Vehicle body posture control method, device, equipment and vehicle

Abstract

The present invention discloses a vehicle body posture control method, device, equipment and vehicle, and relates to the field of automobile shock absorption system control technology. The method comprises the following steps: according to the acceleration and center of mass position of four wheel positions, the corresponding corner acceleration of each of the four air springs is determined; according to the corresponding corner acceleration of each of the four air springs, the load size and load offset of each air spring is determined; according to the load size of each air spring, the expansion amount of each air spring is determined in combination with the compression coefficient corresponding to the current pressure of the air spring; according to the expansion amount and load offset of the air spring, the filling and discharging amount and the filling and discharging rate of each valve port are determined, and the length of the corresponding air spring is adjusted. The present application can solve the problem in the prior art that the height of both sides of the vehicle body and the hysteresis cannot be compensated at the same time when the vehicle body posture changes such as roll, yaw and vertical, so as to enhance driving controllability and riding comfort.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile shock absorption system control, and in particular to a vehicle body posture control method, device, equipment and vehicle. Background Art

[0002] When turning, accelerating and braking, the vehicle's inertia and load transfer may cause the vehicle to yaw, roll, pitch and other unstable states, resulting in a bad driving experience for the driver and passengers in the vehicle.

[0003] In order to solve this problem, the existing professional technology generally increases the vehicle's anti-yaw, roll and pitch capabilities by adjusting the damping of the shock absorber: when the load on the corresponding wheel increases, the damping of the shock absorber will be increased to reduce the degree of body movement. Or through the left and right air springs connected between the vehicle chassis and the vehicle suspension axle, and the corresponding height control valve controls the expansion and contraction of the air springs to resist the lateral load generated by the turn, so that the trailer tends to remain level and reduce the body roll of the trailer.

[0004] However, the lateral roll displacement is compensated only by controlling the height of the air spring, without considering the changes of the vehicle body such as pitch; and the control of the air spring is based on one side, and can only control the inflation and deflation of the air spring on the same side. In the complex working conditions of the actual vehicle driving process, it is impossible to fully meet the control requirements; at the same time, this control method only uses the passive compensation control method after the vehicle body rolls. After the vehicle body changes, the height is adjusted by compressing or stretching the air spring through the control valve switch. This process has action delay and lag. Summary of the invention

[0005] In view of the defects existing in the prior art, the purpose of the present invention is to provide a vehicle body posture control method, device, equipment and vehicle to solve the problem in the prior art that the height of both sides of the vehicle body and the passive compensation hysteresis cannot be compensated simultaneously when the vehicle body posture changes such as roll, yaw and vertical, so as to enhance driving controllability and ride comfort.

[0006] In order to achieve the above purpose, the technical solution adopted by the present invention is:

[0007] In one aspect, a vehicle body posture control method is provided, the method comprising the following steps:

[0008] According to the accelerations of the four wheels and the positions of the center of mass, the corresponding corner accelerations at the four air springs are determined;

[0009] Determine the load size and load offset of each of the air springs according to the corner accelerations corresponding to the four air springs;

[0010] Determine the expansion and contraction amount of each of the air springs according to the load size of each of the air springs and the compression coefficient corresponding to the current pressure of the air spring;

[0011] According to the expansion and contraction amount and load offset of the air spring, the inflation and deflation amount and inflation and deflation rate of the valve port corresponding to each of the air springs are determined, and the length of the corresponding air spring is adjusted.

[0012] In some optional embodiments, the above-mentioned determining the corner accelerations corresponding to the four air springs respectively according to the accelerations of the four wheel positions and the center of mass positions includes:

[0013] Determine the vehicle body acceleration based on the acceleration of the four wheel positions and the distance of the center of mass relative to the sensor;

[0014] The corner acceleration corresponding to each of the four air springs is determined based on the fixed vehicle body acceleration, the distance between the center of mass and the front and rear axles, and the front and rear wheel tracks.

[0015] In some optional embodiments, the above-mentioned determination of the vehicle body acceleration according to the acceleration of the four wheel positions and the distance of the center of mass relative to the acceleration sensor includes:

[0016] According to formula A body =T -1 A a , determine the vehicle body acceleration A body , where A body =[a body a roll a pitch ] T , A a =[a FL a FR a RL a RR ] T , a body is the vertical acceleration of the vehicle body, a roll is the roll acceleration of the vehicle body, a pitch is the pitch acceleration of the vehicle body, a FL is the collected value of the front left acceleration sensor, a Fr is the collected value of the front right acceleration sensor, a RL is the collected value of the rear left acceleration sensor, a RR is the collected value of the rear right acceleration sensor, x FL y is the relative distance from the center of mass of the vehicle body to the front left acceleration sensor in the horizontal direction, FL is the relative distance from the center of mass of the vehicle body to the front left acceleration sensor in the vertical direction, x FR y is the relative distance from the center of mass of the vehicle body to the front right acceleration sensor in the horizontal direction,FR is the relative distance from the center of mass of the vehicle body to the front right acceleration sensor in the vertical direction, x RL y is the relative distance from the center of mass of the vehicle body to the rear left acceleration sensor in the horizontal direction, RL is the relative distance from the center of mass of the vehicle body to the rear left acceleration sensor in the vertical direction, x RR y is the relative distance from the center of mass of the vehicle body to the rear right acceleration sensor in the horizontal direction, RR It is the relative distance from the center of mass of the vehicle body to the rear right acceleration sensor in the vertical direction.

[0017] In some optional embodiments, the corner accelerations corresponding to the four air springs are determined according to the fixed vehicle body acceleration, the distances of the center of mass relative to the front and rear axles, and the front and rear wheel tracks, including:

[0018] According to formula A corner =T corner A body , determine the corner acceleration A corresponding to each of the four air springs corner ,in, l trackF is the front wheelbase, l trackR is the rear wheelbase, l baseF is the distance between the center of mass of the vehicle body and the front axle, l baseR is the distance from the center of mass of the vehicle to the rear axle.

[0019] In some optional embodiments, the load size and load offset of each of the air springs are determined according to the corner accelerations corresponding to the four air springs, including:

[0020] According to the formula F = m·A corner , determine the load borne by each of the above air springs, where m is the mass of the above air spring;

[0021] Determine the load center according to the ratio of the load sizes of the four air springs;

[0022] The load offset is determined by the ratio of the distance from the load center to the front wheel axle to the distance from the load center to the rear wheel axle.

[0023] In some optional embodiments, the expansion and contraction amount of each of the air springs is calculated according to the load size of each of the air springs and the compression coefficient corresponding to the current pressure of the air spring, including:

[0024] The expansion and contraction amount ΔL of each air spring is determined according to the formula ΔL=F / k, wherein k=P·θ, k is the compression coefficient of the above-mentioned air spring, P is the collected pressure value of the pressure sensor corresponding to the air spring, and θ is the characteristic coefficient of the air spring itself.

[0025] In some optional embodiments, according to the expansion and contraction amount and load offset of the air spring, the inflation and deflation amount and inflation and deflation rate of the valve port corresponding to each of the air springs are determined, and the length of the corresponding air spring is adjusted, including:

[0026] According to the formula L k =L k-1 +ΔL determines the target height L corresponding to the four air springs mentioned above k , where L k-1 The height values ​​collected by the height sensors corresponding to the four air springs;

[0027] Comparison L k-1 With L k If L k <L k-1 , the controller controls the valve port of the air spring to deflate. If L k >L k-1 , the controller controls the valve port of the air spring to inflate;

[0028] The opening size of each valve port is determined according to the load offset to control the inflation and deflation rate.

[0029] In a second aspect, the embodiment of the present application further provides a vehicle body posture control device, comprising:

[0030] A collection and processing module, which is used to determine the corner acceleration corresponding to each of the four air springs according to the acceleration of the four wheel positions and the center of mass position;

[0031] A load distribution module, which is used to determine the load size and load offset of each of the four air springs according to the corresponding corner accelerations at each of the four air springs;

[0032] A vehicle body posture prediction module, which is used to determine the expansion and contraction amount of each of the air springs according to the load size of each of the air springs and the compression coefficient corresponding to the current pressure of the air spring;

[0033] The adjustment module is used to determine the inflation and deflation volume and inflation and deflation rate of the valve port corresponding to each of the air springs according to the expansion and contraction volume and load offset of the air springs, and adjust the length of the corresponding air spring.

[0034] In a third aspect, an embodiment of the present application further provides a device, comprising a processor, a memory, and a program stored in the memory and executable by the processor, wherein when the program is executed by the processor, the steps of the vehicle body posture control method are implemented.

[0035] In a fourth aspect, an embodiment of the present application also provides a vehicle, comprising the above-mentioned device.

[0036] Compared with the prior art, the advantages of the present invention are: through a vehicle body posture control method, based on the acceleration data, pressure data and height data collected from the positions of the four wheels, the changes in single wheel pressure and height when the vehicle turns, yaws, rolls, pitches and other unstable states are predicted in advance, and the lengths of the four air springs are adjusted accordingly to compensate for the change in height of the vehicle body, thereby accurately adjusting the vehicle body posture, while solving the problem of passive compensation hysteresis, and improving the vehicle's driving stability and ride comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A schematic diagram of a vehicle body posture control method, device, equipment and a vehicle body posture control method in a vehicle according to the present invention;

[0039] Figure 2 A schematic block diagram of the structure of a computer device according to an embodiment of the present invention;

[0040] Figure 3 It is a schematic block diagram of a vehicle body posture change control system in one embodiment of the present invention.

[0041] In the figure: 1. air spring; 21. pressure sensor; 22. height sensor; 23. acceleration sensor; 3. controller; 4. air suspension distribution valve. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution 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 part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0043] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0044] Please refer to Figure 1 , Figure 1 A schematic flow chart of a vehicle body posture control method provided in an embodiment of the present application, the method comprising steps S101 to S107:

[0045] Here, the above method is implemented by a vehicle body posture control system. The system includes four air springs 1, four sensor assemblies and a controller 3. The four air springs 1 are respectively used to be arranged at the four wheels of the vehicle body suspension. Each air spring 1 is equipped with a valve port to inflate or deflate the corresponding air spring 1 through the valve port. The four air valve ports are controlled by an air suspension distribution valve 4. Four sensor assemblies are also arranged at the corresponding positions of the four air springs 1. Each sensor assembly includes a pressure sensor 21, a height sensor 22 and an acceleration sensor 23, which are used to collect the pressure, height and acceleration at the four wheels. The controller 3 controls the expansion and contraction of each air spring 1 according to the data provided by the sensor assembly.

[0046] Step S101, determining the corner accelerations corresponding to the four air springs 1 according to the accelerations of the four wheel positions and the center of mass positions.

[0047] It can be understood that when the vehicle turns, yaws, rolls, pitches or other unstable states, the single wheel pressure and height of the vehicle body will change accordingly. An air spring 1 is set at each of the four wheel positions, and the body posture of the vehicle is adjusted by adjusting the extension and contraction of each air spring 1. An acceleration sensor 23, a pressure sensor 21 and a height sensor 22 are set at the corresponding position of the air spring 1 to collect the acceleration, pressure and height changes of the four wheel positions, so as to adjust the extension and contraction of the corresponding air spring 1 through the controller 3.

[0048] Therefore, according to the acceleration of the four wheel positions, and the relative distances from the center of mass of the vehicle to each acceleration sensor 23 in the horizontal and vertical directions, and according to formula A body =

[0049] T -1 A a Determine the acceleration A of the vehicle body body Here, the vehicle body acceleration is defined as A body =[a body a roll a pitch ] T , a body is the vertical acceleration of the vehicle body, a roll is the roll acceleration of the vehicle body, a pitch is the pitch acceleration of the vehicle body, where A a =

[0050] [a FL a FR a RL a RR ] T , the transformation matrix T is, a FLis the collected value of the front left acceleration sensor 23, a FR is the collected value of the front right acceleration sensor 23, a RL is the collected value of the rear left acceleration sensor 23, a RR is the collected value of the rear right acceleration sensor 23, x FL y is the relative distance from the center of mass of the vehicle body to the front left acceleration sensor 23 in the horizontal direction, FL is the relative distance from the center of mass of the vehicle body to the front left acceleration sensor 23 in the vertical direction, x FR y is the relative distance from the center of mass of the vehicle body to the front right acceleration sensor 23 in the horizontal direction, FR is the relative distance from the center of mass of the vehicle body to the front right acceleration sensor 23 in the vertical direction, x RL y is the relative distance from the center of mass of the vehicle body to the rear left acceleration sensor 23 in the horizontal direction, RL is the relative distance from the center of mass of the vehicle body to the rear left acceleration sensor 23 in the vertical direction, x RR y is the relative distance from the center of mass of the vehicle body to the rear right acceleration sensor 23 in the horizontal direction, RR is the relative distance from the center of mass of the vehicle body to the rear right acceleration sensor 23 in the vertical direction.

[0051] From this we can get the vertical acceleration a of the vehicle body body , body roll acceleration a roll , vehicle body pitch acceleration a pitch .

[0052] According to the fixed vehicle body acceleration, the distance between the center of mass and the front and rear axles and the front and rear wheel tracks, the corner acceleration corresponding to each of the four air springs 1 is determined.

[0053] According to formula A corner =T corner A body , determine the corner acceleration A corresponding to each of the four air springs 1 corner ,in,

[0054] l trackF is the front wheelbase, l trackR is the rear wheelbase, l baseF is the distance between the center of mass of the vehicle body and the front axle, l baseR is the distance from the center of mass of the vehicle to the rear axle.

[0055] Step S102 , determining the expansion and contraction amount of each air spring 1 according to the load size of each air spring 1 and the compression coefficient corresponding to the current pressure of the air spring 1 .

[0056] Understandably, according to A corner The corresponding accelerations of the four air springs 1 are respectively the left front acceleration a左前 , right front acceleration a 右前 , left rear acceleration a 左后 , right rear acceleration a 右后 , respectively substitute into the formula F=m·A corner , determine the load size borne by each of the above-mentioned air springs 1, where m is the mass of the above-mentioned air spring 1.

[0057] Step S103 , calculating the expansion and contraction amount of each of the air springs 1 according to the load size of each of the air springs 1 and the compression coefficient corresponding to the current pressure of the air spring 1 .

[0058] The expansion and contraction amount ΔL of each air spring 1 is determined according to the formula ΔL=F / k, wherein k=P·θ, k is the compression coefficient of the above-mentioned air spring 1, P is the collected pressure value of the pressure sensor 21 corresponding to the air spring 1, and θ is the characteristic coefficient of the air spring 1 itself.

[0059] Step S104 , according to the expansion and contraction amount and load offset of the air spring 1 , the inflation and deflation amount and inflation and deflation rate of the corresponding valve port of each air spring 1 are determined, and the length of the corresponding air spring 1 is adjusted.

[0060] It can be understood that according to the expansion and contraction amount ΔL of each air spring 1 and the height values ​​collected by the height sensors 22 corresponding to the four air springs 1 k-1 , according to the formula k = k-1 +ΔDetermine the target height L corresponding to the four air springs 1 k , thereby controlling the expansion and contraction of the air spring 1.

[0061] At the same time, the height sensor 22 also collects the height value L k-1 Feedback to controller 3 and compared with the target height L k For comparison, if L k <L k-1 , the controller 3 is used to control the valve port of the air spring 1 to deflate. If L k >L k-1 , the controller 3 is used to control the inflation of the valve port of the air spring 1 at that location.

[0062] In an embodiment of the present application, each air spring 1 is configured with a corresponding valve port for inflating or deflating the air spring 1. Since the inflation and deflation amounts of each air spring 1 are different, in order to inflate and deflate different air springs 1 within the same time, it is necessary to reasonably allocate the opening size of each valve port.

[0063] Therefore, the position of the load center can be determined according to the ratio of the load sizes of the four air springs 1, and the valve ports of the four air springs 1 are inversely distributed according to the ratio of the distances from the load center to the four wheel axles.

[0064] For example, if the ratio of the distance from the load center to the front wheel axle to the load center to the rear wheel axle is 4:6, it is a forward load movement, and the ratio of the valve opening of the air spring 1 of the front wheel to the valve opening of the air spring 1 of the rear wheel is 6:4; if the ratio of the distance from the load center to the front wheel axle to the load center to the rear wheel axle is 6:4, it is a backward load movement, and the ratio of the valve opening of the air spring 1 of the front wheel to the valve opening of the air spring 1 of the rear wheel is 4:6.

[0065] It should be noted that in the embodiment of the present application, in order to satisfy the simultaneous inflation of the four air springs 1 and to have a certain inflation rate, a high-power air pump is used and a high-pressure air tank is equipped. This can make the inflation and deflation response faster and quickly adjust the vehicle body posture.

[0066] In a second aspect, a vehicle body posture control device is also provided, which includes a collection and processing module, a load distribution module, a vehicle body posture prediction module and an adjustment module.

[0067] The acquisition and processing module is used to determine the corner accelerations corresponding to the four air springs 1 according to the accelerations of the four wheel positions and the center of mass positions.

[0068] Specifically, the acquisition and processing module also includes a body acceleration processing unit and a corner acceleration processing unit. The body acceleration processing unit determines the body acceleration according to the acceleration of the four wheel positions and the distance of the center of mass relative to the sensor; the corner acceleration processing unit determines the corner acceleration corresponding to each of the four air springs 1 according to the fixed body acceleration, the distance of the center of mass relative to the front and rear axles, and the front and rear wheel tracks.

[0069] The load distribution module is used to determine the load size and load offset of each of the air springs 1 according to the corresponding corner accelerations at the four air springs 1 .

[0070] Specifically, the load distribution module includes a load calculation unit, a positioning unit and a distribution unit. The load calculation unit determines the load size of each air spring 1 according to the corner acceleration of each air spring 1; the positioning unit determines the load center according to the ratio of the load sizes of the four air springs 1; the distribution unit determines the load offset according to the ratio of the distance from the load center to the front wheel axle to the distance from the load center to the rear wheel axle.

[0071] The vehicle body posture prediction module is used to determine the expansion and contraction amount of each of the air springs 1 according to the load size of each of the air springs 1 and the compression coefficient corresponding to the current pressure of the air spring 1 .

[0072] The adjustment module is used to determine the inflation and deflation volume and inflation and deflation rate of the corresponding valve port of each of the above-mentioned air springs according to the expansion and contraction volume and load offset of the above-mentioned air spring 1, and adjust the length of the corresponding air spring 1.

[0073] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules and units can refer to the corresponding processes in the aforementioned embodiments and will not be repeated here.

[0074] The apparatus provided in the above embodiment may be implemented in the form of a computer program. The computer program may be Figure 2 Runs on one of the devices shown.

[0075] like Figure 2 As shown, an embodiment of the present application provides a device, which may be a terminal.

[0076] The device includes a processor, a memory, and a network interface connected via a system bus, wherein the memory may include a non-volatile storage medium and an internal memory.

[0077] The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any one of the methods.

[0078] The processor is used to provide computing and control capabilities and support the operation of the entire computer equipment.

[0079] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any one of the methods.

[0080] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0081] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0082] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the various embodiments of the present application.

[0083] The computer-readable storage medium may be an internal storage unit of the computer device described in the above embodiment, such as a hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the computer device.

[0084] The embodiment of the present application further provides a vehicle, comprising the above-mentioned device. The device can enable a processor to execute the steps of any one of the vehicle body posture control methods.

[0085] A vehicle body posture control method, device, equipment and vehicle of the present invention, through a vehicle body posture control method, determines the corner acceleration corresponding to each of the four air springs according to the acceleration of the four wheel positions and the center of mass position, thereby determining the load size and load offset of each of the above-mentioned air springs, and determining the expansion and contraction amount of each of the above-mentioned air springs in combination with the compression coefficient corresponding to the current pressure of the air spring; according to the expansion and contraction amount and load offset of the above-mentioned air springs, determines the filling and discharge amount and filling and discharge rate of each of the above-mentioned valve ports, and adjusts the length of the corresponding air spring. This makes it possible to predict in advance the changes in single-wheel pressure and height when the vehicle turns, yaws, rolls, pitches or other unstable states, and to adjust the lengths of the four air springs in real time to compensate for the changes in the height of the vehicle body, thereby accurately adjusting the vehicle body posture and improving the vehicle's driving stability and ride comfort; by determining the opening size of each air spring valve port according to the load offset, the charging and deflation rate of the corresponding air spring is controlled, so that each air spring can be charged and deflated within the set time; by using a controller to control the valve port of each air spring separately, the body posture can be adjusted in which area; by using a high-power air pump and a high-pressure air tank, the air spring can be charged and deflated faster, and the adjustment of the body posture can be more timely and rapid.

[0086] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0087] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0088] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A vehicle body posture control method, characterized in that: The following steps are involved: Determine the corner accelerations corresponding to the four air springs (1) according to the accelerations of the four wheels and the positions of the center of mass; Determining the load magnitude and load offset of each of the air springs (1) according to the corner accelerations corresponding to each of the four air springs (1); Determining the expansion and contraction amount of each air spring (1) according to the load size of each air spring (1) and the compression coefficient corresponding to the current pressure of the air spring (1); According to the expansion and contraction amount and load offset of the air spring (1), the inflation and deflation amount and inflation and deflation rate of the valve port corresponding to each air spring (1) are determined, and the length of the corresponding air spring (1) is adjusted; The method of determining the corner accelerations corresponding to the four air springs (1) according to the accelerations of the four wheel positions and the center of mass positions comprises: Determining the vehicle body acceleration based on the acceleration of the four wheel positions and the distance of the center of mass relative to the acceleration sensor (23); Determining the corner acceleration corresponding to each of the four air springs (1) according to the fixed vehicle body acceleration, the distance between the center of mass and the front and rear axles, and the front and rear wheel tracks; The method of determining the vehicle body acceleration according to the acceleration of the four wheel positions and the distance between the center of mass and the acceleration sensor (23) comprises: According to formula A body =T -1 A a , determine the vehicle body acceleration A body , where A bodv =[a body a roll a pitch ] T , A a =[a FL a FR a RL a RR ] T , a body is the vertical acceleration of the vehicle body, a roll is the roll acceleration of the vehicle body, a pitch is the pitch acceleration of the vehicle body, a FL is the collected value of the front left acceleration sensor (23), a FR is the collected value of the front right acceleration sensor (23), a RL is the collected value of the rear left acceleration sensor (23), a RR is the collected value of the rear right acceleration sensor (23), x FL is the relative distance from the center of mass of the vehicle body to the front left acceleration sensor (23) in the horizontal direction, yF L is the relative distance from the center of mass of the vehicle body to the front left acceleration sensor (23) in the vertical direction, x FR is the relative distance from the center of mass of the vehicle body to the front right acceleration sensor (23) in the horizontal direction, yF R is the relative distance from the center of mass of the vehicle body to the front right acceleration sensor (23) in the vertical direction, x RL y is the relative distance from the center of mass of the vehicle body to the rear left acceleration sensor (23) in the horizontal direction, RL is the relative distance from the center of mass of the vehicle body to the rear left acceleration sensor (23) in the vertical direction, x RR y is the relative distance from the center of mass of the vehicle body to the rear right acceleration sensor (23) in the horizontal direction, RR is the relative distance from the center of mass of the vehicle body to the rear right acceleration sensor (23) in the vertical direction; According to the fixed vehicle body acceleration, the distance between the center of mass and the front and rear axles, and the front and rear wheel tracks, the corner accelerations corresponding to the four air springs (1) are determined, including: According to formula A corner =T corner A body , determine the corner acceleration A corresponding to each of the four air springs (1) corner ,in, l trackF is the front wheelbase, l trackR is the rear wheelbase, l baseF is the distance between the center of mass of the vehicle body and the front axle, l baseR is the distance from the center of mass of the vehicle to the rear axle.

2. The vehicle body posture control method according to claim 1, characterized in that: Determining the load magnitude and load offset of each of the air springs (1) according to the corner accelerations corresponding to the four air springs (1), including: According to the formula F = m·A corner , determine the load borne by each of the air springs (1), where m is the mass of the air spring (1); Determining the load center according to the ratio of the load sizes of the four air springs (1); The load offset is determined by the ratio of the distance from the load center to the front wheel axle to the distance from the load center to the rear wheel axle.

3. The vehicle body posture control method according to claim 2, characterized in that: According to the load size of each air spring (1), combined with the compression coefficient corresponding to the current pressure of the air spring (1), the expansion and contraction amount of each air spring (1) is calculated, including: The expansion and contraction amount ΔL of each air spring (1) is determined according to the formula ΔL=F / k, wherein k=P·θ, k is the compression coefficient of the air spring (1), P is the collected pressure value of the pressure sensor (21) corresponding to the air spring (1), θ is the characteristic coefficient of the air spring (1), and F is the load size borne by each air spring (1).

4. The vehicle body posture control method according to claim 3, characterized in that: According to the expansion and contraction amount and load offset of the air spring (1), the inflation and deflation amount and inflation and deflation rate of the valve port corresponding to each air spring (1) are determined, and the length of the corresponding air spring (1) is adjusted, including: According to the formula L k =L k-1 +ΔL determines the target height L corresponding to the four air springs (1) k , where L k-1 Height values ​​collected by height sensors (22) corresponding to the four air springs (1); Comparison L k-1 With L k The size of L k <L k-1 , the controller controls the valve port of the air spring (1) to release air. If L k >L k-1 , the controller controls the valve port of the air spring (1) to inflate; The opening size of each valve port is determined according to the load offset to control the inflation and deflation rate.

5. A vehicle body posture control device, which uses the vehicle body posture control method according to any one of claims 1 to 4 to control the vehicle body, characterized in that: include: A collection and processing module, which is used to determine the corner accelerations corresponding to the four air springs (1) according to the accelerations of the four wheel positions and the center of mass positions; A load distribution module, which is used to determine the load size and load offset of each of the air springs (1) according to the corner accelerations corresponding to each of the four air springs (1); A vehicle body posture prediction module, which is used to determine the expansion and contraction amount of each of the air springs (1) according to the load size of each of the air springs (1) and the compression coefficient corresponding to the current pressure of the air spring (1); An adjustment module is used to determine the filling and deflation volume and filling and deflation rate of the valve port of each air spring (1) according to the expansion and contraction volume and load offset of the air spring (1), and adjust the length of the corresponding air spring (1).

6. A device, characterized in that: The device includes a processor, a memory, and a program stored in the memory and executable by the processor, wherein when the program is executed by the processor, the steps of the vehicle body posture control method as claimed in any one of claims 1 to 4 are implemented.

7. A vehicle, characterized in that: Comprising the device as claimed in claim 6.

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