A control method, device, equipment and storage medium for a vehicle air spring

Abstract

The present invention discloses a control method, device, equipment and storage medium for a vehicle air spring. The method includes the steps of: determining the axle load of the vehicle based on the trailer mass; when a trailer signal is received, determining whether the vehicle receives a road surface state signal, where the road surface state signal includes a road surface bump and / or pothole signal; when the road surface state signal is received, calculating the impact time of the vehicle, and adjusting the stiffness of the vehicle air spring based on the impact time, the axle load magnitude, the vehicle speed signal, the road surface state signal and the impact acceleration signal of the front axle; when the road surface state signal is not received, determining the current driving state of the vehicle, and adjusting the stiffness of the vehicle air spring based on the current driving state of the vehicle and the axle load of the vehicle, where the driving state includes: acceleration state, deceleration state, climbing state and flat road state. This application solves the problem of the vehicle rear axle jitter caused when the vehicle is towing a trailer.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle suspension control, and particularly to a control method, device, equipment and storage medium for a vehicle air spring. Background Art

[0002] With more and more people driving out for travel, the situation of vehicles towing trailers is increasing. Adding a trailer to an original vehicle will have a greater impact on the up-and-down vibration of the vehicle body, affecting the riding comfort and even the safety of the vehicle.

[0003] Currently, when a vehicle tows a trailer, there is always a vertical force on the rear axle of the vehicle, which is related to the trailer size, trailer weight, road conditions and vehicle acceleration and deceleration. Due to the existence of this force, the stiffness of the traditional suspension is fixed and cannot adjust the suspension stiffness according to the trailer size, trailer weight, road conditions and vehicle acceleration and deceleration, resulting in obvious up-and-down jitter of the rear axle of the vehicle and large pitching of the vehicle front and rear, affecting the comfort and even the safety of the vehicle.

[0004] Therefore, how to reduce the jitter of the vehicle and improve the driving comfort and safety of the vehicle are technical problems that need to be solved urgently at present. Summary of the Invention

[0005] The main purpose of the present invention is to provide a control method, device, equipment and storage medium for a vehicle air spring, which can suppress or weaken the jitter of the rear axle of the vehicle and the pitching of the vehicle body caused when towing a trailer without adding additional hardware, thereby further improving the comfort and safety of the vehicle when driving with a trailer.

[0006] In a first aspect, the present application provides a control method for a vehicle air spring, and the method includes the steps of:

[0007] Determine the axle load of the vehicle based on the trailer mass;

[0008] When receiving a trailer signal, determine whether the vehicle receives a front road surface state signal, where the road surface state signal includes a road surface bump and / or pothole signal;

[0009] When receiving the road surface state signal, calculate the impact time of the vehicle, and adjust the stiffness of the vehicle air spring based on the impact time, axle load magnitude, vehicle speed signal, road surface state signal and impact acceleration signal of the front axle;

[0010] When not receiving the road surface state signal, determine the current driving state of the vehicle, and adjust the stiffness of the vehicle air spring through the current driving state of the vehicle and the axle load of the vehicle, where the driving state includes: acceleration state, deceleration state, climbing state and flat road state.

[0011] Combined with the first aspect above, as an alternative implementation, when the vehicle longitudinal acceleration signal is greater than the first set threshold and the accelerator pedal signal is greater than the second set threshold, it is determined that the vehicle is in an acceleration state;

[0012] When the vehicle longitudinal deceleration signal is greater than the third set threshold and the brake pedal signal is greater than the fourth set threshold, it is determined that the vehicle is in a deceleration state;

[0013] When the slope of the road is greater than the fifth set threshold, it is determined that the vehicle is in a climbing state;

[0014] When the slope of the road is less than the fifth set threshold, it is determined that the vehicle is on a flat road.

[0015] Combined with the first aspect above, as an alternative implementation, when the vehicle is in an acceleration state, the stiffness of the vehicle air springs is adjusted according to the magnitude of the vehicle acceleration and the magnitude of the axle load;

[0016] When the vehicle is in a deceleration state, the stiffness of the vehicle air springs is adjusted according to the magnitude of the vehicle deceleration and the magnitude of the axle load;

[0017] When the vehicle is in a climbing state, the stiffness of the vehicle air springs is adjusted according to the slope grade and the magnitude of the axle load;

[0018] When the vehicle is on a flat road, the stiffness of the vehicle air springs is adjusted according to the load magnitude of the towed vehicle.

[0019] Combined with the first aspect above, as an alternative implementation, the vehicle front axle impact time is calculated based on the vehicle speed signal and the obstacle distance signal;

[0020] Based on the vehicle front axle impact time, the magnitude of the axle load, the vehicle speed signal, and the road surface condition signal, the stiffness of the vehicle front axle air spring is adjusted;

[0021] The vehicle rear axle impact time is calculated based on the vehicle speed signal and the wheelbase;

[0022] Based on the vehicle rear axle impact time, the magnitude of the axle load, the vehicle speed signal, and the impact acceleration signal of the front axle, the stiffness of the vehicle rear axle air spring is adjusted;

[0023] The time of impact of the trailer wheel is calculated based on the vehicle speed signal and the distance between the trailer wheel and the rear axle;

[0024] Based on the time of impact of the trailer wheel, the magnitude of the axle load, the vehicle speed signal, and the road surface condition signal, the stiffness of the vehicle rear axle air spring is adjusted.

[0025] Combined with the first aspect above, as an alternative implementation, the pressures of the four air springs of the vehicle are collected, where the pressures of the four air springs include: the left front axle PFL , the right front axle P FR , the left rear axle P RL and the right rear axle P RR pressure of the air springs;

[0026] Obtain the axle load L of the vehicle's front axle by weighing f and the axle load L of the rear axle r ;

[0027] Make the front axle load L f proportional to (P FL + P FR ) / 2, and make the rear axle load L r proportional to (P RL + P RR ) / 2 to form a two-dimensional table of the vehicle's axle load and air spring pressure;

[0028] According to the collected real-time air spring pressure, calculate the axle load of the vehicle by looking up the table through interpolation method.

[0029] Combined with the first aspect above, as an optional implementation manner, collect the vehicle speed signal and the signals of four height sensors of the vehicle, and determine whether the vehicle meets the axle load evaluation conditions through the signals of the height sensors, where the four height sensors include: the left front suspension height H of the vehicle FL , the right front suspension height H FR , the left rear suspension height H RL and the right rear suspension height H RR ;

[0030] When the vehicle speed is zero, and the difference between the left front suspension height and the right front suspension height of the vehicle is less than the first calibration value, the difference between the left rear suspension height and the right rear suspension height of the vehicle is less than the second calibration value, and the difference between the left front suspension height and the right rear suspension height of the vehicle is less than the third calibration value, it is determined that the vehicle meets the axle load evaluation conditions.

[0031] Combined with the first aspect above, as an optional implementation manner, the bump signal includes: a low bump signal, a medium bump signal, and a high bump signal, and the pit signal includes: a low pit signal, a medium pit signal, and a deep pit signal.

[0032] In a second aspect, the present application provides a control device for a vehicle air spring, and the device includes:

[0033] A determination module, which is used to determine the axle load of the vehicle based on the trailer mass;

[0034] A judgment module, which is used to judge whether the vehicle receives the front road surface state signal when receiving the trailer signal, where the road surface state signal includes road surface bumps and / or pit signals;

[0035] A control module, which is used to calculate the impact time of the vehicle when receiving the road surface state signal, and adjust the stiffness of the vehicle air spring based on the impact time, axle load magnitude, vehicle speed signal, road surface state signal, and impact acceleration signal of the front axle;

[0036] When the road surface state signal is not received, judge the current driving state of the vehicle, and adjust the stiffness of the vehicle air spring based on the current driving state of the vehicle and the axle load of the vehicle, where the driving states include: acceleration state, deceleration state, climbing state, and flat road state.

[0037] In a third aspect, the present application also provides an electronic device, which includes: a processor; a memory, on which computer-readable instructions are stored, and when the computer-readable instructions are executed by the processor, the method described in any item of the first aspect is implemented.

[0038] In a fourth aspect, the present application also provides a computer-readable storage medium, which stores computer program instructions, and when the computer program instructions are executed by a computer, the computer is made to execute the method described in any item of the first aspect.

[0039] A control method, device, equipment, and storage medium for a vehicle air spring provided by the present application. The method includes the steps of: determining the axle load of the vehicle based on the trailer mass; when a trailer signal is received, judging whether the vehicle receives a road surface state signal in front, where the road surface state signal includes road surface bumps and / or pothole signals; when the road surface state signal is received, calculating the impact time of the vehicle, and adjusting the stiffness of the vehicle air spring based on the impact time, axle load magnitude, vehicle speed signal, road surface state signal, and impact acceleration signal of the front axle; when the road surface state signal is not received, judging the current driving state of the vehicle, and adjusting the stiffness of the vehicle air spring based on the current driving state of the vehicle and the axle load of the vehicle, where the driving states include: acceleration state, deceleration state, climbing state, and flat road state. The present application can suppress or weaken the jitter of the rear axle of the vehicle and the pitching of the vehicle body caused when the vehicle is towing a trailer without adding additional hardware, thereby further improving the comfort and safety of the vehicle when driving with a trailer.

[0040] It should be understood that the above general description and the following detailed description are only exemplary and do not limit the present invention. Description of the Drawings

[0041] The accompanying drawings here are incorporated into the specification and constitute a part of this specification, showing the embodiments that conform to the present invention, and are used together with the specification to explain the principles of the present invention.

[0042] Figure 1Flowchart of a control method for a vehicle air spring provided in an embodiment of the present application;

[0043] Figure 2 Schematic diagram of a control device for a vehicle air spring provided in an embodiment of the present application;

[0044] Figure 3 Schematic diagram of an electronic device provided in an embodiment of the present application;

[0045] Figure 4 Schematic diagram of a computer-readable program medium provided in an embodiment of the present application. Detailed implementation manners

[0046] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present invention. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0047] In addition, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0048] The following further describes the embodiments of the present application in detail with reference to the drawings.

[0049] Refer to Figure 1 , Figure 1 shown is a flowchart of a control method for a vehicle air spring provided by the present invention. As Figure 1 shown, the method includes the steps:

[0050] Step S101: Determine the axle load of the vehicle based on the trailer mass.

[0051] Specifically, collect the pressures of the four air springs of the vehicle, where the pressures of the four air springs include: the pressure of the air spring of the left front axle P FL , the right front axle P FR , the left rear axle P RL and the right rear axle P RR ; obtain the front axle load L f and the rear axle load L r of the vehicle by weighing; make the front axle load L f proportional to (P FL +P FR ) / 2, and make the rear axle load L r proportional to (P RL +P RR) / 2 to form a two-dimensional table of vehicle axle load and air spring pressure; according to the collected real-time air spring pressure, the axle load of the vehicle is calculated by looking up the table through interpolation method.

[0052] For easy understanding, an example is given. When the speed of the vehicle is 0 (condition 1), according to the signals of the four height sensors, that is, the left front suspension height H of the vehicle FL , the right front suspension height H FR , the left rear suspension height H RL and the right rear suspension height H RR , judge the state of the vehicle. If it satisfies H FL -H FR <H F (the first calibration threshold) && H RL -H RR <H r (the second calibration threshold) && H FL -H RR <H Fr (the third calibration threshold) (condition 2), it means that the vehicle is parked on a relatively flat ground. If conditions 1 and 2 are not satisfied, it means that the vehicle does not meet the load evaluation conditions, and the front and rear axle loads of the vehicle adopt the set default loads. (It should be noted that the purpose of evaluating the load is that the floating amount of the vehicle body = the change in axle load / the suspension stiffness (the change in axle load can be understood as the axle load after towing a trailer minus the axle load without towing a trailer). According to the axle load, the suspension stiffness is adjusted to achieve the purpose of controlling the floating amount of the vehicle body) When conditions 1 and 2 are met. Collect the pressures of the four air springs of the vehicle, and the pressures of the four air springs include: the left front axle P FL , the right front axle P FR , the left rear axle P RL and the right rear axle P RR of the air springs. The front axle load L f is proportional to (P FL +P FR ) / 2, and the rear axle load L r is proportional to (P RL +P RR ) / 2. When the vehicle axle load L f , L r changes, the pressures of the corresponding air springs ((P FL +P FR ) / 2, (P RL +P RR ) / 2) will also change accordingly. By applying different loads to the vehicle, a set of vehicle axle loads (L f , L r ) and air spring pressures ((P FL +P FR ) / 2, (P RL +P RR) / 2) two-dimensional table. The program can obtain the corresponding axle load (L f , L r ) by looking up the table through interpolation method according to the collected actual air pressure. The specific method is as follows:

[0053] 1) When the vehicle is in the designed state and parked on a flat ground, weigh the front and rear axle loads: L f1 , L r1 . At the same time, obtain ((P FL1 + P FR1 ) / 2, (P RL1 + P RR1 ) / 2

[0054] 2) When the vehicle is in the designed state and parked on a flat ground, install a trailer with a mass of 0.5T at the rear. Weigh the front and rear axle loads: Lf2, Lr2. At the same time, obtain (P FL2 + P FR2 ) / 2, (P RL2 + P RR2 ) / 2

[0055] 3) When the vehicle is in the designed state and parked on a flat ground, install a trailer with a mass of 1T at the rear. Weigh the front and rear axle loads: Lf3, Lr3. At the same time, obtain (P FL3 + P FR3 ) / 2, (P RL3 + P RR3 ) / 2

[0056] 4) By analogy, install a trailer with the maximum allowable weight at the rear. Weigh the front and rear axle loads: Lfn, Lrn. At the same time, obtain (P FLn + P FRn ) / 2, (P RLn + P RRn ) / 2

[0057] 5) Form a two-dimensional table for the front and rear axles:

[0058] Front axle:

[0059]

[0060] Rear axle:

[0061]

[0062] Finally, calculate the axle load (L f , L r ) of the vehicle by looking up the table and interpolation method.

[0063] It should be noted that the floating amount of the vehicle body = the change amount of the axle load / the suspension stiffness. According to the axle load, the suspension stiffness is adjusted to achieve the purpose of controlling the floating amount of the vehicle body. The first calibration value is used to evaluate the height difference between the left and right wheels of the front axle to determine whether the vehicle is tilted. The second calibration value is used to evaluate the height difference between the left and right wheels of the rear axle to determine whether the vehicle is tilted. The third calibration value is used to evaluate the height difference between the front and rear axles to determine whether the vehicle is on a slope.

[0064] In one embodiment, the vehicle speed signal and the signals of four height sensors are collected, and it is determined whether the vehicle meets the axle load evaluation condition through the signals of the height sensors. The four height sensors include: the left front suspension height H of the vehicle FL , the right front suspension height H FR , the left rear suspension height H RL and the right rear suspension height H RR ;

[0065] When the vehicle speed is zero, and the difference between the left front suspension height and the right front suspension height of the vehicle is less than the first calibration value, the difference between the left rear suspension height and the right rear suspension height of the vehicle is less than the second calibration value, and the difference between the left front suspension height and the right rear suspension height of the vehicle is less than the third calibration value, it is determined that the vehicle meets the axle load evaluation condition.

[0066] Optionally, the front and rear axle load information of the vehicle 3 seconds before starting on a flat road is obtained by using the air suspension system. At this time, all the vehicle occupants are already seated, or the goods are already loaded. The trailer hitch has been connected, and the unsprung mass of the vehicle is no longer changed to identify the axle load.

[0067] Step S102: When a trailer signal is received, it is determined whether the vehicle receives a signal of the road surface state ahead, where the road surface state signal includes a road surface protrusion and / or a pothole signal.

[0068] Specifically, when the trailer signal is equal to 1, the trailer control module is activated, and it is determined whether the vehicle receives a signal of the road surface state ahead, that is, the height and depth of the road surface protrusion or pothole ahead are obtained from the ADAS camera. The protrusion heights are divided into: low protrusion, medium protrusion, high protrusion, corresponding to the identifiers Flag1, Flag2, Flag3 respectively; the depression depths are divided into: low pothole, medium pothole, deep pothole, corresponding to the identifiers Flag4, Flag5, Flag6 respectively.

[0069] Step S103: When the road surface state signal is received, calculate the impact time of the vehicle, and based on the impact time, the axle load magnitude, the vehicle speed signal, the road surface state signal, and the impact acceleration signal of the front axle, adjust the stiffness of the vehicle air spring.

[0070] Specifically, when a signal of a road surface bump or pothole is obtained from an ADAS camera, the vehicle front axle impact time is calculated based on the vehicle speed signal and the obstacle distance signal; based on the vehicle front axle impact time, the axle load magnitude, the vehicle speed signal, and the road surface state signal, the stiffness of the vehicle front axle air spring is adjusted; based on the vehicle speed signal and the wheelbase, the vehicle rear axle impact time is calculated;

[0071] Based on the vehicle rear axle impact time, the axle load magnitude, the vehicle speed signal, and the front axle impact acceleration signal, the stiffness of the vehicle rear axle air spring is adjusted; based on the vehicle speed signal and the distance between the trailer wheel and the rear axle, the impact time of the trailer wheel is calculated; based on the impact time of the trailer wheel, the axle load magnitude, the vehicle speed signal, and the road surface state signal, the stiffness of the vehicle rear axle air spring is adjusted.

[0072] For easy understanding, an example is given. First, it is determined whether a road surface bump and pothole signal sent by the ADAS is received. If received, the anti-impact module is activated. The front axle impact time T1 is calculated based on the vehicle speed signal and the obstacle distance signal. The stiffness of the front axle air spring is adjusted according to the axle load signal, the vehicle speed signal, and the road surface Flag signal to buffer the impact from the road surface on the vehicle body. The rear axle impact time T2 is calculated based on the vehicle speed signal and the wheelbase. The stiffness of the rear axle air spring is adjusted according to the axle load signal, the vehicle speed signal, and the front axle impact acceleration signal to cache the impact from the road surface on the vehicle body. Then, the impact time T3 of the trailer wheel is calculated based on the vehicle speed signal and the distance between the trailer wheel and the rear axle. The stiffness of the rear axle air spring is adjusted according to the axle load signal, the vehicle speed signal, and the road surface Flag signal.

[0073] It should be noted that it is assumed that the impact time received at the current moment is T1, and the adjustment of the front axle air spring stiffness is completed at the T1 moment from now on. The same applies to T2 and T3.

[0074] The axle load magnitude, the vehicle speed signal, the road surface state signal, and the front axle impact acceleration signal are used to adjust the stiffness of the vehicle air spring. It can be understood that the spring stiffness to be adjusted is determined by looking up a table according to the axle load magnitude, the vehicle speed signal, the road surface state signal, and the front axle impact acceleration signal.

[0075] For easy understanding, an example is given. By looking up a table, when it is determined that the axle load is low (for example, 600 kg), the vehicle speed is between 30 - 60 km / h, and the road surface state is flag1, the air spring stiffness is adjusted to the first threshold. When it is determined that the axle load is low and the vehicle speed is between 60 - 90 km / h, the air spring stiffness is adjusted to the second threshold. When it is determined that the axle load is low and the vehicle speed is between 90 - 150 km / h, the air spring stiffness is adjusted to the third threshold. When it is determined that the axle load is low and the vehicle speed is greater than 150 km / h, the air spring stiffness is adjusted to the fourth threshold.

[0076] Optionally, when the axle load is medium (e.g., 800 kg) and when the axle load is high (e.g., 1000 kg), the adjustment principle is the same as when the axle load is low, and will not be elaborated here.

[0077] It should also be noted that according to the height sensor signal, low-pass filtering and second-order differential processing are performed to obtain the impact acceleration of the front axle.

[0078] Step S104: When the road surface state signal is not received, determine the current driving state of the vehicle, and adjust the stiffness of the vehicle air spring based on the current driving state of the vehicle and the axle load of the vehicle, where the driving state includes: acceleration state, deceleration state, climbing state, and flat road state.

[0079] Specifically, when the bump or pothole signal is not received, determine the current driving state of the vehicle, which is specifically: when the vehicle longitudinal acceleration signal is greater than the first set threshold and the accelerator pedal signal is greater than the second set threshold, it is determined that the vehicle is in the acceleration state;

[0080] When the vehicle longitudinal deceleration signal is greater than the third set threshold and the brake pedal signal is greater than the fourth set threshold, it is determined that the vehicle is in the deceleration state;

[0081] When the slope of the road is greater than the fifth set threshold, it is determined that the vehicle is in the climbing state;

[0082] When the slope of the road is less than the fifth set threshold, it is determined that the vehicle is in the flat road state.

[0083] When the vehicle is in the acceleration state, adjust the stiffness of the vehicle air spring according to the magnitude of the vehicle acceleration and the magnitude of the axle load;

[0084] When the vehicle is in the deceleration state, adjust the stiffness of the vehicle air spring according to the magnitude of the vehicle deceleration and the magnitude of the axle load;

[0085] When the vehicle is in the climbing state, adjust the stiffness of the vehicle air spring according to the slope grade and the magnitude of the axle load;

[0086] When the vehicle is in the flat road state, adjust the stiffness of the vehicle air spring according to the load magnitude of the towed vehicle.

[0087] For easy understanding, an example is given. If the road surface bump and pothole signals sent by ADAS are not received, then determine whether the throttle signal is greater than the set threshold and whether the acceleration signal is greater than the set threshold. If so, the anti-acceleration pitching function is activated, and the stiffness of the front and rear air springs is adjusted according to the magnitude of the acceleration and the magnitude of the axle load.

[0088] If the longitudinal acceleration or the throttle pedal signal is less than the set threshold value, it is judged whether the longitudinal deceleration and the brake pedal opening are greater than the set threshold value. If so, the anti-braking pitch function is activated, and the stiffness of the front and rear air springs is adjusted according to the magnitude of the deceleration and the magnitude of the axle load.

[0089] If the longitudinal deceleration or the brake pedal development signal is less than the set threshold value, it is judged whether the wheels are running on a slope. If so, the ramp load compensation module is activated, and the stiffness of the front and rear air springs is adjusted according to the slope grade and the magnitude of the axle load.

[0090] For easy understanding, an example is given. When it is determined that the axle load is low and the vehicle acceleration is a1, the air spring stiffness is adjusted to the first threshold value. When it is determined that the axle load is low and the vehicle acceleration is a2, the air spring stiffness is adjusted to the second threshold value. When it is determined that the axle load is low and the vehicle acceleration is a3, the air spring stiffness is adjusted to the third threshold value. When it is determined that the axle load is low and the vehicle acceleration is a4, the air spring stiffness is adjusted to the fourth threshold value. When the axle load is medium and high, the adjustment principle is the same as when the axle load is low, and it will not be elaborated here. (When it is determined that the axle load is medium or high, a1 corresponds to the first stiffness threshold... a4 corresponds to the fourth stiffness threshold).

[0091] It should be noted that the principle of adjusting the stiffness according to the deceleration and the magnitude of the axle load is the same as the principle of adjusting the stiffness according to the above acceleration. In addition, the slope adjustment is the same as the above method. When the axle load is low and the slope is the first slope value, the stiffness is adjusted to the first set stiffness. When driving on a flat road, the corresponding first stiffness, second stiffness, third stiffness, and fourth stiffness are adjusted according to the vehicle axle loads L1, L2, L3, and L4.

[0092] Among them, the following signals are obtained through the vehicle CAN: the vehicle brake pedal opening signal, the vehicle throttle opening signal, and the longitudinal acceleration signal

[0093] If the slope signal is less than the set threshold value, the trailer load compensation function is activated, and the stiffness of the front and rear air springs is adjusted according to the load.

[0094] It should be noted that the multi-chamber air spring is adopted in this application. Taking the three-chamber air spring as an example, there are three chambers, V1, V2, and V3, which are controlled by two solenoid valves G1 and G2, and 4 stiffness combinations can be realized. That is, the air chamber combinations are V1+V2+V3, V1+V2, V1+V3, and V1. For the V1+V2+V3 combination, both solenoid valves G1 and G2 are opened, and the corresponding spring stiffness is the first stiffness. For the V1+V2 combination, solenoid valve G1 is opened and G2 is closed, and the corresponding spring stiffness is the second stiffness. For the V1+V3 combination, solenoid valve G1 is closed and G2 is opened, and the corresponding spring stiffness is the third stiffness. For the V1 combination, both solenoid valves G1 and G2 are closed, and the corresponding spring stiffness is the fourth stiffness. The first stiffness < the second stiffness < the third stiffness < the fourth stiffness.

[0095] This application utilizes a multi-chamber air spring, which can improve the comfort and safety of a vehicle when towing a trailer without adding additional hardware.

[0096] Referring to Figure 2 , Figure 2 shown is a schematic diagram of a control device for a vehicle air spring provided by the present invention. As Figure 2 shown, the device includes:

[0097] Determination module 201: It is used to determine the axle load of the vehicle based on the trailer mass.

[0098] Judgment module 202: It is used to judge whether the vehicle receives a road surface condition signal when a trailer signal is received, where the road surface condition signal includes a road surface bump and / or pothole signal.

[0099] Control module 203: It is used to calculate the impact time of the vehicle when receiving the road surface condition signal, and adjust the stiffness of the vehicle air spring based on the impact time, axle load magnitude, vehicle speed signal, road surface condition signal, and impact acceleration signal of the front axle;

[0100] When the road surface condition signal is not received, judge the current driving state of the vehicle, and adjust the stiffness of the vehicle air spring through the current driving state of the vehicle and the axle load of the vehicle, where the driving state includes: acceleration state, deceleration state, climbing state, and flat road state.

[0101] Furthermore, in a possible implementation manner, the judgment module is further used to judge that the vehicle is in an acceleration state when the vehicle longitudinal acceleration signal is greater than a first set threshold and the throttle pedal signal is greater than a second set threshold;

[0102] When the vehicle longitudinal deceleration signal is greater than a third set threshold and the brake pedal signal is greater than a fourth set threshold, judge that the vehicle is in a deceleration state;

[0103] When the slope of the road is greater than a fifth set threshold, judge that the vehicle is in a climbing state;

[0104] When the slope of the road is less than a fifth set threshold, judge that the vehicle is in a flat road state.

[0105] Furthermore, in a possible implementation manner, the control module is further used to adjust the stiffness of the vehicle air spring according to the magnitude of the vehicle acceleration and the magnitude of the axle load when the vehicle is in an acceleration state;

[0106] When the vehicle is in a deceleration state, adjust the stiffness of the vehicle air spring according to the magnitude of the vehicle deceleration and the magnitude of the axle load;

[0107] When the vehicle is in a climbing state, adjust the stiffness of the vehicle's air springs according to the slope grade and the axle load magnitude.

[0108] When the vehicle is on a flat road, adjust the stiffness of the vehicle's air springs according to the load magnitude of the towed vehicle.

[0109] Further, in a possible implementation, the control module is further configured to calculate the impact time of the vehicle's front axle based on the vehicle speed signal and the obstacle distance signal.

[0110] Based on the impact time of the vehicle's front axle, the axle load magnitude, the vehicle speed signal, and the road surface condition signal, adjust the stiffness of the air spring of the vehicle's front axle.

[0111] Calculate the impact time of the vehicle's rear axle according to the vehicle speed signal and the wheelbase.

[0112] Based on the impact time of the vehicle's rear axle, the axle load magnitude, the vehicle speed signal, and the impact acceleration signal of the front axle, adjust the stiffness of the air spring of the vehicle's rear axle.

[0113] Calculate the impact time of the trailer wheels according to the vehicle speed signal and the distance between the trailer wheels and the rear axle.

[0114] Based on the impact time of the trailer wheels, the axle load magnitude, the vehicle speed signal, and the road surface condition signal, adjust the stiffness of the air spring of the vehicle's rear axle.

[0115] Further, in a possible implementation, it further includes an acquisition module and a calculation module. The acquisition module is used to acquire the pressures of the four air springs of the vehicle, and the pressures of the four air springs include: the pressure of the air spring of the left front axle P FL , the right front axle P FR , the left rear axle P RL and the right rear axle P RR .

[0116] Obtain the front axle load L f and the rear axle load L r of the vehicle by weighing;

[0117] The calculation module is used to make the front axle load L f proportional to (P FL + P FR ) / 2, and make the rear axle load L r proportional to (P RL + P RR ) / 2 to form a two-dimensional table of the vehicle axle load and the air spring pressure;

[0118] According to the acquired real-time air spring pressure, calculate the axle load of the vehicle by interpolation and looking up the table.

[0119] Further, in a possible implementation, the acquisition module is further configured to acquire the vehicle speed signal and the signals of four height sensors of the vehicle, and determine whether the vehicle meets the axle load evaluation condition based on the signals of the height sensors. The four height sensors include: the left front suspension height H of the vehicle FL , the right front suspension height H FR , the left rear suspension height H RL , and the right rear suspension height H RR ;

[0120] The judgment module is further configured to judge that the vehicle meets the axle load evaluation condition when the vehicle speed is zero, the difference between the left front suspension height and the right front suspension height of the vehicle is less than the first calibration value, the difference between the left rear suspension height and the right rear suspension height of the vehicle is less than the second calibration value, and the difference between the left front suspension height and the right rear suspension height of the vehicle is less than the third calibration value.

[0121] Further, in a possible implementation, the determination module is further configured to determine that the protrusion signal includes: a low protrusion signal, a medium protrusion signal, and a high protrusion signal, and the pit signal includes: a low pit signal, a medium pit signal, and a deep pit signal.

[0122] Next, the electronic device 300 according to this embodiment of the present invention will be described with reference to Figure 3 . Figure 3 The shown electronic device 300 is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present invention.

[0123] As Figure 3 shown, the electronic device 300 is presented in the form of a general computing device. The components of the electronic device 300 may include, but are not limited to: at least one of the above-mentioned processing units 310, at least one of the above-mentioned storage units 320, and a bus 330 connecting different system components (including the storage unit 320 and the processing unit 310).

[0124] Among them, the storage unit stores program codes, and the program codes can be executed by the processing unit 310, so that the processing unit 310 executes the steps according to various exemplary embodiments of the present invention described in the "Embodiment Method" section of this specification.

[0125] The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 321 and / or a cache storage unit 322, and may further include a read-only storage unit (ROM) 323.

[0126] The storage unit 320 may also include a program / utilities 324 having a set (at least one) of program modules 325, such program modules 325 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0127] The bus 330 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus structures.

[0128] The electronic device 300 may also communicate with one or more external devices (such as a keyboard, a pointing device, a Bluetooth device, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 300, and / or may communicate with any device that enables the electronic device 300 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication may be carried out through the input / output (I / O) interface 350. Moreover, the electronic device 300 may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 360. As shown in the figure, the network adapter 360 communicates with other modules of the electronic device 300 through the bus 330. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0129] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or can be implemented by the way of software in combination with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which may be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0130] According to the solution of the present disclosure, there is also provided a computer-readable storage medium, on which a program product capable of implementing the above-mentioned method of this specification is stored. In some possible implementation manners, various aspects of the present invention can also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to cause the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the above-mentioned "Exemplary Method" section of this specification.

[0131] Referring Figure 4 As shown, a program product 400 for implementing the above-mentioned method according to an embodiment of the present invention is described. It can be a portable compact disc read-only memory (CD-ROM) and includes program code, and can run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device.

[0132] The program product can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0133] The computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable signal medium can also be any readable medium other than the readable storage medium, and this readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device.

[0134] The program code contained on the readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination of the above.

[0135] The program code for performing the operations of the present invention can be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user's computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., by using an Internet service provider to connect through the Internet).

[0136] In addition, the above-mentioned drawings are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present invention, rather than for limiting purposes. It is easy to understand that the processes shown in the above-mentioned drawings do not indicate or limit the chronological order of these processes. Additionally, it is also easy to understand that these processes can be executed synchronously or asynchronously, for example, in multiple modules.

[0137] The above description is only the specific implementation manners of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but rather will conform to the widest scope consistent with the principles and novel features claimed herein.

[0138] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing device generate means for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

Claims

1. A control method for a vehicle air spring, characterized in that Comprising: Determining the axle load of the vehicle based on the trailer mass; When receiving a trailer signal, determining whether the vehicle receives a road surface condition signal, where the road surface condition signal includes a road surface bump and / or a pothole signal; When receiving the road surface condition signal, calculating the impact time of the vehicle, and adjusting the stiffness of the vehicle air spring based on the impact time, the axle load magnitude, the vehicle speed signal, the road surface condition signal, and the impact acceleration signal of the front axle, where the impact time of the vehicle front axle is calculated according to the vehicle speed signal and the obstacle distance signal; Adjusting the stiffness of the front axle air spring of the vehicle based on the impact time of the vehicle front axle, the axle load magnitude, the vehicle speed signal, and the road surface condition signal; Calculating the impact time of the vehicle rear axle according to the vehicle speed signal and the wheelbase; Adjusting the stiffness of the rear axle air spring of the vehicle based on the impact time of the vehicle rear axle, the axle load magnitude, the vehicle speed signal, and the impact acceleration signal of the front axle; Calculating the impact time of the trailer wheel according to the vehicle speed signal and the distance between the trailer wheel and the rear axle; Adjusting the stiffness of the rear axle air spring of the vehicle based on the impact time of the trailer wheel, the axle load magnitude, the vehicle speed signal, and the road surface condition signal; When not receiving the road surface condition signal, determining the driving state of the vehicle currently, and adjusting the stiffness of the vehicle air spring through the driving state of the vehicle currently and the axle load of the vehicle, where the driving state includes: acceleration state, deceleration state, climbing state, and flat road state.

2. The method according to claim 1, characterized in that, The determining the driving state of the vehicle currently includes: When the vehicle longitudinal acceleration signal is greater than a first set threshold value and the throttle pedal signal is greater than a second set threshold value, determining that the vehicle is in an acceleration state; When the vehicle longitudinal deceleration signal is greater than a third set threshold value and the brake pedal signal is greater than a fourth set threshold value, determining that the vehicle is in a deceleration state; When the slope of the road is greater than a fifth set threshold value, determining that the vehicle is in a climbing state; When the slope of the road is less than a fifth set threshold value, determining that the vehicle is in a flat road state.

3. The method according to claim 1 or 2, characterized in that, The adjusting the stiffness of the vehicle air spring through the driving state of the vehicle currently and the axle load of the vehicle includes: When the vehicle is in an acceleration state, adjusting the stiffness of the vehicle air spring according to the magnitude of the vehicle acceleration and the magnitude of the axle load; When the vehicle is in a deceleration state, adjusting the stiffness of the vehicle air spring according to the magnitude of the vehicle deceleration and the magnitude of the axle load; When the vehicle is in a climbing state, adjusting the stiffness of the vehicle air spring according to the slope grade and the magnitude of the axle load; When the vehicle is in a flat road state, adjusting the stiffness of the vehicle air spring according to the load magnitude of the towed vehicle.

4. The method according to claim 1, wherein The determining the axle load of the vehicle based on the trailer mass includes: Collect the pressure of the four empty springs of the vehicle, including: the pressure of the left front axle P FL , right front axle P FR , left rear axle P RL and right rear axle P RR The pressure of the air spring; Obtain the front axle load L of the vehicle by weighing f and the rear axle load L r ; The front axle load L f is proportional to (P FL + P FR ) / 2, and the rear axle load L r is proportional to (P RL + P RR ) / 2 to form a two-dimensional table of vehicle axle loads and air spring pressures; Calculating the axle load of the vehicle by interpolating and looking up a table according to the collected real-time air spring pressure.

5. The method according to claim 4, wherein Before collecting the pressures of the four air springs of the vehicle, including: Collect the vehicle speed signal and the signals of four height sensors, and determine whether the vehicle meets the axle load evaluation conditions based on the signals of the height sensors. The four height sensors include: the left front suspension height H of the vehicle FL , the right front suspension height H FR , the left rear suspension height H RL and the right rear suspension height H RR ; When the vehicle speed is zero, and the difference between the left front suspension height and the right front suspension height of the vehicle is less than a first calibration value, the difference between the left rear suspension height and the right rear suspension height of the vehicle is less than a second calibration value, and the difference between the left front suspension height and the right rear suspension height of the vehicle is less than a third calibration value, determining that the vehicle meets the axle load evaluation condition.

6. According to the method according to claim 1, characterized in that: The raised signals include: low raised signals, medium raised signals, and high raised signals. The pit signals include: low pit signals, medium pit signals, and deep pit signals.

7. A control device for a vehicle air spring, characterized in that, including: a determination module configured to determine the axle load of the vehicle based on the trailer mass; a judgment module configured to judge whether the vehicle receives a road surface state signal when a trailer signal is received, wherein the road surface state signal includes road surface raised and / or pit signals; a control module configured to calculate the impact time of the vehicle when the road surface state signal is received, and adjust the stiffness of the vehicle air spring based on the impact time, axle load magnitude, vehicle speed signal, road surface state signal, and impact acceleration signal of the front axle, wherein the impact time of the vehicle front axle is calculated according to the vehicle speed signal and the obstacle distance signal; adjust the stiffness of the front axle air spring of the vehicle based on the impact time of the vehicle front axle, axle load magnitude, vehicle speed signal, and road surface state signal; calculate the impact time of the vehicle rear axle according to the vehicle speed signal and the wheelbase; adjust the stiffness of the rear axle air spring of the vehicle based on the impact time of the vehicle rear axle, axle load magnitude, vehicle speed signal, and impact acceleration signal of the front axle; calculate the impact time of the trailer wheel hitting according to the vehicle speed signal and the distance between the trailer wheel and the rear axle; adjust the stiffness of the rear axle air spring of the vehicle based on the impact time of the trailer wheel hitting, axle load magnitude, vehicle speed signal, and road surface state signal; when the road surface state signal is not received, judge the current driving state of the vehicle, and adjust the stiffness of the vehicle air spring based on the current driving state of the vehicle and the axle load of the vehicle, wherein the driving state includes: acceleration state, deceleration state, climbing state, and flat road state.

8. An electronic device, characterized in that, The electronic device includes: a processor; a memory storing computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that, It stores computer program instructions, and when the computer program instructions are executed by a computer, the computer is made to execute the method according to any one of claims 1 to 6.

Images