Damping control method, device, equipment and storage medium for shock absorber

Abstract

The present invention discloses a damping control method, device, equipment and storage medium for a shock absorber, the method comprising: determining a spacing distance and a shock absorber stroke corresponding to the spacing distance based on an angle signal and a preset lever ratio; wherein the angle signal is the angle between the normal direction of a vehicle body height sensor and a swing arm; the spacing distance is the distance between the lower edge of a vehicle body wheel arch and the wheel core; the shock absorber stroke is the vertical distance moved by a piston in the shock absorber when the vehicle body and the axle are in relative motion; determining wheel acceleration based on the spacing distance and the time taken to complete the spacing distance; determining the damping coefficient of the shock absorber based on the wheel acceleration, a preset shock absorber first stroke threshold curve and a preset shock absorber second stroke threshold curve; and determining a target current of the shock absorber based on the characteristics of the shock absorber and the damping coefficient of the shock absorber to adjust the damping force of the shock absorber.

Description

Technical Field

[0001] The present invention relates to the field of vehicle motion technology, and in particular to a damping control method, device, equipment and storage medium for a shock absorber. Background Art

[0002] With the development of vehicle technology, consumers have higher and higher requirements for the comfort performance during vehicle driving. To meet consumer needs, more and more vehicles are equipped with electronically controlled shock absorber systems that can control the damping of the shock absorber.

[0003] However, existing electronically controlled shock absorber systems usually adopt a shock absorber damping control method based on the skyhook control algorithm. When the damping load suddenly changes, the number of times the shock absorber hits the cache block increases, shortening the service life of the vehicle's mechanical structure, reducing the vehicle's driving comfort, and thus reducing the user's experience. Summary of the Invention

[0004] The present invention provides a damping control method, device, equipment and storage medium for a shock absorber, so as to extend the service life of the vehicle mechanical structure, enhance the driving comfort of the vehicle, and further enhance the user experience.

[0005] According to one aspect of the present invention, a damping control method for a shock absorber is provided, comprising:

[0006] The standoff distance and the shock absorber stroke corresponding to the standoff distance are determined based on the angle signal and a preset lever ratio. The angle signal is the angle between the normal direction of the vehicle height sensor and the swing arm. The standoff distance is the distance between the lower edge of the vehicle fender and the wheel center. The shock absorber stroke is the vertical distance the shock absorber piston moves when the vehicle body and the axle are in relative motion.

[0007] Determine the wheel acceleration based on the separation distance and the time taken to complete the separation distance; wherein the wheel acceleration is the vertical acceleration of the wheel relative to the vehicle body;

[0008] determining a damping coefficient of the shock absorber based on the wheel acceleration, a preset first shock absorber stroke threshold curve, and a preset second shock absorber stroke threshold curve; wherein the preset second shock absorber stroke threshold curve is obtained by upwardly adjusting the damping coefficient of the preset first shock absorber stroke threshold curve;

[0009] According to the characteristics of the shock absorber and the damping coefficient of the shock absorber, the target current of the shock absorber is determined to adjust the damping force of the shock absorber.

[0010] According to another aspect of the present invention, there is provided a damping control device for a shock absorber, comprising:

[0011] A first determination module is configured to determine a separation distance and a shock absorber stroke corresponding to the separation distance based on the angle signal and a preset lever ratio; wherein the angle signal is the angle between the normal direction of the vehicle height sensor and the swing arm; the separation distance is the distance between the lower edge of the vehicle wheel arch and the wheel center; and the shock absorber stroke is the vertical distance the piston in the shock absorber moves when the vehicle body and the axle are in relative motion;

[0012] a second determining module, configured to determine a wheel acceleration based on the interval distance and the time taken to complete the interval distance; wherein the wheel acceleration is a vertical acceleration of the wheel relative to the vehicle body;

[0013] a third determination module, configured to determine a damping coefficient of the shock absorber based on the wheel acceleration, a preset first shock absorber stroke threshold curve, and a preset second shock absorber stroke threshold curve; wherein the preset second shock absorber stroke threshold curve is obtained by upwardly adjusting the damping coefficient of the preset first shock absorber stroke threshold curve;

[0014] The fourth determining module is configured to determine a target current of the shock absorber according to the characteristics of the shock absorber and the damping coefficient of the shock absorber, so as to adjust the damping force of the shock absorber.

[0015] According to another aspect of the present invention, an electronic device is provided, comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the damping control method for a shock absorber according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, which are used to enable a processor to implement the damping control method for a shock absorber according to any embodiment of the present invention when executed.

[0020] The technical solution of the embodiment of the present invention determines the spacing distance and the shock absorber stroke corresponding to the spacing distance based on the angle signal and the preset lever ratio; wherein the angle signal is the angle between the normal direction of the vehicle body height sensor and the swing arm; the spacing distance is the distance between the lower edge of the vehicle body wheel arch and the wheel center; the shock absorber stroke is the vertical movement distance of the piston in the shock absorber when the vehicle body and the axle are in relative motion; the wheel acceleration is determined based on the spacing distance and the time taken to complete the spacing distance; wherein the wheel acceleration is the vertical acceleration of the wheel relative to the vehicle body; the damping coefficient of the shock absorber is determined based on the wheel acceleration, the preset shock absorber first stroke threshold curve and the preset shock absorber second stroke threshold curve; wherein the preset shock absorber second stroke threshold curve is obtained by increasing the damping coefficient in the preset shock absorber first stroke threshold curve; according to the characteristics of the shock absorber and the damping coefficient of the shock absorber, the target current of the shock absorber is determined to adjust the damping force of the shock absorber. The above technical solution determines the damping coefficient of the shock absorber based on the shock absorber stroke and its corresponding wheel acceleration, based on a preset first shock absorber stroke threshold curve and a preset second shock absorber stroke threshold curve, thereby achieving control of the shock absorber's damping coefficient. Simultaneously, the target current of the shock absorber is determined based on the shock absorber's characteristics and the shock absorber's damping coefficient, further achieving control of the shock absorber's current. Thus, by controlling the shock absorber's current, the damping force of the shock absorber is adjusted, thereby achieving control of the shock absorber's damping force. When the suspension moves to near the upper or lower limit of its suspension stroke, the number of times the shock absorber impacts the buffer block is reduced, thereby extending the service life of the vehicle's mechanical structure. The suspension stroke is also protected, noise and vibration are reduced in the vehicle, and driving comfort is enhanced, thereby enhancing the user experience. It should be noted that the suspension stroke includes the upper limit of the suspension's upward movement and the lower limit of the suspension's downward movement.

[0021] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1A 1 is a schematic structural diagram of an electronically controlled shock absorber system according to an embodiment of the present invention;

[0024] Figure 1Bis a flow chart of a damping control method for a shock absorber provided in accordance with the first embodiment of the present invention;

[0025] Figure 1C A preset first shock absorber stroke threshold curve and a preset second shock absorber stroke threshold curve provided according to the first embodiment of the present invention;

[0026] Figure 2 is a flow chart of a damping control method for a shock absorber provided in accordance with a second embodiment of the present invention;

[0027] Figure 3 2 is a schematic structural diagram of a damping control device for a shock absorber according to a third embodiment of the present invention;

[0028] Figure 4 It is a structural diagram of an electronic device for implementing the damping control method of a shock absorber according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "objective", "first" and "second" in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] In addition, it should be noted that in the technical solution of the present invention, the collection, storage, use, processing, transmission, provision and disclosure of the angle signals, preset lever ratios, preset shock absorber first stroke threshold curves and preset shock absorber second stroke threshold curves involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0032] For ease of understanding, a brief introduction to an electronically controlled shock absorber system according to an embodiment of the present invention is first given. Figure 1A The electronically controlled shock absorber system includes at least four electronically controlled variable damping shock absorbers, at least four vehicle height sensors, a shock absorber controller, and an inertial measurement unit (IMU). The vehicle height sensor is deployed between the vehicle's control arm and the vehicle body to measure the relative position of the wheels. It should be noted that the IMU is not deployed near the center of mass of the vehicle body.

[0033] It should be noted that the inertial measurement unit in the electronically controlled shock absorber system can be replaced by a body acceleration sensor, and the number of the body acceleration sensors is at least 3. The body acceleration sensors are deployed near the shock absorber on the front axle and near any shock absorber on the rear axle to measure the acceleration of the vertical movement of the body and calculate the wheel acceleration.

[0034] Example 1

[0035] Figure 1B This is a flow chart of a damping control method for a shock absorber provided in the first embodiment of the present invention. This embodiment is applicable to the case of protecting the suspension travel by controlling the damping of the shock absorber. The method can be executed by a damping control device for the shock absorber, which can be implemented in the form of hardware and / or software and can be configured in an electronic device. Figure 1B As shown, the method includes:

[0036] S101 : Determine a spacing distance and a shock absorber stroke corresponding to the spacing distance according to an angle signal and a preset lever ratio.

[0037] The angle signal is the angle between the normal direction of the vehicle height sensor and the swing arm. The standoff distance is the distance between the lower edge of the fender flare and the wheel center. Shock absorber stroke is the vertical distance the shock absorber piston moves when the vehicle body and axle are in relative motion, expressed in millimeters (mm). It should be noted that shock absorber stroke includes compression stroke and extension stroke. The compression stroke is the vertical downward distance the shock absorber piston moves when the vehicle body and axle are approaching each other, resulting in compression. The extension stroke is the vertical upward distance the shock absorber piston moves when the vehicle body and axle are moving away from each other, resulting in extension. The vehicle body is the portion of the vehicle used to carry people or cargo, including but not limited to windows, doors, cockpit, passenger compartment, engine compartment, and luggage compartment. The axle, also known as the axle, is connected to the vehicle body through a suspension, with wheels mounted at both ends. It is used to bear the vehicle's load and maintain normal road travel. The default leverage ratio is set by factory default.

[0038] Specifically, an angle signal is obtained by an angle sensor in a vehicle height sensor, and a preset lever ratio is obtained from vehicle parameters. Based on the obtained angle signal and the preset lever ratio, the separation distance and the shock absorber stroke corresponding to the separation distance are determined using the following formula:

[0039]

[0040] Where U is the spacing distance, C is the preset lever ratio, α is the angle signal, k and b are constants, and Y is the shock absorber stroke corresponding to the spacing distance. It should be noted that one spacing distance corresponds to one shock absorber stroke.

[0041] S102: Determine wheel acceleration according to the interval distance and the time taken to complete the interval distance.

[0042] The wheel acceleration is the vertical acceleration of the wheel relative to the vehicle body, and its unit is meter per square second (mps 2 It should be noted that one separation distance corresponds to one wheel acceleration, one separation distance corresponds to one shock absorber stroke, and one wheel acceleration corresponds to one shock absorber stroke.

[0043] Specifically, based on the interval distance and the time taken to complete the interval distance, the wheel acceleration is determined by the following formula:

[0044]

[0045] Among them, A z is the wheel acceleration, U is the interval distance, and t is the time used to complete the interval distance.

[0046] In an optional manner, the acceleration of the vertical movement of the vehicle body is acquired by a vehicle body acceleration sensor in the electronically controlled shock absorber system, and the wheel acceleration is calculated based on the acquired acceleration of the vertical movement of the vehicle body.

[0047] S103 : Determine a damping coefficient of the shock absorber according to the wheel acceleration, a preset first shock absorber stroke threshold curve, and a preset second shock absorber stroke threshold curve.

[0048] The preset shock absorber second stroke threshold curve is obtained by increasing the damping coefficient in the preset shock absorber first stroke threshold curve. It should be noted that the preset shock absorber first stroke threshold curve and the preset shock absorber second stroke threshold curve are both obtained through vehicle calibration, for example, see Figure 1C , a vehicle calibration method combining subjective and objective evaluation is used to obtain the preset shock absorber first stroke threshold curve Y T1 and the preset shock absorber second stroke threshold curve Y T2, thereby making the preset shock absorber first stroke threshold curve and the preset shock absorber second stroke threshold curve more convincing. Subjective evaluation can refer to professional test evaluators drawing the shock absorber second stroke threshold curve and the shock absorber second stroke threshold curve according to preset subjective evaluation standards, based on their personal experience and personal feelings. Objective evaluation can refer to drawing the shock absorber second stroke threshold curve and the shock absorber second stroke threshold curve through repeated testing based on preset rules.

[0049] An optional method is to obtain, for each wheel acceleration, the first shock absorber stroke and the second shock absorber stroke corresponding to the wheel acceleration from a preset shock absorber first stroke threshold curve and a preset shock absorber second stroke threshold curve respectively; extract the first damping coefficient corresponding to the first shock absorber stroke and the second damping coefficient corresponding to the second shock absorber stroke from a preset correspondence table of shock absorber strokes and damping coefficients of shock absorbers; and use the average value of the first damping coefficient and the second damping coefficient as the damping coefficient of the shock absorber.

[0050] Another optional method is to obtain the first damping coefficient corresponding to the first shock absorber stroke and the second damping coefficient corresponding to the second shock absorber stroke, and use the maximum value or the minimum value of the first damping coefficient and the second damping coefficient as the damping coefficient of the shock absorber.

[0051] S104 : Determine a target current of the shock absorber according to the characteristics of the shock absorber and the damping coefficient of the shock absorber to adjust the damping force of the shock absorber.

[0052] Among them, the characteristics of the shock absorber are determined by the type of shock absorber. For example, the characteristic of the electronically controlled shock absorber is that the damping force of the shock absorber is affected by the current of the shock absorber. For example, the greater the current of the shock absorber, the greater the damping force of the shock absorber. For another example, the smaller the current of the shock absorber, the greater the damping force of the shock absorber.

[0053] Specifically, based on the characteristics of the shock absorber and the damping coefficient of the shock absorber, the target current of the shock absorber is determined based on a preset rule to adjust the damping force of the shock absorber. The preset rule can be pre-set according to actual needs and is not specifically limited in the embodiment of the present invention.

[0054] The technical solution of the embodiment of the present invention determines the spacing distance and the shock absorber stroke corresponding to the spacing distance based on the angle signal and the preset lever ratio; wherein the angle signal is the angle between the normal direction of the vehicle body height sensor and the swing arm; the spacing distance is the distance between the lower edge of the vehicle body wheel arch and the wheel center; the shock absorber stroke is the vertical movement distance of the piston in the shock absorber when the vehicle body and the axle are in relative motion; the wheel acceleration is determined based on the spacing distance and the time taken to complete the spacing distance; wherein the wheel acceleration is the vertical acceleration of the wheel relative to the vehicle body; the damping coefficient of the shock absorber is determined based on the wheel acceleration, the preset shock absorber first stroke threshold curve and the preset shock absorber second stroke threshold curve; wherein the preset shock absorber second stroke threshold curve is obtained by increasing the damping coefficient in the preset shock absorber first stroke threshold curve; according to the characteristics of the shock absorber and the damping coefficient of the shock absorber, the target current of the shock absorber is determined to adjust the damping force of the shock absorber. The above technical solution determines the damping coefficient of the shock absorber based on the shock absorber stroke and its corresponding wheel acceleration, based on a preset first shock absorber stroke threshold curve and a preset second shock absorber stroke threshold curve, thereby achieving control of the shock absorber's damping coefficient. Simultaneously, the target current of the shock absorber is determined based on the shock absorber's characteristics and the shock absorber's damping coefficient, further achieving control of the shock absorber's current. Thus, by controlling the shock absorber's current, the damping force of the shock absorber is adjusted, thereby achieving control of the shock absorber's damping force. When the suspension moves to near the upper or lower limit of its suspension stroke, the number of times the shock absorber impacts the buffer block is reduced, thereby extending the service life of the vehicle's mechanical structure. The suspension stroke is also protected, noise and vibration are reduced in the vehicle, and driving comfort is enhanced, thereby enhancing the user experience. It should be noted that the suspension stroke includes the upper limit of the suspension's upward movement and the lower limit of the suspension's downward movement.

[0055] On the basis of the above embodiments, as an optional method of the embodiments of the present invention, the target current of the shock absorber is determined according to the characteristics of the shock absorber and the damping coefficient of the shock absorber, which can be: obtaining the maximum current of the shock absorber; determining the target current of the shock absorber according to the characteristics of the shock absorber, the maximum current of the shock absorber and the damping coefficient of the shock absorber.

[0056] The maximum current of the shock absorber can be obtained by adjusting the shock absorber. The target current can refer to the current of the shock absorber obtained by processing the maximum current of the shock absorber.

[0057] Specifically, the maximum current of the shock absorber is obtained from a preset data storage unit. When the characteristic of the shock absorber is that the greater the current of the shock absorber, the greater the damping force of the shock absorber, the target current of the shock absorber is determined by the following formula based on the characteristics of the shock absorber, the maximum current of the shock absorber, and the damping coefficient of the shock absorber:

[0058] I=j×I max

[0059] Where I is the target current of the shock absorber, j is the damping coefficient of the shock absorber, and I max is the maximum current of the shock absorber.

[0060] If the characteristic of the shock absorber is that the smaller the current of the shock absorber, the greater the damping force of the shock absorber, the target current of the shock absorber is determined by the following formula based on the characteristics of the shock absorber, the maximum current of the shock absorber, and the damping coefficient of the shock absorber:

[0061] I=(1-j)×I max

[0062] Where I is the target current of the shock absorber, j is the damping coefficient of the shock absorber, and I max is the maximum current of the shock absorber. It should be noted that the preset data storage unit is used to store vehicle parameters, angle signals, a preset lever ratio, a preset shock absorber first stroke threshold curve, a preset shock absorber second stroke threshold curve, and the like. The preset data storage unit can be a database or a cache, and is not specifically limited in this embodiment of the present invention.

[0063] This optional method provides a specific method for determining the target current of the shock absorber, and can more accurately control the damping force of the shock absorber by determining the target current of the shock absorber according to the characteristics of the shock absorber.

[0064] Example 2

[0065] Figure 2 This is a flowchart of a damping control method for a shock absorber provided in Example 2 of the present invention. Based on the above embodiment, this embodiment further optimizes "determining the damping coefficient of the shock absorber based on the wheel acceleration, the preset shock absorber first stroke threshold curve, and the preset shock absorber second stroke threshold curve" and provides an optional implementation scheme. It should be noted that for parts not described in detail in the embodiment of the present invention, reference can be made to the relevant descriptions of other embodiments. Figure 2 As shown, the method includes:

[0066] S201 : Determine a spacing distance and a shock absorber stroke corresponding to the spacing distance according to an angle signal and a preset lever ratio.

[0067] Among them, the angle signal is the angle between the normal direction of the vehicle height sensor and the swing arm; the spacing distance is the distance between the lower edge of the vehicle body wheel arch and the wheel center; the shock absorber stroke is the vertical movement distance of the piston in the shock absorber when the vehicle body and the axle move relative to each other.

[0068] S202: Determine wheel acceleration according to the interval distance and the time taken to complete the interval distance.

[0069] The wheel acceleration is the vertical acceleration of the wheel relative to the vehicle body.

[0070] S203: Obtain the shock absorber stroke corresponding to the wheel acceleration as the target stroke.

[0071] For each wheel acceleration, the target stroke may refer to the shock absorber stroke corresponding to the wheel acceleration.

[0072] Specifically, for each wheel acceleration, the time period in which the wheel acceleration occurs is obtained, and the speed of the wheel is determined based on the wheel acceleration U and the time period in which the wheel acceleration occurs. The interval distance corresponding to the wheel acceleration is determined based on the wheel speed and the time period in which the wheel acceleration occurs. Based on the interval distance corresponding to the wheel acceleration and a preset lever ratio, the shock absorber stroke corresponding to the wheel acceleration is determined as the target stroke.

[0073] S204 : Determine a first stroke threshold value and a second stroke threshold value corresponding to the wheel acceleration on a preset first shock absorber stroke threshold curve and a preset second shock absorber stroke threshold curve, respectively.

[0074] The first stroke threshold is smaller than the second stroke threshold, and the difference between the first stroke threshold and the second stroke threshold falls within a preset damping coefficient range. The preset damping coefficient range is pre-set according to actual needs, for example, the preset damping coefficient range is [0, 1).

[0075] Specifically, for each wheel acceleration, a first stroke threshold corresponding to the wheel acceleration is obtained from a preset shock absorber first stroke threshold curve, and a second stroke threshold corresponding to the wheel acceleration is obtained from a preset shock absorber second stroke threshold curve.

[0076] S205 : Compare the target stroke with the first stroke threshold and the second stroke threshold respectively, and determine the damping coefficient of the shock absorber according to the comparison results.

[0077] The comparison result may be that the target travel is less than or equal to the first travel threshold, that the target travel is greater than the first travel threshold and less than or equal to the second travel threshold, or that the target travel is greater than the second travel threshold.

[0078] Specifically, the target stroke is compared with the first stroke threshold and the second stroke threshold respectively, and the damping coefficient of the shock absorber is determined according to the comparison result and the damping coefficient corresponding to the comparison result. This realizes the control of the damping coefficient of the shock absorber, and then controls the movement speed of the shock absorber by controlling the damping coefficient of the shock absorber, thereby protecting the suspension stroke.

[0079] In an optional manner, when the target stroke is greater than a first stroke threshold and less than or equal to a second stroke threshold, the damping coefficient of the shock absorber is determined according to the wheel acceleration, the target stroke and a preset damping coefficient lookup table.

[0080] The preset damping coefficient lookup table may refer to a correspondence table between shock absorber travel, wheel acceleration, and shock absorber damping coefficient. This correspondence table can be obtained through shock absorber calibration and is used to determine the shock absorber damping coefficient based on wheel acceleration and target travel. For example, the following table is a preset damping coefficient lookup table obtained through shock absorber calibration:

[0081] Preset damping coefficient lookup table

[0082]

[0083] Specifically, when the target stroke is greater than the first stroke threshold and less than or equal to the second stroke threshold, the damping coefficient of the shock absorber corresponding to the wheel acceleration and the target stroke is extracted from a preset damping coefficient lookup table based on the wheel acceleration and the target stroke.

[0084] For example, when the target stroke is greater than the first stroke threshold and less than or equal to the second stroke threshold, taking the above-mentioned preset damping coefficient lookup table as an example, if the wheel acceleration is 80.18 meters per second squared and the target stroke is 60 mm, the damping coefficient of the shock absorber corresponding to the wheel acceleration and the target stroke is 0.3.

[0085] This optional approach further controls the shock absorber's damping coefficient based on the target travel, providing a buffer for adjusting the damping coefficient. This allows the damping coefficient to be gradually adjusted upwards, avoiding the possibility of severe vehicle body vibration and excessive interior noise caused by a single adjustment to the preset damping coefficient threshold. This improves driving comfort. It should be noted that the preset damping coefficient threshold is pre-set based on actual needs and is not specifically limited in this embodiment of the present invention. For example, the preset damping coefficient threshold is 1.

[0086] Another optional method is to determine the damping coefficient of the shock absorber based on the skyhook damping control algorithm when the target stroke is less than or equal to the first stroke threshold; and to use the preset damping coefficient threshold as the damping coefficient of the shock absorber when the target stroke is greater than the second stroke threshold.

[0087] The ceiling damping control algorithm is an algorithm that controls suspension vibration by adjusting the damping coefficient of the shock absorber. The suspension is a general term for all force-transmitting connections between a vehicle's frame (or load-bearing body) and axles (or wheels). It is used to transmit forces and torque acting between the wheels and the frame, cushion the impact forces transmitted to the frame or body from uneven roads, and reduce the resulting vibrations to ensure smooth vehicle travel. The preset damping coefficient threshold is pre-set based on actual needs and is not specifically limited in this embodiment of the present invention. For example, the preset damping coefficient threshold is 1.

[0088] For example, when the target travel is less than or equal to the first travel threshold, taking the switch-type semi-active suspension skyhook damping control algorithm as an example, the damping coefficient of the shock absorber is determined according to the vertical velocity of the vehicle body and the wheel acceleration using the following formula:

[0089]

[0090] Among them, j is the damping coefficient of the shock absorber, v1 is the vertical velocity of the wheel, v2 is the vertical velocity of the vehicle body, j max is the maximum adjustable damping coefficient of the shock absorber, j min is the minimum adjustable damping coefficient of the shock absorber, j max and j min It is fixed when the shock absorber is determined.

[0091] Exemplarily, when the target stroke is greater than the second stroke threshold, if the preset damping coefficient threshold is 1, 1 is used as the damping coefficient of the shock absorber.

[0092] Based on the above embodiment, this optional embodiment further improves the method for determining the damping coefficient of the shock absorber, and realizes more intelligent control of the damping coefficient of the shock absorber.

[0093] S206 : Determine a target current of the shock absorber according to the characteristics of the shock absorber and the damping coefficient of the shock absorber to adjust the damping force of the shock absorber.

[0094] The technical solution of the embodiment of the present invention provides multiple specific methods for determining the damping coefficient of the shock absorber, fully considering the influence of the damping coefficient of the shock absorber on the suspension stroke, protecting the suspension stroke, and improving the driving comfort of the vehicle.

[0095] Example 3

[0096] Figure 3 This is a schematic diagram of the structure of a damping control device for a shock absorber provided in the third embodiment of the present invention. This embodiment is applicable to the case of protecting the suspension travel by controlling the damping of the shock absorber. The device can be implemented in the form of hardware and / or software and can be configured in an electronic device. Figure 3As shown, the device includes:

[0097] A first determination module 301 is configured to determine a separation distance and a shock absorber stroke corresponding to the separation distance based on the angle signal and a preset lever ratio; wherein the angle signal is the angle between the normal direction of the vehicle height sensor and the swing arm; the separation distance is the distance between the lower edge of the vehicle fender and the wheel center; and the shock absorber stroke is the vertical distance the shock absorber piston moves when the vehicle body and the axle are in relative motion.

[0098] The second determining module 302 is configured to determine the wheel acceleration based on the separation distance and the time taken to complete the separation distance; wherein the wheel acceleration is the vertical acceleration of the wheel relative to the vehicle body;

[0099] a third determining module 303 for determining a damping coefficient of the shock absorber based on the wheel acceleration, a preset first shock absorber stroke threshold curve, and a preset second shock absorber stroke threshold curve; wherein the preset second shock absorber stroke threshold curve is obtained by increasing the damping coefficient of the preset first shock absorber stroke threshold curve;

[0100] The fourth determining module 304 is configured to determine a target current of the shock absorber according to the characteristics of the shock absorber and the damping coefficient of the shock absorber, so as to adjust the damping force of the shock absorber.

[0101] The technical solution of the embodiment of the present invention is to determine the interval distance and the shock absorber stroke corresponding to the interval distance through a first determination module based on the angle signal and a preset lever ratio; determine the wheel acceleration through a second determination module based on the interval distance and the time taken to complete the interval distance; determine the damping coefficient of the shock absorber through a third determination module based on the wheel acceleration, a preset shock absorber first stroke threshold curve and a preset shock absorber second stroke threshold curve; and determine the target current of the shock absorber through a fourth determination module based on the characteristics of the shock absorber and the damping coefficient of the shock absorber to adjust the damping force of the shock absorber. The above technical solution determines the damping coefficient of the shock absorber based on the preset shock absorber first stroke threshold curve and the preset shock absorber second stroke threshold curve according to the shock absorber stroke and its corresponding wheel acceleration, thereby realizing the control of the damping coefficient of the shock absorber; at the same time, according to the characteristics of the shock absorber and the damping coefficient of the shock absorber, the target current of the shock absorber is determined, thereby further realizing the control of the current of the shock absorber, thereby adjusting the damping force of the shock absorber by controlling the current of the shock absorber, thereby realizing the control of the damping force of the shock absorber. When the suspension moves to the upper jump limit or the lower jump limit of the suspension stroke, the number of times the shock absorber hits the cache block is reduced, thereby extending the service life of the vehicle's mechanical structure, while protecting the suspension stroke, reducing the noise and vibration in the vehicle, enhancing the driving comfort of the vehicle, and thereby enhancing the user's sense of use.

[0102] Optionally, the third determining module 303 is specifically configured to:

[0103] a target stroke determining unit, configured to obtain a shock absorber stroke corresponding to the wheel acceleration as a target stroke;

[0104] a stroke threshold determination unit, configured to determine a first stroke threshold and a second stroke threshold corresponding to wheel acceleration on a preset first shock absorber stroke threshold curve and a preset second shock absorber stroke threshold curve, respectively; wherein the first stroke threshold is less than the second stroke threshold, and a difference between the first stroke threshold and the second stroke threshold falls within a preset damping coefficient range;

[0105] The damping coefficient determination unit is used to compare the target stroke with the first stroke threshold and the second stroke threshold respectively, and determine the damping coefficient of the shock absorber according to the comparison results.

[0106] Optionally, the damping coefficient determining unit is specifically configured to:

[0107] When the target stroke is greater than the first stroke threshold and less than or equal to the second stroke threshold, the damping coefficient of the shock absorber is determined according to the wheel acceleration, the target stroke and a preset damping coefficient lookup table.

[0108] Optionally, the damping coefficient determining unit is specifically configured to:

[0109] When the target stroke is less than or equal to the first stroke threshold, the damping coefficient of the shock absorber is determined based on the skyhook damping control algorithm; when the target stroke is greater than the second stroke threshold, the preset damping coefficient threshold is used as the damping coefficient of the shock absorber.

[0110] Optionally, the fourth determining module 304 is specifically configured to:

[0111] The maximum current of the shock absorber is obtained; and the target current of the shock absorber is determined according to the characteristics of the shock absorber, the maximum current of the shock absorber, and the damping coefficient of the shock absorber.

[0112] The damping control device for a shock absorber provided in an embodiment of the present invention can execute the damping control method for a shock absorber provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to executing the damping control method for each shock absorber.

[0113] Example 4

[0114] Figure 4A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0115] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12 and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0116] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0117] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the damping control method for a shock absorber.

[0118] In some embodiments, the damping control method for a shock absorber can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the damping control method for a shock absorber described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the damping control method for a shock absorber in any other appropriate manner (e.g., by means of firmware).

[0119] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0120] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0121] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0122] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0123] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0124] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0125] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0126] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A damping control method for a shock absorber, characterized in that: include: Determining a separation distance and a shock absorber stroke corresponding to the separation distance based on the angle signal and a preset lever ratio; wherein the angle signal is the angle between the normal direction of the vehicle height sensor and the swing arm; the separation distance is the distance between the lower edge of the vehicle fender and the wheel center; and the shock absorber stroke is the vertical distance the piston in the shock absorber moves when the vehicle body and the axle are in relative motion. Determining wheel acceleration based on the separation distance and the time taken to complete the separation distance; wherein the wheel acceleration is the vertical acceleration of the wheel relative to the vehicle body; determining a damping coefficient of the shock absorber based on the wheel acceleration, a preset first shock absorber stroke threshold curve, and a preset second shock absorber stroke threshold curve; wherein the preset second shock absorber stroke threshold curve is obtained by increasing the damping coefficient of the preset first shock absorber stroke threshold curve; According to the characteristics of the shock absorber and the damping coefficient of the shock absorber, a target current of the shock absorber is determined to adjust the damping force of the shock absorber.

2. The method according to claim 1, characterized in that Determining the damping coefficient of the shock absorber according to the wheel acceleration, a preset first shock absorber stroke threshold curve, and a preset second shock absorber stroke threshold curve includes: Obtaining a shock absorber stroke corresponding to the wheel acceleration as a target stroke; determining a first stroke threshold and a second stroke threshold corresponding to the wheel acceleration on a preset first stroke threshold curve of the shock absorber and a preset second stroke threshold curve of the shock absorber, respectively; wherein the first stroke threshold is less than the second stroke threshold, and a difference between the first stroke threshold and the second stroke threshold falls within a preset damping coefficient range; The target stroke is compared with the first stroke threshold and the second stroke threshold respectively, and the damping coefficient of the shock absorber is determined according to the comparison results.

3. The method according to claim 2, characterized in that The step of comparing the target stroke with the first stroke threshold and the second stroke threshold, and determining the damping coefficient of the shock absorber according to the comparison results, includes: When the target stroke is greater than the first stroke threshold and less than or equal to the second stroke threshold, the damping coefficient of the shock absorber is determined according to the wheel acceleration, the target stroke, and a preset damping coefficient lookup table.

4. The method according to claim 3, characterized in that The step of comparing the target stroke with the first stroke threshold and the second stroke threshold, and determining the damping coefficient of the shock absorber according to the comparison results, includes: determining a damping coefficient of the shock absorber based on a skyhook damping control algorithm when the target stroke is less than or equal to the first stroke threshold; When the target stroke is greater than the second stroke threshold, a preset damping coefficient threshold is used as the damping coefficient of the shock absorber.

5. The method according to claim 1, wherein The step of determining a target current of the shock absorber according to the characteristics of the shock absorber and the damping coefficient of the shock absorber includes: obtaining a maximum current of the shock absorber; A target current of the shock absorber is determined according to the characteristics of the shock absorber, the maximum current of the shock absorber, and the damping coefficient of the shock absorber.

6. A damping control device for a shock absorber, characterized in that: include: a first determination module configured to determine a separation distance and a shock absorber stroke corresponding to the separation distance based on the angle signal and a preset lever ratio; wherein the angle signal is the angle between the normal direction of the vehicle height sensor and the swing arm; the separation distance is the distance between the lower edge of the vehicle fender and the wheel center; and the shock absorber stroke is the vertical distance a piston in the shock absorber moves when the vehicle body and the axle are in relative motion; a second determining module, configured to determine a wheel acceleration based on the separation distance and the time taken to complete the separation distance; wherein the wheel acceleration is a vertical acceleration of the wheel relative to the vehicle body; a third determining module, configured to determine a damping coefficient of the shock absorber based on the wheel acceleration, a preset first shock absorber stroke threshold curve, and a preset second shock absorber stroke threshold curve; wherein the preset second shock absorber stroke threshold curve is obtained by upwardly adjusting the damping coefficient in the preset first shock absorber stroke threshold curve; The fourth determining module is configured to determine a target current of the shock absorber according to the characteristics of the shock absorber and the damping coefficient of the shock absorber, so as to adjust the damping force of the shock absorber.

7. The device according to claim 6, characterized in that The third determining module includes: a target stroke determining unit, configured to obtain a shock absorber stroke corresponding to the wheel acceleration as a target stroke; a stroke threshold determination unit, configured to determine a first stroke threshold and a second stroke threshold corresponding to the wheel acceleration on a preset first shock absorber stroke threshold curve and a preset second shock absorber stroke threshold curve, respectively; wherein the first stroke threshold is less than the second stroke threshold, and the difference between the first stroke threshold and the second stroke threshold falls within a preset damping coefficient range; The damping coefficient determining unit is configured to compare the target stroke with the first stroke threshold and the second stroke threshold respectively, and determine the damping coefficient of the shock absorber according to the comparison results.

8. The device according to claim 7, characterized in that The damping coefficient determination unit is specifically used to: When the target stroke is greater than the first stroke threshold and less than or equal to the second stroke threshold, the damping coefficient of the shock absorber is determined according to the wheel acceleration, the target stroke, and a preset damping coefficient lookup table.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the damping control method for a shock absorber according to any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the damping control method of a shock absorber according to any one of claims 1 to 5 when executed.

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