Vehicle suspension body leveling control method and vehicle controller

Abstract

The present invention relates to the technical field of vehicle suspension control, and specifically to a vehicle suspension body leveling control method and a vehicle controller. The present invention can adjust the levelness of the vehicle body in real time and efficiently based on road conditions. The method has efficient operation and high control accuracy, and effectively avoids the influence of ramps, bumps, and pits on the road surface on the leveling of the vehicle body posture; the present invention fully considers and utilizes the adjustment ability of each wheel suspension. Within the adjustment ability range of the vehicle suspension, the height of each wheel suspension when each suspension is in a leveling state can be accurately calculated; if it exceeds the adjustment ability range of the suspension, the travel adjustment ability of each wheel suspension can be maximized to make the vehicle body as close to the horizontal plane as possible; the height of the final suspension of the present invention is all within the travel range of the suspension, avoiding the suspension from working over the travel, avoiding the damage of the suspension, and increasing the service life of the suspension.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle suspension control, and in particular to a vehicle suspension body leveling control method and a vehicle controller. Background Art

[0002] Off-road SUV vehicles have high requirements on the vehicle's posture, especially when working in the field, the height of the suspension of each wheel of the vehicle needs to be adjusted so that the vehicle body is in a horizontal position to meet the requirements of the operation.

[0003] However, the vehicle body leveling control in the prior art is affected by the complexity and randomness of the slope, bumps and potholes of the road surface, as well as the adjustment ability of the suspension limited by the mechanical structure. As a result, the calculation of the suspension height of each wheel when adjusting the vehicle body to a horizontal position is relatively complicated. If the calculation is improper, the vehicle will not be able to be leveled, which will further cause the vehicle posture to fail to meet the requirements and lead to the problem that field operations cannot be completed. Summary of the invention

[0004] The technical problem to be solved by the present invention is: in view of the shortcomings of the prior art, a vehicle suspension body leveling control method and a vehicle controller are provided, which can effectively adjust the levelness of the vehicle body in real time based on road conditions, have high control accuracy, and can effectively avoid suspension overtravel operation, thereby increasing the service life of the suspension.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A vehicle suspension body leveling control method mainly comprises the following steps:

[0007] S1, obtaining vehicle suspension height information and vehicle body inclination information, wherein the suspension height information includes: the distance H from the vehicle's left front suspension, right front suspension, left rear suspension, and right rear suspension to the road surface respectively; 1 , H 2 , H 3 , H 4 The vehicle body inclination information includes: the angle θ between the vehicle body along the X direction and the Y direction and the horizontal plane x ,θ y ;

[0008] S2, calculate the distance H from the right rear suspension to the plane A according to the suspension height information 4 ', the plane A is a plane formed by the three points where the left front wheel, the right front wheel, and the left rear wheel contact the ground;

[0009] S3, according to the distance H from the right rear suspension to the plane A 4 ' and the distance H from the right rear suspension to the road surface 4 , calculate the distance H' from the right rear wheel to plane A;

[0010] S4, calculating the angle θ between the vehicle body and the road surface along the X direction and the Y direction according to the suspension height information and the geometric dimensions of the vehicle x '、θ y ';

[0011] S5, according to the vehicle body inclination information and the angle θ between the vehicle body and the road surface along the X direction and the Y direction x '、θ y ', calculate the angle δ between the road surface and the horizontal plane along the X and Y directions x ',δ y ';

[0012] S6, establish a horizontal plane B as a reference plane with the left front suspension as the elevation, and calculate the theoretical height increment of each suspension when the vehicle body is adjusted to a horizontal level;

[0013] S7, calculating a first target height of each suspension according to the theoretical height increment of each suspension and the distance from each wheel suspension to the road surface;

[0014] S8, calculating the first target height of each suspension and the lower limit value H of the suspension stroke respectively. min and the upper limit of suspension travel H max The difference between

[0015] S9, determine the first target height of each suspension and the lower limit value H of the suspension stroke respectively. min and the upper limit of suspension travel H max The minimum and maximum values ​​of the difference;

[0016] S10, determining a final execution target height of each suspension according to whether the height of each suspension is within a suspension travel range after executing the first target height.

[0017] Furthermore, in step S1, the distances from the left front suspension, right front suspension, left rear suspension and right rear suspension of the vehicle to the road surface are respectively acquired by distance sensors configured on each wheel suspension, and the angles between the vehicle body and the horizontal plane along the X direction and the Y direction are acquired by inclination sensors configured on the vehicle, where the X direction is the direction along the length of the vehicle body, and the Y direction is the direction along the width of the vehicle body.

[0018] Furthermore, in steps S2 and S3, the distance H from the right rear suspension to the plane A is 4 'The specific calculation formula is:

[0019] H′ 4 =(H 2 +H 3 )-H 1

[0020] The specific calculation formula of the distance H' from the right rear wheel to the plane A is:

[0021] H′=H 4 -H′ 4 .

[0022] Furthermore, in steps S4 and S5, the angle θ between the vehicle body and the road surface along the X direction and the Y direction is x '、θ y 'The specific calculation formula is:

[0023]

[0024] Where d is the wheelbase of the front wheel of the vehicle, l is the wheelbase between the front wheel axle and the rear wheel axle of the vehicle;

[0025] The angle δ between the road surface and the horizontal plane along the X and Y directions x ',δ y 'The specific calculation formula is:

[0026]

[0027] Furthermore, in steps S6 and S7, the theoretical height increment of each suspension is specifically calculated as follows:

[0028]

[0029] In the formula, ΔH 1 is the theoretical height increment of the left front suspension, ΔH 2 is the theoretical height increment of the right front suspension, ΔH 3 is the theoretical height increment of the left rear suspension, ΔH 4 is the theoretical height increment of the right rear suspension;

[0030] The specific calculation formula for the first target height of each suspension is:

[0031]

[0032] In the formula, H target1 is the first target height of the left front suspension, H target2 is the first target height of the right front suspension, H target3 is the first target height of the left rear suspension, H target4 It is the first target height of the right rear suspension.

[0033] Furthermore, in steps S8 and S9, the first target height of each suspension is equal to the lower limit value H of the suspension travel. min The specific calculation formula is:

[0034]

[0035] The first target height of each suspension and the upper limit value H of the suspension travel maxThe specific calculation formula is:

[0036]

[0037] In the formula, ΔH 1min is the first target height of the left front suspension and the lower limit of the suspension travel H min The difference, ΔH 2min is the first target height of the right front suspension and the lower limit of the suspension travel H min The difference, ΔH 3min is the first target height of the left rear suspension and the lower limit of the suspension travel H min The difference, ΔH 4min is the first target height of the right rear suspension and the lower limit of the suspension travel H min The difference between

[0038] ΔH 1max is the first target height of the left front suspension and the upper limit of the suspension travel H max The difference, ΔH 2max is the first target height of the right front suspension and the upper limit of the suspension travel H max The difference, ΔH 3max is the first target height of the left rear suspension and the upper limit of the suspension travel H max The difference, ΔH 4max is the first target height of the right rear suspension and the upper limit of the suspension travel H max The difference between

[0039] The first target height of each suspension is respectively related to the lower limit value H of the suspension travel min and the upper limit of suspension travel H max The minimum and maximum values ​​of the difference are calculated as follows:

[0040]

[0041] In the formula, ΔH allmon1 is the first target height of each suspension and the lower limit value of the suspension travel H min The minimum value of the difference, ΔH allmin1 is the first target height of each suspension and the lower limit value of the suspension travel H min The maximum value of the difference, ΔH allmin2 is the first target height of each suspension and the upper limit of the suspension travel H max The minimum value of the difference, ΔH allmax2 is the first target height of each suspension and the upper limit of the suspension travel H max The maximum value of the difference.

[0042] Furthermore, in step S10, the final execution target height of each suspension is specifically determined in the following steps:

[0043] If after executing the first target height, ΔH is satisfied allmax1 ≤0 and satisfies ΔH allmin2 ≥0, the final execution target height of each suspension is equal to the first target height of each suspension;

[0044] If after executing the first target height, ΔH is satisfied allmax1 >0 and ΔH allmin2 ≥0, the final execution target height of each suspension is calculated by the following formula:

[0045]

[0046] And ΔH=min(ΔH allmax1 , ΔH allmin2 , ΔH 1max );

[0047] If after executing the first target height, ΔH is satisfied allmax1 ≤0 and satisfies ΔH allmin2 <0, the final execution target height of each suspension is calculated by the following formula:

[0048]

[0049] And ΔH=min(|ΔH allmax1 |,|ΔH allmin2 |,ΔH 1min );

[0050] If after executing the first target height, ΔH is satisfied allmax1 >0 and satisfies ΔH allmax2 <0, the final execution target height of each suspension is calculated by the following formula:

[0051]

[0052] In the formula, H execute1 is the final target height of the left front suspension, H execute2 is the final target height of the right front suspension, H execute3 is the final target height of the left rear suspension, H execute4 is the final target height of the right rear suspension, and ΔH is the overall height increase or decrease of the vehicle.

[0053] Based on the same inventive concept, the present invention also provides a vehicle controller, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, a vehicle suspension body leveling control method as described above is implemented.

[0054] Based on the same inventive concept, the present invention also provides a manual-automatic vehicle, which is provided with the vehicle controller as described above.

[0055] Compared with the prior art, the present invention has the following main advantages:

[0056] 1. The present invention provides a vehicle suspension body leveling control method and a vehicle controller, which can effectively adjust the levelness of the vehicle body in real time based on road conditions. The control method has high computational efficiency and high control accuracy, and effectively avoids the influence of ramps, bumps, and pits on the road surface on the leveling of the vehicle body posture;

[0057] 2. The present invention fully considers and utilizes the adjustment capability of each wheel suspension. Within the adjustment capability range of the vehicle suspension, the height of each wheel suspension when each suspension is in a leveling state can be accurately calculated; if it exceeds the adjustment capability range of the suspension, the travel adjustment capability of each wheel suspension can be utilized to the maximum extent to make the vehicle body as close to the horizontal plane as possible;

[0058] 3. The control method of the present invention can ensure that the final height of the suspension is within the travel range of the suspension, thereby avoiding overtravel of the suspension, avoiding damage to the suspension, and increasing the service life of the suspension. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 Flow chart of a vehicle suspension body leveling control method according to an embodiment of the present invention;

[0060] Figure 2 Schematic diagram of the lateral geometric relationship between the vehicle and the road surface in an embodiment of the present invention. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0062] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0063] Embodiment 1: This embodiment provides a vehicle suspension body leveling control method, such as Figures 1-2 As shown, it mainly includes the following steps:

[0064] S1, obtaining vehicle suspension height information and vehicle body inclination information, wherein the suspension height information includes: the distance H from the vehicle's left front suspension, right front suspension, left rear suspension, and right rear suspension to the road surface respectively; 1 , H 2 , H 3 , H 4 The vehicle body inclination information includes: the angle θ between the vehicle body along the X direction and the Y direction and the horizontal plane x ,θ y ;

[0065] S2, calculate the distance H from the right rear suspension to the plane A according to the suspension height information 4 ', the plane A is a plane formed by the three points where the left front wheel, the right front wheel, and the left rear wheel contact the ground;

[0066] S3, according to the distance H from the right rear suspension to the plane A 4 ' and the distance H from the right rear suspension to the road surface 4 , calculate the distance H' from the right rear wheel to plane A;

[0067] S4, calculating the angle θ between the vehicle body and the road surface along the X direction and the Y direction according to the suspension height information and the geometric dimensions of the vehicle x '、θ y ';

[0068] S5, according to the vehicle body inclination information and the angle θ between the vehicle body and the road surface along the X direction and the Y direction x '、θ y ', calculate the angle δ between the road surface and the horizontal plane along the X and Y directions x ',δ y ';

[0069] S6, establish a horizontal plane B as a reference plane with the left front suspension as the elevation, and calculate the theoretical height increment of each suspension when the vehicle body is adjusted to a horizontal level;

[0070] S7, calculating a first target height of each suspension according to the theoretical height increment of each suspension and the distance from each wheel suspension to the road surface;

[0071] S8, calculating the first target height of each suspension and the lower limit value H of the suspension stroke respectively. min and the upper limit of suspension travel H max The difference between

[0072] S9, determine the first target height of each suspension and the lower limit value H of the suspension stroke respectively. min and the upper limit of suspension travel H max The minimum and maximum values ​​of the difference;

[0073] S10, determining a final execution target height of each suspension according to whether the height of each suspension is within a suspension travel range after executing the first target height.

[0074] Embodiment 2: This embodiment provides a vehicle suspension body leveling control method, and the specific steps are as follows:

[0075] Step 1: Obtain vehicle status information, including: obtaining the height H of the left front suspension to the road surface through the height sensor configured on each wheel suspension 1 , Height from right front suspension to road surface H 2 , Height from left rear suspension to road surface H 3 , Height from right rear suspension to road surface H 4 The angle θ between the vehicle body X direction, Y direction and the horizontal plane is obtained through the inclination sensor configured on the vehicle x ,θ y .

[0076] Furthermore,

[0077]

[0078] Where: H min ——Lower limit of suspension travel; H max ——the upper limit of the suspension travel; and H min <H max .

[0079] Furthermore, H min , H max Determined by the mechanical structure of the suspension.

[0080] Step 2: Calculate the distance from the right rear wheel suspension to the plane A formed by the contact points of the left front suspension wheel, the right front suspension wheel, and the left rear suspension wheel with the ground.

[0081] Furthermore, the height from the left front suspension to the road surface is H 1 , Height from right front suspension to road surface H 2 , Height from left rear suspension to road surface H 3 , Height from right rear suspension to road surface H 4 The height points of the left front suspension to the road surface are constrained by the vehicle geometry. The four suspension height points must be in one plane and are connected in sequence to form a body rectangle. 1 and the height from right rear suspension to the road surface H 4 The connecting line of the height points of the right front suspension and the road height H 2 and the height from the left rear suspension to the road surface H 3 The connecting lines of the height points are the two diagonals of the rectangle.

[0082] Furthermore, the height from the right front suspension to the road surface is H2 and the height from the left rear suspension to the road surface H 3 The connecting line of the height points, the connecting line of the right front suspension wheel contacting the road surface and the connecting line of the left rear suspension wheel contacting the road surface form a trapezoid, and the height of the median line of the trapezoid is:

[0083] Furthermore, it can be seen from the three points that a plane is determined that the contact point between the right rear wheel suspension and the road surface may be inside plane A or outside plane A. The height of the right rear suspension to plane A is H′ 4 , Height from left front suspension to road surface H 1 , Height H' from right rear suspension to plane A 4 and the height from the left front suspension to the road surface H 1 The connecting line of the height points, the connecting line of the right rear suspension wheel contacting the road surface and the connecting line of the left front suspension wheel contacting the road surface form a trapezoid, and the height of the median line of the trapezoid is:

[0084] Furthermore, since the two median lines overlap with each other and have the same height, we can know that:

[0085] H′ 4 =(H 2 +H 3 )-H 1

[0086] Furthermore, if H 4 Equal to H′ 4 , it means that the contact point between the right rear wheel suspension wheel and the ground is in the plane A formed by the contact points between the left front suspension wheel, the right front suspension wheel, the left rear suspension wheel and the ground, that is, the four points are coplanar; if H 4 Greater than H′ 4 , it means that the contact point between the right rear wheel suspension wheel and the ground is below the plane A formed by the contact points between the left front suspension wheel, the right front suspension wheel, and the left rear suspension wheel, that is, there is a pit on the road surface at the contact point between the right rear wheel suspension wheel and the ground; if H 4 Less than H′ 4 , it means that the contact point between the right rear wheel suspension wheel and the ground is above the plane A formed by the contact points between the left front suspension wheel, the right front suspension wheel, the left rear suspension wheel and the ground, that is, there is a bulge at the contact point between the right rear wheel suspension wheel and the ground.

[0087] Step 3: Calculate the distance H' from the right rear wheel suspension wheel to the ground contact point to plane A. This distance H' plus the height H' of the right rear suspension to plane A 4 It is equal to the height H from the right rear suspension to the road surface 4 The specific calculation formula of H′ is:

[0088] H′=H 4 -H′4

[0089] Step 4: Calculate the vehicle suspension inclination angle caused by the inconsistent suspension heights of each wheel. Use the height H from the front suspension to the road surface 1 , Height from right front suspension to road surface H 2 , Height from left rear suspension to road surface H 3 Combined with the geometric dimensions of the vehicle, the angle θ′ between the vehicle body in the X and Y directions and the road surface is calculated. x ,θ′ y θ′ x ,θ′ y The specific calculation formula is:

[0090]

[0091] Where: d – the wheelbase of the front axle; l – the wheelbase of the front and rear axles.

[0092] Furthermore,

[0093] Furthermore, θ′ x ,θ′ y is converted to:

[0094]

[0095] Step 5: Calculate the angle δ′ between the road surface and the horizontal plane along the X and Y directions x ,δ′ y .

[0096]

[0097] Furthermore, If the vehicle is in an uphill state, δ′ x If it is greater than 0, the vehicle is on the horizontal plane in the X direction, then δ′ x If δ′ is equal to 0, the vehicle is in a downhill state. x Less than 0; if the vehicle is on a side slope with the left side higher and the right side lower, then δ′ y If it is greater than 0, the vehicle is at the same height on both sides, i.e., the Y-axis horizontal plane, then δ′ y = 0, the vehicle is in a side slope state with a low left side and a high right side, then δ′ y Less than 0.

[0098] Step 6: Select the height H from the left front suspension to the road surface 1 A horizontal plane B is established at 90° as a reference, and the theoretical height increment of each wheel suspension is calculated based on the height of the left front suspension when the vehicle body is adjusted to a horizontal state.

[0099]

[0100] Where: ΔH1 ——Theoretical height increment of left front suspension; ΔH 2 ——Theoretical height increment of the right front suspension; ΔH 3 ——Theoretical height increment of left rear suspension; ΔH 4 ——Theoretical height increment of right rear suspension;

[0101] Step 7: Calculate the first target height of each wheel suspension. This height is equal to the height of each wheel suspension to the road surface plus the theoretical height increment of each wheel suspension. The specific calculation formula is:

[0102]

[0103] Where: H target1 ——First target height of left front suspension; H target2 ——First target height of right front suspension; H target3 ——First target height of left rear suspension; H target4 ——First target height of right rear suspension.

[0104] Step 8: Calculate the first target height of each wheel suspension and the lower limit value H of each wheel suspension travel min , the upper limit of suspension travel H max The difference between .

[0105] Further, the first target height of each wheel suspension and the lower limit value H of the suspension travel are calculated. min The difference.

[0106]

[0107] Further, the first target height of each wheel suspension and the upper limit value H of the suspension travel are calculated. max The difference.

[0108]

[0109] Where: ΔH 1min ——The first target height of the left front wheel suspension and the lower limit of the suspension travel H min The difference between 2min ——The first target height of the right front wheel suspension and the lower limit of the suspension travel H min The difference between 3min ——The first target height of the left rear wheel suspension and the lower limit of the suspension travel H min The difference between 4min ——The first target height of the right rear wheel suspension and the lower limit of the suspension travel H min The difference between ΔH 1max ——The first target height of the left front suspension and the upper limit of the suspension travel H max The difference between

[0110] ΔH 2max ——The first target height of the right front suspension and the upper limit of the suspension travel H max The difference between 3max ——The first target height of the left rear suspension and the upper limit of the suspension travel H max The difference between 4max ——The first target height of the right rear suspension and the upper limit of the suspension travel H max The difference.

[0111] Step 9: Obtain the first target height of the suspension and the lower limit value H of each wheel suspension travel min , the upper limit of suspension travel H max The minimum and maximum values ​​of the difference between .

[0112]

[0113] Where: ΔH allmin1 ——The first target height of each wheel suspension and the lower limit of the suspension travel H min The minimum value of the difference; ΔH allmax1 ——The first target height of each wheel suspension and the lower limit of the suspension travel H min The maximum value of the difference; ΔH allmin2 ——The first target height of each wheel suspension and the upper limit of the suspension travel H max The minimum value of the difference; ΔH allmax2 ——The first target height of each wheel suspension and the upper limit of the suspension travel H max The maximum value of the difference.

[0114] Step 10: Calculate the final execution target height of each wheel suspension.

[0115] Finally, the suspension of each wheel is adjusted to the final execution target height through the hydraulic system. At this time, the vehicle is in a horizontal state, or as close to a horizontal state as possible based on the current road surface.

[0116] If after executing the first target height, the height of each suspension of the vehicle is within the travel range of each suspension, that is, ΔH allmax1 ≤0 and ΔH allmin2 ≥0, the target height of each wheel suspension is equal to the first target height of each wheel suspension. The specific calculation formula for the target height of the wheel suspension is:

[0117]

[0118] Where: H execute1 ——Target height of left front suspension; H execute2 ——Target height of right front suspension; H execute3 ——Target height of left rear suspension; Hexecute4 ——Target height of right rear suspension.

[0119] If after executing the first target height, the height from the right front suspension to the road surface, the height from the left rear suspension to the road surface, and the height from the right rear suspension to the road surface are all less than the lower limit value H of each suspension travel min When ΔH allmax1 >0 or the height from the right front suspension to the road surface, the height from the left rear suspension to the road surface, or the height from the right rear suspension to the road surface is lower than the lower limit of the suspension travel H min The height from the right front suspension to the road surface, the height from the left rear suspension to the road surface, and the height from the right rear suspension to the road surface are not greater than the upper limit value H of the suspension travel. max That is, ΔH allmax1 >0 and ΔH allmin2 >0, then the vehicle suspensions should be raised as a whole, and the specific calculation formula for the target height of the wheel suspension is:

[0120]

[0121] At this time, the height of the overall increase of each suspension of the vehicle is the first target height of each wheel suspension and the lower limit value H of the suspension stroke. min The maximum value of the difference between the first target height of each wheel suspension and the upper limit value H of the suspension travel max The minimum value of the difference between the first target height of the left front suspension and the upper limit value H of the suspension travel max The minimum value of the difference between the vehicle suspension and the vehicle suspension overall height is calculated as:

[0122] ΔH=min(ΔH allmax1 , ΔH allmin2 , ΔH 1max )

[0123] Where: ΔH is the overall height increase of the vehicle. The adjustment target of ΔH is to indicate the lower limit value H of the vehicle's overall suspension travel. min Above, and the upper limit of suspension travel is H max the following.

[0124] If after executing the first target height, the height from the right front suspension to the road surface, the height from the left rear suspension to the road surface, and the height from the right rear suspension to the road surface are all greater than the upper limit value H of each suspension travel max When ΔH allmin2 >0 or the height from the right front suspension to the road surface, the height from the left rear suspension to the road surface, and the height from the right rear suspension to the road surface are all greater than the lower limit of the suspension travel H min And there exists a situation where the height from the front suspension to the road surface, the height from the left rear suspension to the road surface, and the height from the right rear suspension to the road surface is greater than the upper limit value H of each suspension travel max That is, ΔH allmax1 ≤0 and ΔH allmin2<0, the vehicle suspension should be lowered as a whole, and the specific calculation formula for the target height of the wheel suspension is:

[0125]

[0126] At this time, the overall lowering height of the vehicle suspension is the sum of the first target height of each wheel suspension and the upper limit value H of the suspension travel. max The maximum value of the difference between the first target height of the suspension and the lower limit value of the suspension travel H min The minimum value of the difference between the first target height of the left front wheel suspension and the lower limit value H of the suspension travel min The minimum value of the difference between the vehicle suspension and the vehicle suspension. The height reduction of the vehicle suspension is calculated as follows:

[0127] ΔH=min(|ΔH allmax1 |,|ΔH allmin2 |,ΔH 1min )

[0128] If after executing the first target height, the suspension height is less than the lower limit value H of the suspension travel min and the suspension height is greater than the upper limit of the suspension travel H max When ΔH allmax1 >0 and ΔH allmin2 <0, it means that the vehicle suspension cannot adjust the vehicle to a horizontal position based on the current road surface due to the current road surface slope being too large, but while adjusting in the direction of the horizontal position, the height of each suspension is controlled not to exceed the upper and lower limit values ​​of the suspension travel. The specific calculation formula for the target height of the wheel suspension is:

[0129]

[0130] Embodiment three, based on the same inventive concept, this embodiment also provides a vehicle controller, including a memory, a processor and a program stored in the memory and executable on the processor, wherein when the processor executes the program, a vehicle suspension body leveling control method as described above is implemented.

[0131] Embodiment 4: Based on the same inventive concept, this embodiment also provides a manual-automatic vehicle, which is provided with the vehicle controller as described above.

[0132] In summary:

[0133] 1. The present invention provides a vehicle suspension body leveling control method and a vehicle controller, which can effectively adjust the levelness of the vehicle body in real time based on road conditions. The control method has high computational efficiency and high control accuracy, and effectively avoids the influence of ramps, bumps, and pits on the road surface on the leveling of the vehicle body posture;

[0134] 2. The present invention fully considers and utilizes the adjustment capability of each wheel suspension. Within the adjustment capability range of the vehicle suspension, the height of each wheel suspension when each suspension is in a leveling state can be accurately calculated; if it exceeds the adjustment capability range of the suspension, the travel adjustment capability of each wheel suspension can be utilized to the maximum extent to make the vehicle body as close to the horizontal plane as possible;

[0135] 3. The control method of the present invention can ensure that the final height of the suspension is within the travel range of the suspension, thereby avoiding overtravel of the suspension, avoiding damage to the suspension, and increasing the service life of the suspension.

[0136] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle suspension body leveling control method, characterized in that: The steps include: S1, obtaining vehicle suspension height information and vehicle body inclination information, wherein the suspension height information includes: the distances H1, H2, H3, and H4 from the left front suspension, right front suspension, left rear suspension, and right rear suspension of the vehicle to the road surface respectively; and the vehicle body inclination information includes: the angle θ between the vehicle body along the X direction and the Y direction and the horizontal plane x ,θ y ; S2, calculating a distance H4' from the right rear suspension to a plane A according to the suspension height information, wherein the plane A is a plane formed by three points where the left front wheel, the right front wheel, and the left rear wheel contact the ground; S3, calculating the distance H' from the right rear wheel to the plane A according to the distance H4' from the right rear suspension to the plane A and the distance H4 from the right rear suspension to the road surface; S4, calculating the angle θ between the vehicle body and the road surface along the X direction and the Y direction according to the suspension height information and the geometric dimensions of the vehicle x '、θ y '; S5, according to the vehicle body inclination information and the angle θ between the vehicle body and the road surface along the X direction and the Y direction x '、θ y ', calculate the angle δ between the road surface and the horizontal plane along the X and Y directions x ',δ y '; S6, establish a horizontal plane B as a reference plane with the left front suspension as the elevation, and calculate the theoretical height increment of each suspension when the vehicle body is adjusted to a horizontal level; S7, calculating a first target height of each suspension according to the theoretical height increment of each suspension and the distance from each wheel suspension to the road surface; S8, calculating the first target height of each suspension and the lower limit value H of the suspension stroke respectively. min and the upper limit of suspension travel H max The difference between S9, determine the first target height of each suspension and the lower limit value H of the suspension stroke respectively. min and the upper limit of suspension travel H max The minimum and maximum values ​​of the difference; S10, determining a final execution target height of each suspension according to whether the height of each suspension is within a suspension travel range after executing the first target height.

2. A vehicle suspension body leveling control method according to claim 1, characterized in that In step S1, the distances from the left front suspension, the right front suspension, the left rear suspension, and the right rear suspension of the vehicle to the road surface are respectively acquired by distance sensors configured on each wheel suspension, and the angles between the vehicle body and the horizontal plane along the X direction and the Y direction are acquired by inclination sensors configured on the vehicle, wherein the X direction is the direction along the length of the vehicle body, and the Y direction is the direction along the width of the vehicle body.

3. A vehicle suspension body leveling control method according to claim 1, characterized in that In steps S2 and S3, the specific calculation formula for the distance H4' from the right rear suspension to the plane A is: H′4=(H2+H3)-H1 The specific calculation formula of the distance H' from the right rear wheel to the plane A is: H′=H4-H′4.

4. A vehicle suspension body leveling control method according to claim 1, characterized in that In steps S4 and S5, the angle θ between the vehicle body and the road surface along the X direction and the Y direction is x '、θ y 'The specific calculation formula is: Where d is the wheelbase of the front wheel of the vehicle, l is the wheelbase between the front wheel axle and the rear wheel axle of the vehicle; The angle δ between the road surface and the horizontal plane along the X and Y directions x ',δ y 'The specific calculation formula is:

5. A vehicle suspension body leveling control method according to claim 1, characterized in that In steps S6 and S7, the theoretical height increment of each suspension is specifically calculated as follows: Wherein, ΔH1 is the theoretical height increment of the left front suspension, ΔH2 is the theoretical height increment of the right front suspension, ΔH3 is the theoretical height increment of the left rear suspension, and ΔH4 is the theoretical height increment of the right rear suspension; The specific calculation formula for the first target height of each suspension is: In the formula, H target1 is the first target height of the left front suspension, H target2 is the first target height of the right front suspension, H target3 is the first target height of the left rear suspension, H target4 It is the first target height of the right rear suspension.

6. A vehicle suspension body leveling control method according to claim 1, characterized in that In steps S8 and S9, the first target height of each suspension is equal to the lower limit value H of the suspension travel. min The specific calculation formula is: The first target height of each suspension and the upper limit value H of the suspension travel max The specific calculation formula is: In the formula, ΔH 1min is the first target height of the left front suspension and the lower limit of the suspension travel H min The difference, ΔH 2min is the first target height of the right front suspension and the lower limit of the suspension travel H min The difference, ΔH 3min is the first target height of the left rear suspension and the lower limit of the suspension travel H min The difference, ΔH 4min is the first target height of the right rear suspension and the lower limit of the suspension travel H min The difference between ΔH 1max is the first target height of the left front suspension and the upper limit of the suspension travel H max The difference, ΔH 2max is the first target height of the right front suspension and the upper limit of the suspension travel H max The difference, ΔH 3max is the first target height of the left rear suspension and the upper limit of the suspension travel H max The difference, ΔH 4max is the first target height of the right rear suspension and the upper limit of the suspension travel H max The difference between The first target height of each suspension is respectively related to the lower limit value H of the suspension travel min and the upper limit of suspension travel H max The minimum and maximum values ​​of the difference are calculated as follows: In the formula, ΔH allmin1 is the first target height of each suspension and the lower limit value of the suspension travel H min The minimum value of the difference, ΔH allmax1 is the first target height of each suspension and the lower limit value of the suspension travel H min The maximum value of the difference, ΔH allmin2 is the first target height of each suspension and the upper limit of the suspension travel H max The minimum value of the difference, ΔH allmax2 is the first target height of each suspension and the upper limit of the suspension travel H max The maximum value of the difference.

7. A vehicle suspension body leveling control method according to claim 1, characterized in that In step S10, the final execution target height of each suspension is determined by the following specific steps: If after executing the first target height, ΔH is satisfied allmax1 ≤0 and satisfies ΔH allmin2 ≥0, the final execution target height of each suspension is equal to the first target height of each suspension; If after executing the first target height, ΔH is satisfied allmax1 >0 and ΔH allmin2 ≥0, the final execution target height of each suspension is calculated by the following formula: and ΔH = min(ΔH allmax1 , ΔH allmin2 , ΔH 1max ); If after executing the first target height, ΔH is satisfied allmax1 ≤0 and satisfies ΔH allmin2 <0, the final execution target height of each suspension is calculated by the following formula: and ΔH = min(|ΔH allmax1 |, |ΔH allmin2 |, ΔH 1min ); If after executing the first target height, ΔH is satisfied allmax1 >0 and satisfies ΔH allmin2 <0, the final execution target height of each suspension is calculated by the following formula: In the formula, H execute1 is the final target height of the left front suspension, H execute2 is the final target height of the right front suspension, H execute3 is the final target height of the left rear suspension, H execute4 is the final target height of the right rear suspension, and ΔH is the overall height increase or decrease of the vehicle.

8. A vehicle controller, comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

9. A non-transitory readable storage medium having a program stored thereon, characterized in that: When the program is executed by a vehicle controller, the method according to any one of claims 1 to 7 is implemented.

10. A manual-automatic vehicle, characterized in that: Includes the vehicle controller as described in claim 8.

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