Vehicle suspension control method, device, processor and vehicle

Abstract

The application discloses a vehicle suspension control method, device, processor and vehicle. The method comprises the following steps: in response to the fact that the vehicle is currently in a first driving state, acquiring a driving parameter of the vehicle, wherein the first driving state is used for representing that the vehicle is currently driving through an obstacle; determining a current driving stage of the vehicle from multiple stages based on a first driving speed in the driving parameter and a configuration parameter of the vehicle, wherein the multiple stages are obtained by dividing the process of the vehicle driving through the obstacle based on the type of the obstacle, and the first driving speed is used for representing the driving speed of the vehicle after the front wheel of the vehicle drives through the obstacle; determining a suspension adjustment force based on the driving stage and other parameters in the driving parameter except the first driving speed; and controlling the rear wheel suspension of the vehicle to operate based on the suspension adjustment force. The application solves the technical problem that the effect of keeping the vehicle body stable by using the vehicle suspension is poor in the related art.

Description

Technical Field

[0001] The present invention relates to the field of vehicle suspension control, and in particular to a vehicle suspension control method, device, processor and vehicle. Background Art

[0002] Currently, there are two main types of common vehicle suspensions: passive suspension and semi-active suspension. These suspensions can assist the vehicle in maintaining stability when the vehicle passes over obstacles. However, the damping and stiffness characteristics of the passive suspension are fixed. When the vehicle passes over obstacles, the effect of reducing vibration and maintaining vehicle body stability is poor. Although the damping force of the semi-active suspension will change when the vehicle passes over speed bumps, for example, the line decreases and then increases, thereby ensuring vehicle body stability, but when the vehicle passes an obstacle with a large slope, the damping force of the semi-active suspension cannot be reduced to zero, and may even act in the opposite direction on the wheels, resulting in poor vehicle body stability.

[0003] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0004] Embodiments of the present invention provide a vehicle suspension control method, device, processor, and vehicle to at least solve the technical problem in the related art of poor effectiveness in maintaining vehicle body stability using vehicle suspension.

[0005] According to one aspect of an embodiment of the present invention, a vehicle suspension control method is provided, comprising: in response to the vehicle currently being in a first driving state, obtaining driving parameters of the vehicle, wherein the first driving state is used to characterize that the vehicle is currently driving past an obstacle; determining the current driving stage of the vehicle from a plurality of stages based on a first driving speed in the driving parameters and configuration parameters of the vehicle, wherein the plurality of stages are obtained by dividing the process of the vehicle driving past an obstacle based on the type of obstacle, and the first driving speed is used to characterize the driving speed of the vehicle after the front wheels of the vehicle have driven past the obstacle; determining a suspension adjustment force based on the driving stage and other parameters in the driving parameters except the first driving speed; and controlling the operation of the rear wheel suspension of the vehicle based on the suspension adjustment force.

[0006] Optionally, the suspension adjustment force is determined based on the driving stage and other parameters in the driving parameters except the first driving speed, including: obtaining the suspension model of the suspension; determining the force factor corresponding to the suspension model and the driving stage from a force factor table, wherein the force factor table is used to characterize the mapping relationship between the force factor, the suspension model and the driving stage; and determining the suspension adjustment force based on the driving stage, the force factor and other parameters.

[0007] Optionally, other parameters include at least: a second driving speed of the vehicle when the front wheels of the vehicle are driving on an obstacle; determining the suspension adjustment force based on the driving stage, the force factor and other parameters, including: obtaining the first longitudinal acceleration corresponding to the front wheels of the vehicle when they are in different driving stages when the front wheels are driving on the obstacle; predicting the second longitudinal acceleration corresponding to the rear wheels of the vehicle in different driving stages based on the first driving speed, the second driving speed and the first longitudinal acceleration; determining the suspension adjustment force based on the second longitudinal acceleration and the force factor.

[0008] Optionally, the driving stage includes at least: a climbing stage and a descending stage, the force factor includes at least: a climbing force factor and a descending force factor, the second driving speed includes at least: a first front wheel speed and a second front wheel speed, the first front wheel speed is used to characterize the driving speed of the vehicle when the front wheels of the vehicle are in the climbing stage, the second front wheel speed is used to characterize the driving speed of the vehicle when the front wheels of the vehicle are in the descending stage, and the first longitudinal acceleration includes at least: a first climbing longitudinal acceleration and a first descending longitudinal acceleration.

[0009] Optionally, the second longitudinal acceleration includes at least: a second climbing longitudinal acceleration and a second descending longitudinal acceleration. Based on the first driving speed and the first longitudinal acceleration, the second longitudinal acceleration corresponding to the rear wheels of the vehicle in different driving stages is predicted, including: in response to the driving stage being a climbing stage, based on the ratio of the first driving speed to the first front wheel speed, the first climbing longitudinal acceleration is adjusted to obtain the second climbing longitudinal acceleration; in response to the driving stage being a descending stage, the first descending longitudinal acceleration is adjusted based on the first front wheel speed, the second front wheel speed and the first driving speed to obtain the second descending longitudinal acceleration.

[0010] Optionally, based on the first front wheel speed, the second front wheel speed and the first driving speed, the first descending longitudinal acceleration is adjusted to obtain the second descending longitudinal acceleration, including: based on the ratio of the first front wheel speed to the second front wheel speed, adjusting the first driving speed to obtain the rear wheel descent speed, wherein the rear wheel descent speed is used to characterize the predicted driving speed of the vehicle when the rear wheels of the vehicle are in a descent stage; based on the ratio of the second front wheel speed to the rear wheel descent speed, adjusting the first descending longitudinal acceleration to obtain the second descending longitudinal acceleration.

[0011] Optionally, the rear wheel suspension operation of the vehicle is controlled based on the suspension adjustment force, including: obtaining a calibrated force corresponding to the rear wheel suspension in the driving stage; adjusting the calibrated force based on the suspension adjustment force to obtain a target force; in response to the rear wheels of the vehicle entering the driving stage, controlling the rear wheel suspension operation based on the target force.

[0012] According to one aspect of an embodiment of the present invention, a vehicle suspension control device is also provided, including: an acquisition module for acquiring driving parameters of the vehicle in response to the vehicle currently being in a first driving state, wherein the first driving state is used to characterize that the vehicle is currently driving past an obstacle; a first determination module for determining the current driving stage of the vehicle from multiple stages based on a first driving speed in the driving parameters and configuration parameters of the vehicle, wherein the multiple stages are obtained by dividing the process of the vehicle driving past an obstacle based on the type of obstacle, and the first driving speed is used to characterize the driving speed of the vehicle after the front wheels of the vehicle have passed the obstacle; a second determination module for determining the suspension adjustment force based on the driving stage and other parameters in the driving parameters except the first driving speed; and a control module for controlling the operation of the rear wheel suspension of the vehicle based on the suspension adjustment force.

[0013] Optionally, the second determination module includes: a model acquisition unit, used to obtain the suspension model of the suspension; a factor determination unit, used to determine the force factor corresponding to the suspension model and the driving stage from the force factor table, wherein the force factor table is used to characterize the mapping relationship between the force factor, the suspension model and the driving stage; and a force determination unit, used to determine the suspension adjustment force based on the driving stage, the force factor and other parameters.

[0014] Optionally, the other parameters include at least: a second driving speed of the vehicle when the front wheels of the vehicle are driving on an obstacle, and the force determination unit is further used to: obtain the first longitudinal acceleration corresponding to the front wheels of the vehicle when they are in different driving stages when the front wheels are driving on the obstacle; based on the first driving speed, the second driving speed and the first longitudinal acceleration, predict the second longitudinal acceleration corresponding to the rear wheels of the vehicle in different driving stages; based on the second longitudinal acceleration and the force factor, determine the suspension adjustment force.

[0015] Optionally, the driving stage includes at least: a climbing stage and a descending stage, the force factor includes at least: a climbing force factor and a descending force factor, the second driving speed includes at least: a first front wheel speed and a second front wheel speed, the first front wheel speed is used to characterize the driving speed of the vehicle when the front wheels of the vehicle are in the climbing stage, the second front wheel speed is used to characterize the driving speed of the vehicle when the front wheels of the vehicle are in the descending stage, and the first longitudinal acceleration includes at least: a first climbing longitudinal acceleration and a first descending longitudinal acceleration.

[0016] Optionally, the second longitudinal acceleration includes at least: a second climbing longitudinal acceleration and a second descending longitudinal acceleration, and the base force determination unit is further used to: in response to the driving stage being a climbing stage, adjust the first climbing longitudinal acceleration based on the ratio of the first driving speed to the first front wheel speed to obtain the second climbing longitudinal acceleration; in response to the driving stage being a descending stage, adjust the first descending longitudinal acceleration based on the first front wheel speed, the second front wheel speed and the first driving speed to obtain the second descending longitudinal acceleration.

[0017] Optionally, the force determination unit is also used to: adjust the first driving speed based on the ratio of the first front wheel speed to the second front wheel speed to obtain the rear wheel descent speed, wherein the rear wheel descent speed is used to characterize the predicted driving speed of the vehicle when the rear wheels of the vehicle are in the descent stage; and adjust the first descent longitudinal acceleration based on the ratio of the second front wheel speed to the rear wheel descent speed to obtain the second descent longitudinal acceleration.

[0018] Optionally, the control module includes: a force acquisition unit, used to obtain the calibrated force corresponding to the rear wheel suspension in the driving stage; a force adjustment unit, used to adjust the calibrated force based on the suspension adjustment force to obtain the target force; a suspension control unit, used to control the operation of the rear wheel suspension based on the target force in response to the rear wheels of the vehicle entering the driving stage.

[0019] According to one aspect of an embodiment of the present invention, a computer-readable storage medium is also provided, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute any of the above-mentioned vehicle suspension control methods.

[0020] According to one aspect of an embodiment of the present invention, a processor is further provided, and the processor is used to run a program, wherein any one of the above-mentioned vehicle suspension control methods is executed when the program is run.

[0021] According to one aspect of an embodiment of the present invention, a vehicle is also provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any one of the above-mentioned vehicle suspension control methods.

[0022] In an embodiment of the present invention, in response to the vehicle currently being in a first driving state, the driving parameters of the vehicle are obtained; based on the first driving speed in the driving parameters and the configuration parameters of the vehicle, the current driving stage of the vehicle is determined from multiple stages; based on the driving stage and other parameters in the driving parameters except the first driving speed, the suspension adjustment force is determined; based on the suspension adjustment force, the operation of the rear wheel suspension of the vehicle is controlled, and the driving stage in which the vehicle is currently driving past an obstacle is determined according to the first driving speed in the vehicle driving parameters, and then the suspension adjustment force corresponding to the driving stage is determined according to other parameters in the vehicle driving parameters, and finally the suspension adjustment force is used to control the vehicle suspension, thereby reducing the singleness of the vehicle suspension when working directly, thereby improving the flexibility and accuracy of controlling the vehicle suspension, and thus solving the technical problem in the related art of poor effect of maintaining vehicle body stability by using the vehicle suspension. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 is a schematic diagram illustrating a vehicle suspension control method according to an embodiment of the present invention;

[0025] Figure 2 is a schematic diagram showing a driving phase of a vehicle according to an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram illustrating a vehicle suspension control process according to an embodiment of the present invention;

[0027] Figure 4 FIG. 4 is a schematic structural diagram of a vehicle suspension control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] 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.

[0029] It should be noted that the terms "first", "second", etc. 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. Example 1

[0030] According to an embodiment of the present invention, an embodiment of a vehicle suspension control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0031] Figure 1 FIG. 1 is a schematic diagram of a vehicle suspension control method according to an embodiment of the present invention. Figure 1 As shown, the method includes the following steps:

[0032] Step S102: In response to the vehicle currently being in the first driving state, obtaining driving parameters of the vehicle.

[0033] The first driving state is used to represent that the vehicle is currently driving past an obstacle.

[0034] The aforementioned obstacle may refer to an object that the vehicle can pass through without causing a long-term impact on the vehicle's normal driving. This may include, but is not limited to, speed bumps, low stone steps, and other objects. When the vehicle passes over such an obstacle, it may experience a brief period of overload and stopping. The aforementioned first driving state may refer to the vehicle currently passing over the obstacle.

[0035] Generally, when a vehicle passes an obstacle, the pressure exerted by the vehicle on the users inside the vehicle may rise or fall briefly, and the vehicle may be in an overweight or weightless state. Therefore, in order to ensure the stability of the vehicle when passing an obstacle, a corresponding vehicle suspension is usually set at the front or rear wheels of the vehicle, and the suspension control system can use this vehicle suspension to keep the vehicle body stable. However, considering that the vehicle suspension usually operates passively according to the driving state of the vehicle, the force on the corresponding vehicle suspension used to ensure the stability of the vehicle is usually not triggered in time, and the triggered force may not meet the current driving parameters of the vehicle, and cannot ensure the stability of the vehicle body. For example, if the vehicle is traveling at a high speed, when the vehicle passes an obstacle, the stability of the vehicle body will be very poor, and the force passively triggered by the vehicle suspension may become very small due to the action of the limiter. Using this force may not be able to ensure the stability of the vehicle body when driving, thereby affecting the driving experience of the users inside the vehicle.

[0036] Therefore, in an optional solution of this embodiment, in order to better control the vehicle suspension and thus ensure the vehicle body stability when the vehicle passes through an obstacle, the suspension control system can actively control the vehicle suspension when the vehicle passes through an obstacle. Correspondingly, the suspension control system can monitor the current driving state of the vehicle in real time, and when the vehicle is in the first driving state, that is, when the vehicle passes through an obstacle, obtain the vehicle's current driving parameters that can be used to actively control the vehicle suspension.

[0037] In an optional scheme of this embodiment, since the front wheels of the vehicle are the first to contact the obstacle when the vehicle passes by the obstacle, and considering that actively controlling the vehicle suspension may consume a certain amount of time, the suspension control system may not be able to actively control the front wheel suspension of the vehicle in a timely manner. Therefore, when controlling the vehicle suspension, it is possible to mainly consider controlling the rear wheel suspension of the vehicle, that is, the above-mentioned vehicle suspension may refer to the rear wheel suspension of the vehicle. Correspondingly, the driving condition of the front wheels of the vehicle can be detected, and based on the driving condition, for example, whether the longitudinal acceleration of the front wheels of the vehicle is greater than the preset longitudinal acceleration threshold, it is determined whether the current driving state of the vehicle is the first driving state.

[0038] In an optional scheme of this embodiment, if active control of the front wheel suspension of the vehicle is considered, it is also possible to consider using a camera deployed in front of the vehicle to obtain the road conditions of the driving road within a certain distance in front of the vehicle in real time, determine whether there are obstacles in the driving road, and if there are obstacles, obtain information such as the height, slope, and distance from the current position of the vehicle of the obstacle, and then use this information, for example, based on the height and slope of the obstacle, to determine whether the vehicle will enter the first driving state, and if it is determined that the vehicle will enter the first driving state, determine the time from the current moment to the vehicle entering the first driving state based on the distance between the obstacle and the current position of the vehicle.

[0039] Step S104 : determining the current driving stage of the vehicle from a plurality of stages based on the first driving speed in the driving parameters and the configuration parameters of the vehicle.

[0040] The multiple stages are obtained by dividing the process of the vehicle passing through an obstacle based on the type of obstacle. The first driving speed is used to represent the driving speed of the vehicle after the front wheels of the vehicle pass the obstacle.

[0041] The aforementioned configuration parameters may refer to parameters set by the manufacturer during vehicle production, such as vehicle body length, axle length, and wheel radius. The aforementioned driving phase may refer to the phase of the vehicle's travel when passing an obstacle. The aforementioned driving phases can be determined by dividing the process of passing the obstacle into four equal parts according to a predetermined division rule. Considering that the suspension control system may be unable to promptly control the vehicle's front wheel suspension, control may primarily focus on the vehicle's rear wheel suspension (hereinafter, the vehicle suspension control process will be explained using the rear wheel suspension as the control mechanism). Furthermore, considering that the force triggered by the vehicle's suspension and the duration of contact between the vehicle's rear wheels and the obstacle are related to the vehicle's speed, the aforementioned first speed may refer to the vehicle's speed after the vehicle's front wheels have passed the obstacle, i.e., the vehicle's speed after the front wheels contact the obstacle and experience a brief period of overweight and underweight, but before the rear wheels contact the obstacle.

[0042] In an alternative embodiment of this embodiment, the vehicle suspension control method may vary depending on the driving phase. For example, when a vehicle first contacts an obstacle and continues to travel, it may be in an overweight state. Since the obstacle typically has a certain slope, the vehicle will generate an upward longitudinal acceleration at this time, and the corresponding vehicle suspension needs to generate a downward force to ensure vehicle body stability. When the vehicle moves away from the obstacle and continues to travel, the vehicle may be in an airborne or overweight state, which will generate a downward longitudinal acceleration. The corresponding vehicle suspension needs to generate an upward force to ensure vehicle body stability. Therefore, to accurately control the vehicle suspension, the suspension control system may first determine the vehicle's current driving phase and then control the vehicle suspension based on the driving phase. Specifically, to better control the vehicle's rear wheel suspension, the suspension control system may first obtain vehicle configuration parameters, such as the vehicle's axle length and wheel radius, as well as a first driving speed among the vehicle's current driving parameters, and then determine the vehicle's current driving phase based on the axle length, wheel radius, and first driving speed.

[0043] For example, the suspension control system can determine the time from the moment the front wheels of the vehicle contact the obstacle to the moment the rear wheels of the vehicle contact the obstacle based on the axle length and wheel radius, as well as the above-mentioned first driving speed, and then use this time and the moments corresponding to the front wheels in different driving stages to determine the moments corresponding to the rear wheels of the vehicle in different driving stages, thereby determining the driving stage of the vehicle at different times.

[0044] Figure 2 FIG. 1 is a schematic diagram showing a driving phase of a vehicle according to an embodiment of the present invention. Figure 2 As shown in the figure, the process of a vehicle passing an obstacle, such as a speed bump, can generally be divided into two driving stages, where A represents the stage before passing the obstacle, B represents the climbing stage when passing the obstacle, C represents the descending stage when passing the obstacle, and D represents the stage after passing the obstacle. 1 represents the working state of the vehicle suspension, and 2 represents the working state of the seat spring. Figure 2As can be seen, when the vehicle is in the climbing stage, the seat spring is in a compressed state, which generates a downward pushing force on the vehicle body and a upward pushing force on the user, and the corresponding vehicle suspension is also in a compressed state, which needs to overcome the pushing force generated by the seat spring to ensure the stability of the vehicle body and avoid the user from feeling uncomfortable due to the pressure generated by the vehicle itself and the pushing force of the seat spring. When the vehicle is in the descending stage, the seat spring is also in a compressed state, which generates an upward pulling force on the vehicle body and a downward pulling force on the user, and the corresponding vehicle suspension needs to overcome the pulling force generated by the seat spring, so as to ensure the stability of the vehicle body and avoid the user from feeling uncomfortable due to the pressure generated by the vehicle itself and the pulling force of the seat spring. However, if the force generated by the vehicle suspension is small, it is difficult to reduce the force on the user during the climbing stage or the descending stage, which may result in a poor user experience and affect the stability of the vehicle body.

[0045] In step S106, the suspension adjustment force is determined based on the driving stage and other parameters in the driving parameters except the first driving speed.

[0046] In an optional solution of the embodiment, after determining the driving stage in which the vehicle is currently located, the suspension control system can determine the suspension adjustment force for controlling the vehicle suspension according to the driving stage and other parameters in the driving parameters of the vehicle except the first driving speed.

[0047] In an optional solution of the embodiment, considering that the purpose of the suspension adjustment force is mainly to overcome the body pressure of the vehicle in different driving stages and the elastic force of the internal device of the vehicle, such as the seat spring, so as to ensure the stability of the vehicle body and the user experience when the vehicle drives through the obstacle, the above-mentioned other parameters can be parameters capable of determining the body pressure and the force of the internal device of the vehicle, such as the current upward longitudinal acceleration of the vehicle, the elastic coefficient and damping coefficient of the seat spring, etc.

[0048] In an optional solution of the embodiment, considering that the longitudinal acceleration of the vehicle is a parameter directly affecting the body pressure, the suspension control system can first determine the body pressure according to the current longitudinal acceleration of the vehicle, and then determine the force of the internal device of the vehicle on the vehicle according to the elastic coefficient and damping coefficient of the internal device of the vehicle, and then sum the above-mentioned forces to obtain a target force, so as to determine the suspension adjustment force for neutralizing the target force, which is used to ensure the stability of the vehicle body and the user experience.

[0049] In step S108, the rear wheel suspension of the vehicle is controlled based on the suspension adjustment force.

[0050] In an optional solution of this embodiment, after determining the suspension adjustment force, the suspension control system can control the vehicle suspension operation according to the suspension adjustment force when the device corresponding to the suspension, such as the rear wheel of the vehicle corresponding to the rear wheel suspension, enters the corresponding driving stage.

[0051] In an embodiment of the present invention, in response to the vehicle currently being in a first driving state, the driving parameters of the vehicle are obtained; based on the first driving speed in the driving parameters and the configuration parameters of the vehicle, the current driving stage of the vehicle is determined from multiple stages; based on the driving stage and other parameters in the driving parameters except the first driving speed, the suspension adjustment force is determined; based on the suspension adjustment force, the operation of the rear wheel suspension of the vehicle is controlled, and the driving stage in which the vehicle is currently driving past an obstacle is determined according to the first driving speed in the vehicle driving parameters, and then the suspension adjustment force corresponding to the driving stage is determined according to other parameters in the vehicle driving parameters, and finally the suspension adjustment force is used to control the vehicle suspension, thereby reducing the singleness of the vehicle suspension when working directly, thereby improving the flexibility and accuracy of controlling the vehicle suspension, and thus solving the technical problem in the related art of poor effect of maintaining vehicle body stability by using the vehicle suspension.

[0052] Optionally, the suspension adjustment force is determined based on the driving stage and other parameters in the driving parameters except the first driving speed, including: obtaining the suspension model of the suspension; determining the force factor corresponding to the suspension model and the driving stage from a force factor table, wherein the force factor table is used to characterize the mapping relationship between the force factor, the suspension model and the driving stage; and determining the suspension adjustment force based on the driving stage, the force factor and other parameters.

[0053] The above-mentioned force factor table may refer to a data table that can show the influence of force factors, suspension models and driving stages. The above-mentioned force factors may refer to factors used to adjust other parameters in the current driving parameters of the vehicle to determine the influencing factors of the suspension adjustment force.

[0054] In an alternative solution to this embodiment, considering that force factors vary between vehicle models, when determining the suspension adjustment force, the suspension control system may first obtain the vehicle suspension, such as the model of the rear wheel suspension. Then, from the force factor table, it may determine the force factor corresponding to the current driving stage and suspension model. The suspension adjustment force may then be determined based on the driving stage, force factor, and the other aforementioned parameters. For example, the force factor may be used to adjust the target force, thereby improving the accuracy of the determined suspension adjustment force.

[0055] Optionally, other parameters include at least: a second driving speed of the vehicle when the front wheels of the vehicle are driving on an obstacle; determining the suspension adjustment force based on the driving stage, the force factor and other parameters, including: obtaining the first longitudinal acceleration corresponding to the front wheels of the vehicle when they are in different driving stages when the front wheels are driving on the obstacle; predicting the second longitudinal acceleration corresponding to the rear wheels of the vehicle in different driving stages based on the first driving speed, the second driving speed and the first longitudinal acceleration; determining the suspension adjustment force based on the second longitudinal acceleration and the force factor.

[0056] In an optional solution of this embodiment, the aforementioned other parameters may also include, but are not limited to: a second driving speed of the vehicle's front wheels when traveling over an obstacle. It should be noted that the aforementioned first driving speed may refer to the vehicle's driving speed after the vehicle's front wheels have experienced overweight and weightlessness, and the second driving speed herein may refer to the vehicle's driving speed during the process of the vehicle's front wheels experiencing overweight and weightlessness. Considering that the vehicle's front wheels may experience bumps when traveling over an obstacle, or factors such as the steep slope or large size of the obstacle may affect the vehicle's driving speed, the magnitude of the aforementioned second driving speed may be different from the first driving speed.

[0057] In an optional scheme of this embodiment, considering that when controlling the rear wheel suspension of the vehicle, the driving parameters of the front wheels of the vehicle when passing through an obstacle can be directly obtained, the suspension control system can use the driving parameters of the front wheels of the vehicle, that is, the second driving speed among the above-mentioned other parameters, to predict the driving parameters of the rear wheels of the vehicle when passing through an obstacle, thereby improving the planning of the suspension adjustment force for controlling the rear wheel suspension of the vehicle when the rear wheels of the vehicle pass through an obstacle, and avoiding untimely planning, which affects the vehicle's body stability and affects the user's driving experience.

[0058] Considering that the first driving speed can be regarded as the driving speed of the vehicle when the rear wheels of the vehicle contact the obstacle, the suspension control system can obtain the first longitudinal acceleration corresponding to the different driving stages of the front wheels of the vehicle when passing the obstacle, and then use the above-mentioned first driving speed, second driving speed and first longitudinal acceleration to predict the second longitudinal acceleration corresponding to the rear wheels of the vehicle in different driving stages, and then use the second longitudinal acceleration to determine the suspension adjustment force used to control the rear wheel suspension of the vehicle in different driving stages.

[0059] Optionally, the driving stage includes at least: a climbing stage and a descending stage, the force factor includes at least: a climbing force factor and a descending force factor, the second driving speed includes at least: a first front wheel speed and a second front wheel speed, the first front wheel speed is used to characterize the driving speed of the vehicle when the front wheels of the vehicle are in the climbing stage, the second front wheel speed is used to characterize the driving speed of the vehicle when the front wheels of the vehicle are in the descending stage, and the first longitudinal acceleration includes at least: a first climbing longitudinal acceleration and a first descending longitudinal acceleration.

[0060] like Figure 2 As shown, in general, the stages in which the vehicle suspension needs to be controlled may include at least: a climbing stage and a descending stage, and the corresponding force factors may include at least: a climbing force factor and a descending force factor. In order to accurately determine the second longitudinal acceleration of the vehicle's rear wheels in different driving stages, the above-mentioned second driving speed may include at least: a first front wheel speed corresponding to the climbing stage, and a second front wheel speed corresponding to the descending stage. The first longitudinal acceleration may include at least: a first climbing longitudinal acceleration corresponding to the climbing stage, and a first descending longitudinal acceleration corresponding to the descending stage.

[0061] Optionally, the second longitudinal acceleration includes at least: a second climbing longitudinal acceleration and a second descending longitudinal acceleration. Based on the first driving speed and the first longitudinal acceleration, the second longitudinal acceleration corresponding to the rear wheels of the vehicle in different driving stages is predicted, including: in response to the driving stage being a climbing stage, based on the ratio of the first driving speed to the first front wheel speed, the first climbing longitudinal acceleration is adjusted to obtain the second climbing longitudinal acceleration; in response to the driving stage being a descending stage, the first descending longitudinal acceleration is adjusted based on the first front wheel speed, the second front wheel speed and the first driving speed to obtain the second descending longitudinal acceleration.

[0062] In an optional solution of this embodiment, in order to accurately control the rear wheel suspension of the vehicle in different driving stages, the second longitudinal acceleration may at least include: a second climbing longitudinal acceleration corresponding to the climbing stage, and a second descending longitudinal acceleration corresponding to the descending stage.

[0063] Correspondingly, when the driving stage is the climbing stage, the suspension control system can adjust the first climbing longitudinal acceleration according to the ratio of the aforementioned first driving speed and the first front wheel speed, thereby obtaining the above-mentioned second climbing longitudinal acceleration; when the driving stage is the descending stage, the suspension control system can adjust the above-mentioned first descending longitudinal acceleration according to the first front wheel speed, the second front wheel speed and the first driving speed, thereby obtaining the above-mentioned second descending longitudinal acceleration.

[0064] Optionally, based on the first front wheel speed, the second front wheel speed and the first driving speed, the first descending longitudinal acceleration is adjusted to obtain the second descending longitudinal acceleration, including: based on the ratio of the first front wheel speed to the second front wheel speed, adjusting the first driving speed to obtain the rear wheel descent speed, wherein the rear wheel descent speed is used to characterize the predicted driving speed of the vehicle when the rear wheels of the vehicle are in a descent stage; based on the ratio of the second front wheel speed to the rear wheel descent speed, adjusting the first descending longitudinal acceleration to obtain the second descending longitudinal acceleration.

[0065] In an optional solution of this embodiment, when determining the second longitudinal acceleration, the suspension control system may first adjust the first front wheel speed according to the ratio of the first front wheel speed to the second front wheel speed, predict the vehicle's driving speed when the rear wheels are in the descending phase, that is, the aforementioned rear wheel descending speed, and then adjust the first descending longitudinal acceleration according to the ratio of the second front wheel speed to the rear wheel descending speed, thereby obtaining the aforementioned second longitudinal acceleration.

[0066] Optionally, the rear wheel suspension operation of the vehicle is controlled based on the suspension adjustment force, including: obtaining a calibrated force corresponding to the rear wheel suspension in the driving stage; adjusting the calibrated force based on the suspension adjustment force to obtain a target force; in response to the rear wheels of the vehicle entering the driving stage, controlling the rear wheel suspension operation based on the target force.

[0067] In an optional scheme of this embodiment, when using the suspension adjustment force to control the operation of the rear wheel suspension of the vehicle, the suspension control system can first obtain the calibrated force corresponding to the rear wheel suspension in different driving stages, that is, the force triggered by the rear wheel suspension during passive operation, and then use the above-mentioned suspension adjustment force to adjust the calibrated force, so as to obtain the target force that can accurately control the operation of the rear wheel suspension of the vehicle, and when the rear wheel of the vehicle enters the corresponding driving stage, the operation of the rear wheel suspension of the vehicle is controlled according to the target force.

[0068] To understand the above process, Figure 3 FIG. 1 is a schematic diagram showing a vehicle suspension control process according to an embodiment of the present invention. Figure 3 As shown, the process may include first obtaining a driving state of the vehicle, then obtaining driving parameters of the vehicle when the driving state is a first driving state, and then determining driving stages corresponding to the rear wheels of the vehicle at different times based on a first driving speed in the driving parameters, and then using the first driving speed in combination with a second driving speed and first longitudinal accelerations corresponding to the front wheels of the vehicle at different driving stages to predict second longitudinal accelerations corresponding to the rear wheels of the vehicle at different driving stages, and finally using the second longitudinal acceleration and force factors corresponding to different driving stages to determine the suspension adjustment force of the vehicle at different driving stages. Example 2

[0069] According to one aspect of an embodiment of the present invention, corresponding to the aforementioned vehicle suspension control method, a vehicle suspension control device is further provided. Figure 4 FIG. 1 is a schematic structural diagram of a vehicle suspension control device according to an embodiment of the present invention. Figure 4 As shown, the device includes: an acquisition module 402 , a first determination module 404 , a second determination module 406 and a control module 408 .

[0070] Among them, the acquisition module 402 is used to obtain the vehicle's driving parameters in response to the vehicle currently being in a first driving state, wherein the first driving state is used to characterize that the vehicle is currently driving through an obstacle; the first determination module 404 is used to determine the vehicle's current driving stage from multiple stages based on the first driving speed in the driving parameters and the vehicle's configuration parameters, wherein the multiple stages are obtained by dividing the process of the vehicle driving through the obstacle based on the type of obstacle, and the first driving speed is used to characterize the vehicle's driving speed after the front wheels of the vehicle have passed the obstacle; the second determination module 406 is used to determine the suspension adjustment force based on the driving stage and other parameters in the driving parameters except the first driving speed; the control module 408 is used to control the operation of the vehicle's rear wheel suspension based on the suspension adjustment force.

[0071] Optionally, the second determination module 406 includes: a model acquisition unit, used to obtain the suspension model of the suspension; a factor determination unit, used to determine the force factor corresponding to the suspension model and the driving stage from the force factor table, wherein the force factor table is used to characterize the mapping relationship between the force factor, the suspension model and the driving stage; and a force determination unit, used to determine the suspension adjustment force based on the driving stage, the force factor and other parameters.

[0072] Optionally, the other parameters include at least: a second driving speed of the vehicle when the front wheels of the vehicle are driving on an obstacle, and the force determination unit is further used to: obtain the first longitudinal acceleration corresponding to the front wheels of the vehicle when they are in different driving stages when the front wheels are driving on the obstacle; based on the first driving speed, the second driving speed and the first longitudinal acceleration, predict the second longitudinal acceleration corresponding to the rear wheels of the vehicle in different driving stages; based on the second longitudinal acceleration and the force factor, determine the suspension adjustment force.

[0073] Optionally, the driving stage includes at least: a climbing stage and a descending stage, the force factor includes at least: a climbing force factor and a descending force factor, the second driving speed includes at least: a first front wheel speed and a second front wheel speed, the first front wheel speed is used to characterize the driving speed of the vehicle when the front wheels of the vehicle are in the climbing stage, the second front wheel speed is used to characterize the driving speed of the vehicle when the front wheels of the vehicle are in the descending stage, and the first longitudinal acceleration includes at least: a first climbing longitudinal acceleration and a first descending longitudinal acceleration.

[0074] Optionally, the second longitudinal acceleration includes at least: a second climbing longitudinal acceleration and a second descending longitudinal acceleration, and the base force determination unit is further used to: in response to the driving stage being a climbing stage, adjust the first climbing longitudinal acceleration based on the ratio of the first driving speed to the first front wheel speed to obtain the second climbing longitudinal acceleration; in response to the driving stage being a descending stage, adjust the first descending longitudinal acceleration based on the first front wheel speed, the second front wheel speed and the first driving speed to obtain the second descending longitudinal acceleration.

[0075] Optionally, the force determination unit is also used to: adjust the first driving speed based on the ratio of the first front wheel speed to the second front wheel speed to obtain the rear wheel descent speed, wherein the rear wheel descent speed is used to characterize the predicted driving speed of the vehicle when the rear wheels of the vehicle are in the descent stage; and adjust the first descent longitudinal acceleration based on the ratio of the second front wheel speed to the rear wheel descent speed to obtain the second descent longitudinal acceleration.

[0076] Optionally, the control module 408 includes: a force acquisition unit, used to obtain the calibrated force corresponding to the rear wheel suspension in the driving stage; a force adjustment unit, used to adjust the calibrated force based on the suspension adjustment force to obtain the target force; a suspension control unit, used to control the operation of the rear wheel suspension based on the target force in response to the rear wheels of the vehicle entering the driving stage. Example 3

[0077] According to one aspect of an embodiment of the present invention, a computer-readable storage medium is also provided, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute any of the above-mentioned vehicle suspension control methods. Example 4

[0078] According to one aspect of an embodiment of the present invention, a processor is further provided, and the processor is used to run a program, wherein any one of the above-mentioned vehicle suspension control methods is executed when the program is run. Example 5

[0079] According to an aspect of the embodiments of the present application, there is also provided a vehicle, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform any of the vehicle suspension control methods described above.

[0080] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.

[0081] In the above-mentioned embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0082] In several embodiments provided in the present application, it should be understood that the disclosed technical contents can be implemented by other manners. Among them, the above-mentioned device embodiments are only schematic, for example, the division of units can be a logical function division, and actual implementation can have another division manner, 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 coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection through some interfaces, and can be electrical or other forms.

[0083] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment scheme.

[0084] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be realized in the form of hardware or in the form of software functional unit.

[0085] 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 technical solutions of the present application, essentially or in other words, the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0086] The above is only the preferred embodiment of the present application, and it should be pointed out that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. A vehicle suspension control method, characterized in that: The method comprises: In response to the vehicle currently being in a first driving state, obtaining a driving parameter of the vehicle, wherein the first driving state is used to represent that the vehicle is currently driving past an obstacle; Determining a current driving stage of the vehicle from a plurality of stages based on a first driving speed among the driving parameters and configuration parameters of the vehicle, wherein the plurality of stages are obtained by dividing a process of the vehicle passing the obstacle based on a type of the obstacle, and the first driving speed is used to represent a driving speed of the vehicle after the front wheels of the vehicle pass the obstacle; determining a suspension adjustment force based on the driving phase and other parameters of the driving parameters except the first driving speed; controlling rear wheel suspension operation of the vehicle based on the suspension adjustment force; Determining the suspension adjustment force based on the driving stage and other parameters among the driving parameters except the first driving speed includes: obtaining a suspension model of the suspension; determining a force factor corresponding to the suspension model and the driving stage from a force factor table, wherein the force factor table is used to represent a mapping relationship between the force factor, the suspension model, and the driving stage; and determining the suspension adjustment force based on the driving stage, the force factor, and the other parameters; The other parameters include at least: the second driving speed of the vehicle when the front wheels of the vehicle are driving on the obstacle; determining the suspension adjustment force based on the driving stage, the force factor and the other parameters, including: obtaining the first longitudinal acceleration corresponding to the front wheels of the vehicle when they are in different driving stages when the front wheels of the vehicle are driving on the obstacle; predicting the second longitudinal acceleration corresponding to the rear wheels of the vehicle in the different driving stages based on the first driving speed, the second driving speed and the first longitudinal acceleration; and determining the suspension adjustment force based on the second longitudinal acceleration and the force factor.

2. The method according to claim 1, characterized in that The driving phase includes at least a climbing phase and a descending phase, the force factor includes at least a climbing force factor and a descending force factor, the second driving speed includes at least a first front wheel speed and a second front wheel speed, the first front wheel speed is used to characterize the driving speed of the vehicle when the front wheels of the vehicle are in the climbing phase, the second front wheel speed is used to characterize the driving speed of the vehicle when the front wheels of the vehicle are in the descending phase, and the first longitudinal acceleration includes at least a first climbing longitudinal acceleration and a first descending longitudinal acceleration.

3. The method according to claim 2, characterized in that The second longitudinal acceleration includes at least a second climbing longitudinal acceleration and a second descending longitudinal acceleration. Predicting the second longitudinal acceleration corresponding to the rear wheels of the vehicle in the different driving phases based on the first driving speed and the first longitudinal acceleration includes: In response to the driving phase being a climbing phase, adjusting the first climbing longitudinal acceleration based on a ratio of the first driving speed to the first front wheel speed to obtain a second climbing longitudinal acceleration; In response to the driving phase being a descending phase, the first descending longitudinal acceleration is adjusted based on the first front wheel speed, the second front wheel speed, and the first driving speed to obtain the second descending longitudinal acceleration.

4. The method according to claim 3, characterized in that Adjusting the first descending longitudinal acceleration based on the first front wheel speed, the second front wheel speed, and the first driving speed to obtain the second descending longitudinal acceleration includes: adjusting the first driving speed based on a ratio of the first front wheel speed to the second front wheel speed to obtain a rear wheel descent speed, wherein the rear wheel descent speed is used to represent a predicted driving speed of the vehicle when the rear wheels of the vehicle are in the descent phase; The first descending longitudinal acceleration is adjusted based on a ratio of the second front wheel speed to the rear wheel descending speed to obtain the second descending longitudinal acceleration.

5. The method according to claim 1, wherein Controlling the rear wheel suspension operation of the vehicle based on the suspension adjustment force includes: Obtaining a calibrated force corresponding to the rear wheel suspension during the driving phase; Adjusting the calibration force based on the suspension adjustment force to obtain a target force; In response to the rear wheels of the vehicle entering the running phase, the rear wheel suspension operation is controlled based on the target force.

6. A vehicle suspension control device, characterized in that: The device comprises: a parameter acquisition module, configured to acquire a driving parameter of the vehicle in response to the vehicle currently being in a first driving state, wherein the first driving state is used to represent that the vehicle is currently driving past an obstacle; a first determining module configured to determine a current driving phase of the vehicle based on a first driving speed among the driving parameters and a configuration parameter of the vehicle, wherein the driving phase is used to represent a phase obtained by dividing a process of the vehicle passing the obstacle based on the type of the obstacle, and the first driving speed is used to represent a driving speed of the vehicle after the front wheels of the vehicle pass the obstacle; a second determining module, configured to determine a suspension adjustment force based on other parameters other than the driving parameter in the driving phase and the first driving speed; a suspension control module for controlling rear wheel suspension operation of the vehicle based on the suspension adjustment force; The second loss determination module includes: a model acquisition unit for acquiring a suspension model of the suspension; a factor determination unit for determining a force factor corresponding to the suspension model and the driving stage from a force factor table, wherein the force factor table is used to represent a mapping relationship between the force factor, the suspension model, and the driving stage; and a force determination unit for determining the suspension adjustment force based on the driving stage, the force factor, and the other parameters. The other parameters include at least: a second driving speed of the vehicle when the front wheels of the vehicle are driving on the obstacle. The force determination unit is further used to: obtain a first longitudinal acceleration corresponding to different driving stages of the front wheels of the vehicle when the front wheels are driving on the obstacle; predict a second longitudinal acceleration corresponding to the rear wheels of the vehicle in the different driving stages based on the first driving speed, the second driving speed and the first longitudinal acceleration; and determine the suspension adjustment force based on the second longitudinal acceleration and the force factor.

7. A processor, characterized in that: The processor is configured to run a program, wherein the vehicle suspension control method according to any one of claims 1 to 5 is executed when the program is run.

8. A vehicle comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the vehicle suspension control method according to any one of claims 1 to 5.

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