Control method, control device, electronic device, and storage medium for vehicle

Abstract

The application discloses a control method of a vehicle, a control device of the vehicle, an electronic device and a computer storage medium, wherein a specified suspension control arm of the vehicle is provided with a height sensor, the control method comprises the following steps: when the specified suspension control arm moves, the voltage value of the height sensor corresponding to the specified suspension control arm is determined; and the roll angle and / or the pitch angle of the vehicle are determined based on the voltage value. According to the method, the roll angle and the pitch angle with high precision can be determined at low cost.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicles, and particularly relates to a vehicle control method, a vehicle control device, an electronic device, and a computer readable storage medium. BACKGROUND

[0002] The roll angle and the pitch angle of a vehicle are two important indicators for evaluating the degree of motion of the vehicle. The roll angle is generated when the vehicle turns at a high speed, and an excessively large roll angle can cause the wheels to leave the ground and even lead to vehicle rollover in severe cases. The pitch angle is generated when the vehicle accelerates or decelerates rapidly, and an excessively large pitch angle can cause "brake nodding" or "acceleration nodding", which reduces the comfort of the ride.

[0003] In order to ensure the safety of driving and the comfort of the ride, the vehicle can be controlled by estimating the roll angle and the pitch angle. However, in the current vehicle control method, the roll angle and the pitch angle are estimated based on an acceleration sensor, a gyroscope, and a vehicle speed sensor. However, the acceleration sensor and the gyroscope are relatively expensive, and when the vehicle is driving on a slope, the use of the gyroscope can reduce the accuracy of the calculation of the roll angle and the pitch angle. That is, the current vehicle control method cannot determine the roll angle and the pitch angle with high precision at a low cost. SUMMARY

[0004] The present application provides a vehicle control method, a vehicle control device, an electronic device, and a computer readable storage medium, which can determine the roll angle and the pitch angle with high precision at a low cost.

[0005] In a first aspect, the present application provides a vehicle control method, wherein a specified suspension control arm of the vehicle is provided with a height sensor, and the control method comprises:

[0006] When the specified suspension control arm moves, determining a voltage value of the height sensor corresponding to the specified suspension control arm;

[0007] Determining the roll angle and / or the pitch angle of the vehicle based on the voltage value.

[0008] In a second aspect, the present application provides a vehicle control device, wherein a specified suspension control arm of the vehicle is provided with a height sensor, and the control device comprises:

[0009] A first determination module, configured to determine a voltage value of the height sensor corresponding to the specified suspension control arm when the specified suspension control arm moves;

[0010] A second determination module, configured to determine the roll angle and / or the pitch angle of the vehicle based on the voltage value.

[0011] In a third aspect, the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method according to the first aspect.

[0012] In a fourth aspect, the present application provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executable by a processor to implement the steps of the method according to the first aspect.

[0013] In a fifth aspect, the present application provides a computer program product, wherein the computer program product comprises a computer program, and the computer program is executable by one or more processors to implement the steps of the method according to the first aspect.

[0014] Compared with the prior art, the present application has the beneficial effects that: for a vehicle provided with a height sensor on a specified suspension control arm, the roll angle and / or the pitch angle of the vehicle can be determined by the voltage value of the height sensor corresponding to the specified suspension control arm when the specified suspension control arm moves. In this control method, no additional acceleration sensor and gyroscope are needed, and only the height sensor is relied on to determine the roll angle and the pitch angle of the vehicle, so that the cost of the control method can be reduced, and even if the vehicle is driving on a slope, the accuracy of the determination of the roll angle and the pitch angle will not be reduced due to the interference of the slope on the gyroscope. That is, the control method can determine the roll angle and the pitch angle with high accuracy at a low cost.

[0015] It can be understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description in the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 is a flowchart of the control method of the vehicle provided by the embodiments of the present application;

[0018] Figure 2 is a structural schematic diagram of the height sensor and the specified suspension control arm provided by the embodiments of the present application;

[0019] Figure 3 is a bottom structure schematic diagram of a vehicle provided by the embodiments of the present application;

[0020] Figure 4 is a relationship curve between a theoretical voltage of a height sensor and a theoretical wheel jump value provided by an embodiment of the present application;

[0021] Figure 5 is a vehicle bottom structure schematic diagram provided by an embodiment of the present application, which identifies four distances;

[0022] Figure 6 is a first side tilt angle angle schematic diagram provided by an embodiment of the present application;

[0023] Figure 7 is a control device structure schematic diagram of a vehicle provided by an embodiment of the present application;

[0024] Figure 8 is an electronic device structure schematic diagram provided by an embodiment of the present application. DETAILED DESCRIPTION

[0025] In the following description, for the purpose of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0026] In the related art, in the process of controlling a vehicle, the side tilt angle and the longitudinal tilt angle of the vehicle are mostly determined based on an acceleration sensor, a gyroscope, and a vehicle speed sensor. However, the price of the acceleration sensor and the gyroscope is relatively high, and when the vehicle is driving on a slope, the slope will interfere with the gyroscope, thereby reducing the accuracy of the determination of the side tilt angle and the longitudinal tilt angle. Therefore, the current vehicle control method is difficult to determine the side tilt angle and the longitudinal tilt angle with high precision at a low cost.

[0027] To solve this problem, the present application proposes a vehicle control method, which can determine the side tilt angle and the longitudinal tilt angle with high precision at a low cost. The control method proposed by the present application will be described below through specific embodiments.

[0028] The control method of the scenario mode provided in the embodiments of the present application can be applied to a smart vehicle and other electronic devices capable of sending control instructions to the vehicle, such as a mobile phone, a tablet computer, a vehicle-mounted device, an augmented reality (AR) / virtual reality (VR) device, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), and the like. The embodiments of the present application do not limit the specific type of the electronic device.

[0029] For ease of illustration, the vehicle will be taken as the execution subject to describe each embodiment.

[0030] Figure 1 A schematic flowchart of a control method of a vehicle provided in the present application is shown, the specified suspension control arm of the vehicle is provided with a height sensor, and the control method comprises the following steps:

[0031] In step 110, when the specified suspension control arm moves, the voltage value of the height sensor corresponding to the specified suspension control arm is determined.

[0032] When the roll and / or pitch occurs, the vehicle not only generates a roll angle and / or a pitch angle, but also swings upward or downward. The more serious the roll and / or pitch is, the greater the roll angle and / or the pitch angle of the vehicle is, and the greater the swing amplitude of the suspension control arm is. Therefore, the vehicle can determine the roll angle and / or the pitch angle of the vehicle by measuring the swing amplitude of the suspension control arm, and then evaluate the degree of the roll and / or the pitch of the vehicle.

[0033] Specifically, the vehicle can first determine the voltage value of the height sensor corresponding to the specified suspension control arm when the specified suspension control arm moves. The voltage value can reflect the swing amplitude of the specified suspension control arm, so as to subsequently determine the roll angle and / or the pitch angle of the vehicle.

[0034] In step 120, the roll angle and / or the pitch angle of the vehicle is determined based on the voltage value.

[0035] After the voltage value is determined, the vehicle can determine the roll angle and / or the pitch angle of the vehicle according to the voltage value.

[0036] In this embodiment, for vehicles equipped with height sensors on designated suspension control arms, the roll angle and / or pitch angle can be determined by the voltage value of the height sensor corresponding to the designated suspension control arm when the designated suspension control arm moves. Because this control method eliminates the need for additional accelerometers and gyroscopes, relying solely on height sensors to determine the roll and pitch angles, it not only reduces the cost of the control method but also achieves high accuracy in roll and / or pitch angles even when the vehicle is traveling on a slope, as a gyroscope is not used. In other words, this control method can determine highly accurate roll and pitch angles at a lower cost.

[0037] In some embodiments, the height sensor may include a body, a crossbar, and a straight bar. In order to accurately determine the voltage value of the height sensor, the connection relationship between the various components of the height sensor and the connection relationship between the height sensor and the designated suspension control arm may be as follows: one end of the straight bar is connected to the designated suspension control arm, the other end of the straight bar is connected to one end of the crossbar, and the other end of the crossbar is connected to the body.

[0038] like Figure 2 As shown, the height sensor 10 may include a body 11, a crossbar 12, and a straight bar 13. The body 11 is connected to one end of the crossbar 12, and the other end of the crossbar 12 is connected to one end of the straight bar 13, thus forming the height sensor 10. The height sensor 10 installed on a designated suspension control arm 20 is connected to the designated suspension control arm 20 through the other end of the straight bar 13.

[0039] Accordingly, determining the voltage value of the height sensor corresponding to the specified suspension control arm may include:

[0040] Determine the voltage value generated by the movement of the crossbar and the straight bar, which are the movements of the crossbar and the straight bar under the drive of the specified suspension control arm.

[0041] When a designated suspension control arm moves, the crossbar and straight bar will move in the same direction as the designated suspension control arm under its drive, so that the main body can generate a corresponding voltage value. It can be understood that the voltage value output by the main body is also the voltage value of the height sensor that the vehicle needs to determine. The vehicle can further determine the roll angle and pitch angle based on this voltage value.

[0042] It can be understood that when the specified suspension control arm swings upward, the straight rod connected with the suspension control arm can drive the cross rod to move upward under the pushing of the suspension control arm; and in the process of upward movement of the straight rod and the cross rod, the body is fixed; thus, the body can output a corresponding voltage value according to the amplitude of the upward movement of the straight rod and the cross rod, and the voltage value is also the voltage value corresponding to the height sensor when the specified suspension control arm swings upward; similarly, when the specified suspension control arm swings downward, the straight rod connected with the suspension control arm can drive the cross rod to move downward under the pushing of the suspension control arm; similarly, in the process of downward movement of the straight rod and the cross rod, the body is fixed; thus, the body can output a corresponding voltage value according to the amplitude of the downward movement of the straight rod and the cross rod, and the voltage value is also the voltage value corresponding to the height sensor when the specified suspension control arm swings downward.

[0043] In some embodiments, in order to be able to determine the roll angle and / or the pitch angle based on the voltage value of the height sensor, the specified suspension control arm can be a first suspension control arm corresponding to each wheel in a set of target wheels, and the line connecting two wheels in the target wheels passes through the suspension center of the vehicle, for example, the front left wheel and the rear right wheel of the vehicle, or the front left wheel or the rear right wheel of the vehicle. Correspondingly, each first suspension control arm is provided with a height sensor.

[0044] For example, assuming that the set of target wheels is the front left wheel and the rear right wheel of the vehicle, a height sensor can be arranged on the first suspension control arm corresponding to the front left wheel, and a height sensor can be arranged on the first suspension control arm corresponding to the rear right wheel. That is, the number of first suspension control arms corresponds to the number of height sensors, and the voltage value output by each height sensor can represent the swing amplitude of the corresponding first suspension control arm.

[0045] In some embodiments, the specified suspension control arm can also be a second suspension control arm corresponding to each wheel of the vehicle. It can be understood that for the suspension control arm, the first and the second are only to distinguish the two possible setting conditions of the specified suspension control arm.

[0046] Referring to Figure 3 , Figure 3 A schematic view of the bottom structure of a vehicle (only the structure related to the present application is shown) is shown, each wheel 30 of the vehicle is provided with a second suspension control arm 20, correspondingly, four wheels are provided with four second suspension control arms 20, and each second suspension control arm 20 is provided with a height sensor 10, and the connection relationship between each height sensor 10 and the second suspension control arm 10 is described in the above embodiments, which will not be described here.

[0047] For the convenience of understanding, the subsequent embodiments will be described taking the second suspension control arm as an example.

[0048] In some embodiments, in order to improve the accuracy of the roll angle and / or pitch angle determination, the above step 120 specifically comprises:

[0049] Step 121, obtaining a relationship curve between the theoretical voltage value of the height sensor and the theoretical wheel jump value.

[0050] The swing of the second suspension control arm is a concomitant phenomenon of the wheel jump of the corresponding wheel. Therefore, the voltage value of the height sensor also indirectly represents the wheel jump value of the corresponding wheel. In order to be able to determine the wheel jump value of the corresponding wheel based on the voltage value, the vehicle can obtain the relationship curve between the theoretical voltage value of the height sensor and the theoretical wheel jump value.

[0051] For different height sensors, the accuracy of each height sensor is different due to the structural differences between them, and accordingly, the relationship curve corresponding to each height sensor is also different. In order to accurately determine the wheel jump value of the wheel, the vehicle can first obtain the relationship curve corresponding to the height sensor.

[0052] It can be understood that if the height sensors corresponding to each second suspension control arm are the same, there is only one relationship curve; but if the height sensors corresponding to each second suspension control arm are different, there are at least two relationship curves.

[0053] For example, the second suspension control arm corresponding to the left front wheel and the second suspension control arm corresponding to the right front wheel are provided with one kind of height sensor; the second suspension control arm corresponding to the left rear wheel and the second suspension control arm corresponding to the right rear wheel are provided with another kind of height sensor, then the relationship curves of the two kinds of height sensors can be obtained respectively, and the two relationship curves are respectively corresponding to the two kinds of height sensors, so as to subsequently determine the wheel jump value with higher accuracy based on the corresponding height sensor.

[0054] Specifically, referring to Figure 4 , Figure 4 a relationship curve between the theoretical voltage of a height sensor and the theoretical wheel jump value is shown. Wherein, the positive and negative of the wheel jump value of a certain wheel respectively represent two kinds of jumps of the wheel; when the wheel jump value is positive, it means that the wheel jumps up; when the wheel jump value is negative, it means that the wheel jumps down.

[0055] Step 122, determining the wheel jump value of the wheel corresponding to the specified suspension control arm based on the relationship curve and the voltage value.

[0056] After obtaining the relationship curve, the vehicle can find the wheel jump value corresponding to the voltage value in the relationship curve to obtain the wheel jump value of the wheel corresponding to the specified suspension control arm.

[0057] Specifically, in the case that the specified suspension control arm is the second suspension control arm, then four second suspension control arms can determine the wheel jump value of each wheel according to the voltage value of the corresponding height sensor. If the four wheels are distinguished, the second suspension control arms corresponding to the left front wheel, the right front wheel, the left rear wheel and the right rear wheel can be respectively recorded as suspension control arm 1, suspension control arm 2, suspension control arm 3 and suspension control arm 4; then the voltage values of the height sensors corresponding to each second suspension control arm can be recorded as U1, U2, U3 and U4 respectively; and the four wheel jump values determined based on the four voltage values can be recorded as S1, S2, S3 and S4 respectively.

[0058] Step 123, determine the roll angle and / or the pitch angle based on the wheel jump value and the positional relationship between the height sensors.

[0059] After determining the wheel jump value, the vehicle can determine the roll angle and / or the pitch angle of the vehicle according to the motion characteristics between the wheels when the vehicle rolls and / or pitches. Specifically, the motion characteristics between the wheels when the vehicle rolls and / or pitches can be characterized by the positional relationship between the height sensors, that is, the roll angle and / or the pitch angle of the vehicle can be determined according to the wheel jump value and the positional relationship between the height sensors.

[0060] The positional relationship between the height sensors can include a first distance, a second distance, a third distance and a fourth distance; the first distance is the distance between the first straight rod corresponding to the left front wheel and the second straight rod corresponding to the right front wheel; the second distance is the distance between the third straight rod corresponding to the left rear wheel and the fourth straight rod corresponding to the right rear wheel; the third distance is the distance between the second suspension control arm corresponding to the left front wheel and the second suspension control arm corresponding to the left rear wheel; and the fourth distance is the distance between the second suspension control arm corresponding to the right front wheel and the second suspension control arm corresponding to the right rear wheel.

[0061] Specifically, referring to Figure 5 , Figure 5 A schematic diagram of the vehicle bottom structure is shown, in which L1 is the first distance, L2 is the second distance, L3 is the third distance, and L4 is the fourth distance.

[0062] In some embodiments, the roll angle can be determined by the following steps:

[0063] Step A1, determine the first roll angle of the vehicle based on the first wheel jump value of the left front wheel of the vehicle, the second wheel jump value of the right front wheel and the first distance.

[0064] When the vehicle is in roll, the wheels on the left and right sides of the vehicle behave as one side jumps down and the other side jumps up. Specifically, in the case of the vehicle rolling to the left, the left front wheel and the left rear wheel behave as jumping down, and the right front wheel and the right rear wheel behave as jumping up; similarly, in the case of the vehicle rolling to the right, the left front wheel and the left rear wheel behave as jumping up, and the right front wheel and the right rear wheel behave as jumping down. That is, for the wheels belonging to the same left side or the same right side, when the vehicle is in roll, the wheel jump value directions and the wheel jump values of the two wheels should be the same in theory; based on this, the roll angle can be determined only by the left front wheel and the right front wheel.

[0065] But in actual application scenarios, the vehicle may be affected by factors such as uneven road surface, small obstacles, and potholes, so that the wheel jump values of the two wheels on the same side are different. Therefore, in order to improve the accuracy of the determination of the roll angle, the vehicle can first determine the roll angle of the front side of the suspension according to the first wheel jump value of the left front wheel, the second wheel jump value of the right front wheel, and the first distance, that is, the first roll angle.

[0066] Referring to Figure 6 , Figure 6 a first roll angle is shown in an angle diagram from the perspective of the vehicle. As can be seen from Figure 6 , the calculation formula of the first roll angle may be where S1 is the first wheel jump value, S2 is the second wheel jump value, and L1 is the first distance.

[0067] Step A2, determining a second roll angle of the vehicle based on a third wheel jump value of a left rear wheel of the vehicle, a fourth wheel jump value of a right rear wheel of the vehicle, and a second distance.

[0068] Similarly to step A1, the vehicle can determine the roll angle of the rear side of the suspension according to the third wheel jump value of the left rear wheel, the fourth wheel jump value of the right rear wheel, and the second distance, that is, the second roll angle. The second roll angle can be denoted as Specifically, the calculation formula of the second roll angle may be where S3 is the third wheel jump value, S4 is the fourth wheel jump value, and L2 is the second distance.

[0069] Step A3, calculating the average of the first roll angle and the second roll angle, and determining the average as the value of the roll angle.

[0070] Assuming the vehicle body is rigid, the roll angle at the center of gravity can be determined geometrically and thus defined as the vehicle's roll angle. However, considering that the center of gravity changes when the positions of occupants and luggage change, this embodiment uses the roll angle at the suspension center point to assess the degree of vehicle roll. Specifically, the roll angle at the suspension center point can be denoted as... roll angle The calculation formula can be

[0071] This embodiment determines the vehicle's roll angle based on the suspension center point, which can reduce the change in roll angle caused by changes in the vehicle's center of gravity position, thereby improving the accuracy of roll angle determination.

[0072] In some embodiments, the pitch angle can be determined by the following steps:

[0073] Step B1: Determine the first pitch angle of the vehicle based on the first wheel bounce value of the left front wheel, the third wheel bounce value of the left rear wheel, and the third distance.

[0074] When a vehicle tilts, the wheels on one side bounce upwards and the other side bounces downwards. Specifically, during a vehicle's "braking dive," the left and right front wheels bounce downwards, while the left and right rear wheels bounce upwards; similarly, during a vehicle's "acceleration lift," the left and right front wheels bounce upwards, while the left and right rear wheels bounce downwards. That is, theoretically, for both front and rear wheels, when the vehicle tilts, the wheel bounce values ​​and directions should be the same; based on this, the tilt angle can be determined using only the left front and left rear wheels.

[0075] Similar to determining the roll angle, in real-world applications, vehicles may be affected by various factors, causing differences in wheel hop values ​​between the front and rear wheels on the same side. Therefore, to improve the accuracy of the roll angle determination, the vehicle can first determine the roll angle on the left side of the suspension, i.e., the first roll angle, based on the first wheel hop value of the left front wheel, the third wheel hop value of the left rear wheel, and the third distance. This first roll angle is denoted as θ1, and its calculation formula is as follows: Where S1 is the jump value of the first round, S3 is the jump value of the third round, and L3 is the third distance.

[0076] Step B2: Determine the second pitch angle of the vehicle based on the second wheel hop value of the right front wheel, the fourth wheel hop value of the right rear wheel, and the fourth distance.

[0077] As step B1, the vehicle can determine the roll angle of the left side of the suspension according to the second wheel jump value of the right front wheel, the fourth wheel jump value of the right rear wheel and the fourth distance, that is, the second roll angle. The second roll angle can be denoted as θ2, and the calculation formula of the first roll angle denoted as θ2 can be wherein S2 is the second wheel jump value, S4 is the fourth wheel jump value, and L4 is the fourth distance.

[0078] Step B3, calculating the average of the first roll angle and the second roll angle, and determining the average as the value of the roll angle.

[0079] Similar to the calculation of the roll angle, the roll angle of the suspension center point can also be used to evaluate the roll degree of the vehicle. Specifically, the roll angle of the suspension center point can be denoted as θ, and the calculation formula of the roll angle θ can be θ=(θ1+θ2) / 2.

[0080] The embodiment determines the roll angle of the vehicle based on the suspension center point, which can reduce the change of the roll angle caused by the change of the mass center position of the vehicle, thereby improving the accuracy of the roll angle determination.

[0081] It can be understood that after the roll angle and / or the roll angle are determined, the vehicle can control the vehicle based on the data, for example, control the suspension damping or the motor torque, to ensure the driving safety and improve the comfort of the ride.

[0082] In some embodiments, the vehicle can be controlled by the following steps:

[0083] Step C1, determining the roll direction and / or the roll direction of the vehicle based on the wheel jump value of each wheel.

[0084] In the above steps, only the size of the roll angle and / or the size of the roll angle of the vehicle is determined, and the roll direction and / or the roll direction of the vehicle can be determined by the wheel jump value of each wheel. Still taking the wheel jump values S1, S2, S3 and S4 as an example for illustration:

[0085] For the roll direction: when S1, S3 are negative and S2, S4 are positive, it can be determined that the vehicle has rolled to the left; on the contrary, when S1, S3 are positive and S2, S4 are negative, it can be determined that the vehicle has rolled to the right;

[0086] For the roll direction: when S1, S2 are positive and S3, S4 are negative, it can be determined that the vehicle has rolled forward; on the contrary, when S1, S2 are negative and S3, S4 are positive, it can be determined that the vehicle has rolled backward.

[0087] Step C2, controlling the suspension damping of the vehicle based on the roll angle and the roll direction to reduce the roll amount of the vehicle; and / or, controlling the suspension damping of the vehicle based on the roll angle and the roll direction to reduce the roll amount of the vehicle.

[0088] After determining the roll direction, the vehicle can control the suspension damping of the vehicle according to the roll angle and the roll direction, so as to reduce the roll amount. For example, when the vehicle rolls to the left, the roll direction is the left side, and then the vehicle can increase the suspension damping of the left side, or reduce the suspension damping of the right side, so as to reduce the roll amount of the vehicle. Of course, the vehicle can also increase the suspension damping of the left side while reducing the suspension damping of the right side, so as to quickly reduce the roll amount of the vehicle.

[0089] After determining the roll direction, the vehicle can control the suspension damping of the vehicle according to the roll angle and the roll direction, so as to reduce the roll amount. For example, when the vehicle rolls to the left, the roll direction is the left side, and then the vehicle can increase the suspension damping of the left side, or reduce the suspension damping of the right side, so as to reduce the roll amount of the vehicle. Of course, the vehicle can also increase the suspension damping of the left side while reducing the suspension damping of the right side, so as to quickly reduce the roll amount of the vehicle.

[0090] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0091] The control method of the vehicle corresponding to the above embodiment, Figure 7 The structure block diagram of the control device 7 of the vehicle provided by the embodiments of the present application is shown, wherein the specified suspension control arm of the vehicle is provided with a height sensor, and only the part related to the embodiments of the present application is shown for convenience of description.

[0092] Referring to Figure 7 The control device 7 of the vehicle comprises:

[0093] The first determination module 71 is configured to determine the voltage value of the height sensor corresponding to the specified suspension control arm when the specified suspension control arm moves.

[0094] The second determination module 72 is configured to determine the roll angle and / or the pitch angle of the vehicle based on the voltage value.

[0095] Optionally, the height sensor comprises a body, a cross rod and a straight rod, one end of the straight rod is connected with the specified suspension control arm, the other end of the straight rod is connected with one end of the cross rod, and the other end of the cross rod is connected with the body; and the first acquisition module 71 is specifically configured to determine the voltage value generated by the body based on the movement of the cross rod and the straight rod, and the movement of the cross rod and the straight rod is the movement of the cross rod and the straight rod driven by the specified suspension control arm.

[0096] Optionally, the specified suspension control arm is a first suspension control arm corresponding to each wheel in a set of target wheels, and a line connecting two wheels in the target wheels passes through a suspension center of the vehicle; or a second suspension control arm corresponding to each wheel of the vehicle.

[0097] Optionally, the second determining module 72 can include:

[0098] The acquisition unit is configured to acquire a relationship curve between a theoretical voltage value of the height sensor and a theoretical wheel jump value.

[0099] The first determining unit is configured to determine a wheel jump value of a wheel corresponding to the specified suspension control arm based on the relationship curve and the voltage value.

[0100] The second determining unit is configured to determine a roll angle and / or a pitch angle based on the wheel jump value and a positional relationship between the height sensors.

[0101] Optionally, the specified suspension control arm is a second suspension control arm corresponding to each wheel of the vehicle, and the second determining unit can include:

[0102] The first determining sub-unit is configured to determine a first roll angle of the vehicle based on a first wheel jump value of a front left wheel of the vehicle, a second wheel jump value of a front right wheel of the vehicle, and a first distance between a first straight rod corresponding to the front left wheel and a second straight rod corresponding to the front right wheel.

[0103] The second determining sub-unit is configured to determine a second roll angle of the vehicle based on a third wheel jump value of a rear left wheel of the vehicle, a fourth wheel jump value of a rear right wheel of the vehicle, and a second distance between a third straight rod corresponding to the rear left wheel and a fourth straight rod corresponding to the rear right wheel.

[0104] The third determining sub-unit is configured to calculate a mean value of the first roll angle and the second roll angle, and determine the mean value as a value of the roll angle.

[0105] Optionally, the second determining unit can further include:

[0106] The fourth determining sub-unit is configured to determine a first pitch angle of the vehicle based on the first wheel jump value of the front left wheel of the vehicle, the third wheel jump value of the rear left wheel of the vehicle, and a third distance between the second suspension control arm corresponding to the front left wheel and the second suspension control arm corresponding to the rear left wheel.

[0107] The fifth determining sub-unit is configured to determine a second pitch angle of the vehicle based on the second wheel jump value of the front right wheel of the vehicle, the fourth wheel jump value of the rear right wheel of the vehicle, and a fourth distance between the second suspension control arm corresponding to the front right wheel and the second suspension control arm corresponding to the rear right wheel.

[0108] The sixth sub-unit is used to calculate the average of the first and second pitch angles, and the average value is determined as the pitch angle value.

[0109] Optionally, the control device 7 may further include:

[0110] The third module is used to determine the vehicle's roll direction and / or pitch direction based on the wheel hop value of each wheel;

[0111] A control module for controlling the vehicle's suspension damping based on roll angle and roll direction to reduce vehicle roll; and / or, controlling the vehicle's suspension damping based on pitch angle and pitch direction to reduce vehicle pitch.

[0112] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0113] Figure 8 This is a schematic diagram of the physical layer structure of an electronic device provided in an embodiment of this application. Figure 8 As shown, the electronic device 8 of this embodiment includes: at least one processor 80 ( Figure 8 (Only one is shown) a processor, a memory 81, and a computer program 82 stored in the memory 81 and executable on at least one processor 80. When the processor 80 executes the computer program 82, it implements the steps in any of the above-described vehicle control method embodiments, for example... Figure 1 Steps 110-120 are shown.

[0114] The processor 80 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0115] The memory 81 can be an internal storage unit of the electronic device 8, such as a hard disk or a memory of the electronic device 8 in some embodiments. The memory 81 can also be an external storage device of the electronic device 8, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, and the like equipped on the electronic device 8 in some other embodiments.

[0116] Further, the memory 81 can include both an internal storage unit and an external storage device of the electronic device 8. The memory 81 is used to store operating systems, application programs, boot loaders, data, and other programs, such as program codes of computer programs, and the like. The memory 81 can also be used to temporarily store data that has been output or will be output.

[0117] It can be clearly understood by those skilled in the art that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the above device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0118] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the steps in each of the above method embodiments.

[0119] The embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal is caused to implement the steps in each of the above method embodiments.

[0120] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application can implement all or part of the processes in the above-mentioned embodiment methods through a computer program to instruct related hardware to complete. The above-mentioned computer program can be stored in a computer readable storage medium, and the computer program can implement the steps of each method embodiment when executed by a processor. The above-mentioned computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The above-mentioned computer readable medium at least includes any entity or device capable of carrying the computer program code to the photographing device / electronic device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc.

[0121] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0122] Those skilled in the art can appreciate that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0123] In the embodiments provided in the present application, it should be understood that the disclosed apparatus / network device and method can be implemented in other ways. For example, the apparatus / network device embodiments described above are only schematic. For example, the division of the above modules or units is only a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection between each of the interfaces, devices or units can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0124] The units described as separate parts above can or can not be physically separate, and the parts shown as units can or can not be physical units, that is, can be located in one place, or can be distributed to multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment scheme according to actual needs.

[0125] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications 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.

Claims

1. A control method of a vehicle, characterized by, The specified suspension control arm of the vehicle is provided with a height sensor, and the control method comprises: When the specified suspension control arm moves, the voltage value of the height sensor corresponding to the specified suspension control arm is determined; The roll angle and / or the pitch angle of the vehicle is determined based on the voltage value; The height sensor comprises a body, a crossbar and a straight bar, one end of the straight bar is connected with the specified suspension control arm, the other end of the straight bar is connected with one end of the crossbar, and the other end of the crossbar is connected with the body; Correspondingly, the determination of the voltage value of the height sensor corresponding to the specified suspension control arm comprises: The voltage value generated by the body based on the movement of the crossbar and the straight bar is determined, the movement of the crossbar and the straight bar is the movement of the crossbar and the straight bar under the driving of the specified suspension control arm; wherein when the specified suspension control arm is oriented to swing, it will push the straight bar to drive the crossbar to move in the same direction with the specified suspension control arm; during the movement, the body is fixed, and the voltage value is generated according to the amplitude of the directional movement of the crossbar and the straight bar; The specified suspension control arm is a first suspension control arm corresponding to each wheel in a group of target wheels, and the line connecting two wheels in the target wheels passes through the suspension center of the vehicle; or the specified suspension control arm is a second suspension control arm corresponding to each wheel of the vehicle; The determination of the roll angle and / or the pitch angle of the vehicle based on the voltage value comprises: The relationship curve between the theoretical voltage value and the theoretical wheel jump value of the height sensor is obtained; Based on the relationship curve and the voltage value, the wheel jump value of the wheel corresponding to the specified suspension control arm is determined; Based on the wheel jump value and the positional relationship between each height sensor, the roll angle and / or the pitch angle is determined.

2. The control method of a vehicle according to claim 1, characterized by, The specified suspension control arm is the second suspension control arm corresponding to each wheel of the vehicle, and the roll angle is determined by the following steps: Based on the first wheel jump value of the left front wheel, the second wheel jump value of the right front wheel and the first distance, the first roll angle of the vehicle is determined, and the first distance is the distance between the first straight bar corresponding to the left front wheel and the second straight bar corresponding to the right front wheel; Based on the third wheel jump value of the left rear wheel, the fourth wheel jump value of the right rear wheel and the second distance, the second roll angle of the vehicle is determined, and the second distance is the distance between the third straight bar corresponding to the left rear wheel and the fourth straight bar corresponding to the right rear wheel; The average value of the first roll angle and the second roll angle is calculated, and the average value is determined as the value of the roll angle.

3. The control method of a vehicle according to claim 1, characterized by, When the specified suspension control arm is the second suspension control arm corresponding to each wheel of the vehicle, the pitch angle is determined by the following steps: Based on the first wheel jump value of the left front wheel, the third wheel jump value of the left rear wheel and the third distance, the first pitch angle of the vehicle is determined, and the third distance is the distance between the second suspension control arm corresponding to the left front wheel and the second suspension control arm corresponding to the left rear wheel; determine a second pitch angle of the vehicle based on a second wheel jump value of a right front wheel, a fourth wheel jump value of a right rear wheel, and a fourth distance, the fourth distance being a distance between a second suspension control arm corresponding to the right front wheel and a second suspension control arm corresponding to the right rear wheel; calculate a mean value of the first pitch angle and the second pitch angle, and determine the mean value as the value of the pitch angle.

4. The control method of a vehicle according to claim 1, characterized by, when the specified suspension control arm is the second suspension control arm corresponding to each wheel of the vehicle, the control method further comprises: determine a roll direction and / or a pitch direction of the vehicle based on the wheel jump value of each wheel; control suspension damping of the vehicle based on the roll angle and the roll direction to reduce a roll amount of the vehicle; and / or control suspension damping of the vehicle based on the pitch angle and the pitch direction to reduce a pitch amount of the vehicle.

5. A control device of a vehicle characterized by comprising: the specified suspension control arm of the vehicle is provided with a height sensor, and the control device comprises: a first determination module configured to determine a voltage value of the height sensor corresponding to the specified suspension control arm when the specified suspension control arm moves; a second determination module configured to determine a roll angle and / or a pitch angle of the vehicle based on the voltage value; the height sensor comprises a body, a crossbar, and a straight bar, one end of the straight bar is connected with the specified suspension control arm, the other end of the straight bar is connected with one end of the crossbar, and the other end of the crossbar is connected with the body; the first determination module is specifically configured to: determine the voltage value generated by the body based on the movement of the crossbar and the straight bar, the movement of the crossbar and the straight bar being the movement of the crossbar and the straight bar driven by the specified suspension control arm; wherein, when the specified suspension control arm directional swings, it will push the straight bar to drive the crossbar to move in the same direction with the specified suspension control arm; during the movement, the body is fixed, and the voltage value is generated according to the amplitude of the directional movement of the crossbar and the straight bar; the specified suspension control arm is a first suspension control arm corresponding to each wheel in a group of target wheels, and a line connecting two wheels in the target wheels passes through a suspension center of the vehicle; or the specified suspension control arm is a second suspension control arm corresponding to each wheel of the vehicle; the second determination module comprises: an acquisition unit configured to acquire a relationship curve between a theoretical voltage value and a theoretical wheel jump value of the height sensor; a first determination unit configured to determine a wheel jump value of a wheel corresponding to the specified suspension control arm based on the relationship curve and the voltage value; a second determination unit configured to determine the roll angle and / or the pitch angle based on the wheel jump value and a positional relationship between each height sensor.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, the processor executes the computer program to implement the control method of the vehicle according to any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, wherein the computer program comprises the following steps of: receiving a request for a resource from a client; determining whether the client is authorized to access the resource; and if the client is authorized to access the resource, providing the resource to the client. the computer program is executed by the processor to implement the control method of the vehicle according to any one of claims 1 to 4.

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