[0124] Further, when the second determination module 330 is used to determine each target dual-chamber air spring to be adjusted in the vehicle according to the driving state, the second determination module 330 is used to:

[0125] When the vehicle is in a state of rapid acceleration, determining the dual-chamber air spring corresponding to each rear wheel of the vehicle as a target dual-chamber air spring;

[0126] When the vehicle is in a state of rapid deceleration, determining the dual-chamber air spring corresponding to each front wheel of the vehicle as a target dual-chamber air spring;

[0127] When the vehicle is in a state of driving on a long curved road, the dual-chamber air spring corresponding to each wheel on the steering side of the vehicle is determined as a target dual-chamber air spring.

[0128] Furthermore, the first determination module 320 determines the steering wheel angle threshold from the vehicle speed value by using the following formula:

[0129] S m = kV + b;

[0130] Among them, S m represents the steering wheel angle threshold; V represents the vehicle speed value; k and b represent the coefficients of the fitted formula respectively.

[0131] A vehicle body posture control device based on a dual-chamber air spring is provided in an embodiment of the present application, comprising: obtaining driving parameters during vehicle driving; determining the driving state of the vehicle based on the driving parameters; wherein the driving state includes a long bend driving state, a sudden deceleration driving state and a sudden acceleration driving state; determining each target dual-chamber air spring to be adjusted in the vehicle based on the driving state; and adjusting the spring stiffness of the target dual-chamber air spring by opening a partition valve between a main chamber and a sub-chamber in each target dual-chamber air spring to control the vehicle body posture.

[0132] In this way, the spring stiffness can be adjusted by opening the separation valve of the dual-chamber air spring, thereby achieving anti-pitch control of the vehicle under rapid deceleration and acceleration and anti-roll control of the vehicle under long curving road conditions, thereby improving the ride comfort and safety of the vehicle.

[0133] 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 .

[0134] 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 a method for controlling a vehicle body posture based on a dual-chamber air spring in the method embodiment shown are specifically implemented in accordance with the method embodiment and will not be described in detail here.

[0135] 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 a method for controlling a vehicle body posture based on a dual-chamber air spring in the method embodiment shown are specifically implemented in accordance with the method embodiment and will not be described in detail here.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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 vehicle body posture based on a dual-chamber air spring, characterized in that: The double-chamber spring includes a main chamber, a sub-chamber and a separation valve; the main chamber and the sub-chamber are connected by the separation valve; when the separation valve is opened, the main chamber and the sub-chamber are connected; when the separation valve is closed, the main chamber and the sub-chamber are disconnected; the control method includes: Acquire driving parameters of the vehicle during driving; Determine the driving state of the vehicle according to the driving parameters; wherein the driving state includes a long curve driving state, a sudden deceleration driving state and a sudden acceleration driving state; determining each target dual-chamber air spring to be adjusted in the vehicle according to the driving state; By opening a separation valve between a main chamber and a sub-chamber in each target dual-chamber air spring, the spring stiffness of the target dual-chamber air spring is adjusted to control the body posture of the vehicle; The driving parameters include vehicle speed, steering wheel angle, lateral acceleration, accelerator pedal position, longitudinal acceleration, and brake master cylinder pressure. Determining the driving state of the vehicle according to the driving parameter includes: When the vehicle speed value is greater than or equal to a first preset vehicle speed threshold and the lateral acceleration value is greater than a preset lateral acceleration threshold, or when the vehicle speed value is less than the first preset vehicle speed threshold and the steering wheel angle value is greater than a steering wheel angle threshold determined by the vehicle speed value, it is determined that the driving state of the vehicle is a long curve driving state; wherein the steering wheel angle threshold is positively correlated with the vehicle speed value; If the longitudinal acceleration value indicates that the longitudinal acceleration of the vehicle is the same as the forward direction of the vehicle, when the vehicle speed value is greater than or equal to a second preset vehicle speed threshold and the accelerator pedal position exceeds a preset pedal position, or when the vehicle speed value is less than the second preset vehicle speed threshold and the longitudinal acceleration value is greater than a first preset longitudinal acceleration threshold, it is determined that the driving state of the vehicle is a rapid acceleration driving state; If the longitudinal acceleration value indicates that the longitudinal acceleration of the vehicle is opposite to the forward direction of the vehicle, then when the vehicle speed value is greater than or equal to a third preset vehicle speed threshold and the brake master cylinder pressure value is greater than the preset brake master cylinder pressure threshold, or when the vehicle speed value is less than the third preset vehicle speed threshold and the longitudinal acceleration value is greater than the second preset longitudinal acceleration threshold, it is determined that the driving state of the vehicle is a sudden deceleration driving state.

2. The control method according to claim 1, characterized in that: The driving parameters include height measurement values ​​of suspension height sensors corresponding to each wheel of the vehicle; Determining the driving state of the vehicle according to the driving parameter includes: Determine, based on the height measurement value of the suspension height sensor corresponding to each wheel of the vehicle, a first height average value between the height measurement values ​​of the suspension height sensor corresponding to each front wheel of the vehicle, a second height average value between the height measurement values ​​of the suspension height sensor corresponding to each rear wheel, a third height average value between the height measurement values ​​of the suspension height sensor corresponding to each wheel on the left side of the vehicle, and a fourth height average value between the height measurement values ​​of the suspension height sensor corresponding to each wheel on the right side of the vehicle; If the first height average value is greater than the second height average value, and the difference between the first height average value and the second height average value is greater than a first preset difference threshold, determining that the driving state of the vehicle is a rapid acceleration driving state; If the second height average value is greater than the first height average value, and the difference between the second height average value and the first height average value is greater than a second preset difference threshold, it is determined that the driving state of the vehicle is a rapid deceleration driving state; If the absolute value of the difference between the third average height value and the fourth average height value is greater than a third preset difference threshold, it is determined that the driving state of the vehicle is a long curve driving state.

3. The control method according to claim 1, characterized in that: The step of determining each target dual-chamber air spring to be adjusted in the vehicle according to the driving state includes: When the vehicle is in a state of rapid acceleration, determining the dual-chamber air spring corresponding to each rear wheel of the vehicle as a target dual-chamber air spring; When the vehicle is in a state of rapid deceleration, determining the dual-chamber air spring corresponding to each front wheel of the vehicle as a target dual-chamber air spring; When the vehicle is in a state of driving on a long curved road, the dual-chamber air spring corresponding to each wheel on the steering side of the vehicle is determined as a target dual-chamber air spring.

4. The control method according to claim 1, characterized in that: The steering wheel angle threshold is determined from the vehicle speed value by the following formula: ； in, represents the steering wheel angle threshold; Indicates the vehicle speed value; and They represent the coefficients of the fitted formulas respectively.

5. A vehicle body posture control device based on a dual-chamber air spring, characterized in that: The double-chamber spring includes a main chamber, a sub-chamber and a separation valve; the main chamber and the sub-chamber are connected by the separation valve; when the separation valve is opened, the main chamber and the sub-chamber are connected; when the separation valve is closed, the main chamber and the sub-chamber are disconnected; The control device comprises: An acquisition module, used for acquiring driving parameters of the vehicle during driving; A first determination module is used to determine the driving state of the vehicle according to the driving parameters; wherein the driving state includes a long bend driving state, a sudden deceleration driving state and a sudden acceleration driving state; a second determination module, configured to determine each target dual-chamber air spring to be adjusted in the vehicle according to the driving state; an opening module, configured to adjust the spring stiffness of each target dual-chamber air spring by opening a separation valve between a main chamber and a sub-chamber in each target dual-chamber air spring, so as to control the body posture of the vehicle; The driving parameters include vehicle speed, steering wheel angle, lateral acceleration, accelerator pedal position, longitudinal acceleration, and brake master cylinder pressure. When the first determination module is used to determine the driving state of the vehicle according to the driving parameter, the first determination module is used to: When the vehicle speed value is greater than or equal to a first preset vehicle speed threshold and the lateral acceleration value is greater than a preset lateral acceleration threshold, or when the vehicle speed value is less than the first preset vehicle speed threshold and the steering wheel angle value is greater than a steering wheel angle threshold determined by the vehicle speed value, it is determined that the driving state of the vehicle is a long curve driving state; wherein the steering wheel angle threshold is positively correlated with the vehicle speed value; If the longitudinal acceleration value indicates that the longitudinal acceleration of the vehicle is the same as the forward direction of the vehicle, when the vehicle speed value is greater than or equal to a second preset vehicle speed threshold and the accelerator pedal position exceeds a preset pedal position, or when the vehicle speed value is less than the second preset vehicle speed threshold and the longitudinal acceleration value is greater than a first preset longitudinal acceleration threshold, it is determined that the driving state of the vehicle is a rapid acceleration driving state; If the longitudinal acceleration value indicates that the longitudinal acceleration of the vehicle is opposite to the forward direction of the vehicle, then when the vehicle speed value is greater than or equal to a third preset vehicle speed threshold and the brake master cylinder pressure value is greater than the preset brake master cylinder pressure threshold, or when the vehicle speed value is less than the third preset vehicle speed threshold and the longitudinal acceleration value is greater than the second preset longitudinal acceleration threshold, it is determined that the driving state of the vehicle is a sudden deceleration driving state.

6. The control device according to claim 5, characterized in that: The driving parameters include height measurement values ​​of suspension height sensors corresponding to each wheel of the vehicle; When the first determination module is used to determine the driving state of the vehicle according to the driving parameter, the first determination module is used to: Determine, based on the height measurement value of the suspension height sensor corresponding to each wheel of the vehicle, a first height average value between the height measurement values ​​of the suspension height sensor corresponding to each front wheel of the vehicle, a second height average value between the height measurement values ​​of the suspension height sensor corresponding to each rear wheel, a third height average value between the height measurement values ​​of the suspension height sensor corresponding to each wheel on the left side of the vehicle, and a fourth height average value between the height measurement values ​​of the suspension height sensor corresponding to each wheel on the right side of the vehicle; If the first height average value is greater than the second height average value, and the difference between the first height average value and the second height average value is greater than a first preset difference threshold, determining that the driving state of the vehicle is a rapid acceleration driving state; If the second height average value is greater than the first height average value, and the difference between the second height average value and the first height average value is greater than a second preset difference threshold, it is determined that the driving state of the vehicle is a rapid deceleration driving state; If the absolute value of the difference between the third average height value and the fourth average height value is greater than a third preset difference threshold, it is determined that the driving state of the vehicle is a long curve driving state.

7. 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 when running to execute the steps of a method for controlling a vehicle body posture based on a dual-chamber air spring as described in any one of claims 1 to 4.

8. 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 a vehicle body posture control method based on a dual-chamber air spring as claimed in any one of claims 1 to 4 are executed.

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