Control methods, devices, storage media, and vehicles for vehicle shock absorbers

Abstract

This invention discloses a control method, device, storage medium, and vehicle for a vehicle shock absorber. The method includes: acquiring vehicle data of a target vehicle, wherein the vehicle data characterizes the road conditions encountered by the target vehicle; determining first weighting coefficients corresponding to multiple parameters of the target vehicle's wheel shock absorbers based on the vehicle model, wherein the first weighting coefficients adjust the degree of variation of the multiple parameters with the road excitation frequency; calculating second weighting coefficients corresponding to the multiple parameters based on the vehicle data, wherein the second weighting coefficients adjust the degree of variation of the multiple parameters with vehicle speed; calculating a target damping force of the wheel shock absorber based on the multiple parameters, the first weighting coefficients, and the second weighting coefficients; and controlling the wheel shock absorber according to the target damping force. This invention solves the technical problems of high complexity and poor applicability of related vehicle shock absorber control methods.

Description

Technical Field

[0001] This invention relates to the automotive field, and more specifically, to a control method, apparatus, storage medium, and vehicle for a vehicle shock absorber. Background Technology

[0002] Vehicle shock absorbers are devices used to reduce the vibration and impact forces generated when a car is driving. They can alleviate the bumps caused by uneven road surfaces, making the ride more comfortable. At the same time, they can also improve the stability and control performance of the vehicle in situations such as curves and sharp turns, ensuring the driving safety of the vehicle.

[0003] In existing technologies, control algorithms such as "skylight" and "skyhook" are commonly used to control vehicle shock absorbers. However, the "skylight" control algorithm has poor adaptability to road excitation frequencies, and the "skyhook" control algorithm divides the control of damping force into two intervals: low frequency and high frequency, resulting in poor continuity of damping changes in the shock absorber. In addition, the high complexity of existing control algorithms for various vehicle shock absorbers leads to low control efficiency and poor overall vehicle comfort.

[0004] As can be seen from the above analysis, the control methods for vehicle shock absorbers provided by the aforementioned technologies are characterized by high complexity and poor applicability, and no effective solution has yet been proposed. Summary of the Invention

[0005] This invention provides a control method, device, storage medium, and vehicle for a vehicle shock absorber, thereby at least solving the technical problems of high complexity and poor applicability of the control methods for vehicle shock absorbers provided in related technologies.

[0006] According to one aspect of the present invention, a method for controlling a vehicle shock absorber is provided, comprising:

[0007] Vehicle data of the target vehicle is collected, whereby the vehicle data characterizes the road conditions under which the target vehicle is located. Based on the vehicle model, a first weighting coefficient is determined for multiple parameters of the target vehicle's wheel shock absorbers, whereby the first weighting coefficient is used to adjust the degree of change of multiple parameters with the road excitation frequency. Based on the vehicle data, a second weighting coefficient is calculated for multiple parameters, whereby the second weighting coefficient is used to adjust the degree of change of multiple parameters with vehicle speed. Based on the multiple parameters, the first weighting coefficient, and the second weighting coefficient, the target damping force of the wheel shock absorbers is calculated. The wheel shock absorbers are controlled according to the target damping force.

[0008] Optionally, the vehicle data may include at least: vehicle speed, longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of roll angle, angular acceleration of pitch angle, angular acceleration of yaw angle, and wheel bounce information of any wheel.

[0009] Optionally, the parameters may include at least: a preset minimum damping force, the vertical displacement of the vehicle body, the vertical velocity of the vehicle body, and the vertical acceleration of the vehicle body.

[0010] Optionally, the control method for the vehicle shock absorber further includes: calculating multiple data points in the vehicle data to obtain multiple parameters of the wheel shock absorber, wherein the multiple data points include at least: longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of roll angle, angular acceleration of pitch angle, angular acceleration of yaw angle, and wheel bounce information of any wheel.

[0011] Optionally, multiple parameters of the wheel shock absorber can be calculated from the vehicle data, including: longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of pitch angle, angular acceleration of yaw angle, angular acceleration of roll angle, and wheel bounce information of any wheel to obtain the vertical velocity and vertical acceleration of the vehicle body; and the vertical displacement of the vehicle body can be obtained by calculating the vertical acceleration of the vehicle body.

[0012] Optionally, the longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of the roll angle, angular acceleration of the pitch angle, angular acceleration of the yaw angle, and wheel bounce information of any wheel are calculated to obtain the vertical velocity and vertical acceleration of the vehicle body. This includes: calculating the longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of the pitch angle, angular acceleration of the yaw angle, angular acceleration of the roll angle, and wheel bounce information of any wheel to obtain the velocity and acceleration on the corresponding angular spring of any wheel; determining the vertical velocity of the vehicle body based on the velocity on the corresponding angular spring of any wheel; and determining the vertical acceleration of the vehicle body based on the acceleration on the corresponding angular spring of any wheel.

[0013] According to another aspect of the present invention, a method for controlling a vehicle shock absorber is also provided, comprising:

[0014] Vehicle data of the target vehicle is collected, which is used to characterize the road conditions under which the target vehicle is located. Based on the vehicle model, a first weighting coefficient and a second weighting coefficient are determined for multiple parameters of the target vehicle's wheel shock absorbers. The first weighting coefficient is used to adjust the degree of change of multiple parameters with the road excitation frequency, and the second weighting coefficient is used to adjust the degree of change of multiple parameters with vehicle speed. Based on the multiple parameters, the first weighting coefficient, and the second weighting coefficient, the target damping force of the wheel shock absorber is calculated. The wheel shock absorber is controlled according to the target damping force.

[0015] According to another aspect of the present invention, a control device for a vehicle shock absorber is also provided, comprising:

[0016] The system comprises the following modules: a data acquisition module for acquiring vehicle data of the target vehicle, wherein the vehicle data characterizes the road conditions under which the target vehicle is located; a determination module for determining first weighting coefficients corresponding to multiple parameters of the target vehicle's wheel shock absorbers based on the vehicle model, wherein the first weighting coefficients adjust the degree of variation of multiple parameters with road excitation frequency; a first calculation module for calculating second weighting coefficients corresponding to multiple parameters based on the vehicle data, wherein the second weighting coefficients adjust the degree of variation of multiple parameters with vehicle speed; a second calculation module for calculating the target damping force of the wheel shock absorbers based on the multiple parameters, the first weighting coefficients, and the second weighting coefficients; and a control module for controlling the wheel shock absorbers according to the target damping force.

[0017] Optionally, the above-mentioned data acquisition module is also used to: include at least the following vehicle data: vehicle speed, longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of roll angle, angular acceleration of pitch angle, angular acceleration of yaw angle, and wheel bounce information of any wheel.

[0018] Optionally, the above-mentioned acquisition module is also used to collect multiple parameters, including at least: a preset minimum damping force, the vertical displacement of the vehicle body, the vertical velocity of the vehicle body, and the vertical acceleration of the vehicle body.

[0019] Optionally, the control method for the vehicle shock absorber further includes: a third calculation module, used to calculate multiple data in the vehicle data to obtain multiple parameters of the wheel shock absorber, wherein the multiple data include at least: longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of roll angle, angular acceleration of pitch angle, angular acceleration of yaw angle, and wheel bounce information of any wheel.

[0020] Optionally, the third calculation module is further configured to: calculate multiple data points in the vehicle data to obtain multiple parameters of the wheel shock absorber, including: calculating longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of pitch angle, angular acceleration of yaw angle, angular acceleration of roll angle, and wheel bounce information of any wheel to obtain the vertical velocity and vertical acceleration of the vehicle body; and calculating the vertical acceleration of the vehicle body to obtain the vertical displacement of the vehicle body.

[0021] Optionally, the third calculation module is further configured to: calculate the longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of the roll angle, angular acceleration of the pitch angle, angular acceleration of the yaw angle, and wheel bounce information of any wheel to obtain the vertical velocity and vertical acceleration of the vehicle body, including: calculating the longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of the pitch angle, angular acceleration of the yaw angle, angular acceleration of the roll angle, and wheel bounce information of any wheel to obtain the velocity and acceleration on the angular spring corresponding to any wheel; determining the vertical velocity of the vehicle body based on the velocity on the angular spring corresponding to any wheel; and determining the vertical acceleration of the vehicle body based on the acceleration on the angular spring corresponding to any wheel.

[0022] According to another aspect of the present invention, a storage medium is also provided, the storage medium including a stored program, wherein, when the program is running, the device where the storage medium is located controls the execution of any of the aforementioned vehicle shock absorber control methods.

[0023] According to another aspect of the present invention, a vehicle is also provided, including an on-board memory and an on-board processor, wherein the on-board memory stores a computer program and the on-board processor is configured to run the computer program to execute the control method of the vehicle shock absorber of any of the foregoing embodiments.

[0024] In this embodiment of the invention, vehicle data of the target vehicle is first collected, wherein the vehicle data is used to characterize the road conditions on which the target vehicle is located. Then, based on the vehicle model, a first weighting coefficient corresponding to multiple parameters of the target vehicle's wheel shock absorber is determined, wherein the first weighting coefficient is used to adjust the degree of change of multiple parameters with the road excitation frequency. Furthermore, based on the vehicle data, a second weighting coefficient corresponding to multiple parameters is calculated, wherein the second weighting coefficient is used to adjust the degree of change of multiple parameters with vehicle speed. Further, based on the multiple parameters, the first weighting coefficient, and the second weighting coefficient, the target damping force of the wheel shock absorber is calculated. Finally, the wheel shock absorber is controlled according to the target damping force.

[0025] It is easy to understand that the method provided by the present invention determines a first weighting coefficient for adjusting the degree of change of multiple parameters of the vehicle shock absorber with the road excitation frequency based on the vehicle model, calculates a second weighting coefficient for adjusting the degree of change of multiple parameters with the vehicle speed based on vehicle data, and then obtains the target damping force of the wheel shock absorber by adjusting the multiple parameters, the first weighting coefficient, and the second weighting coefficient. This achieves the purpose of improving the adaptability of the vehicle shock absorber control method to vehicle model, road excitation frequency, and vehicle speed, thereby reducing the calculation complexity of the target damping force of the wheel shock absorber and improving the applicability of the wheel shock absorber control method to vehicle model. In turn, it solves the technical problems of high complexity and poor applicability of the vehicle shock absorber control method provided by related technologies. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0027] Figure 1 This is a hardware structure block diagram of a vehicle terminal for an optional control method for a vehicle shock absorber according to an embodiment of the present invention.

[0028] Figure 2 This is a flowchart of a control method for a vehicle shock absorber according to an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the control process of an optional vehicle shock absorber according to an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the control coefficient of an optional vehicle shock absorber according to an embodiment of the present invention;

[0031] Figure 5 This is a structural block diagram of an optional vehicle shock absorber control device according to an embodiment of the present invention;

[0032] Figure 6 This is a structural block diagram of another optional vehicle shock absorber control device according to an embodiment of the present invention. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0035] According to an embodiment of the present invention, a method embodiment for controlling a vehicle shock absorber is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0036] Figure 1 This is a hardware structure block diagram of a vehicle terminal for an optional control method for a vehicle shock absorber according to an embodiment of the present invention, such as... Figure 1 As shown, the vehicle terminal 10 (or a mobile device 10 that communicates with the vehicle) may include one or more processors 102 (processors 102 may include, but are not limited to, processing devices such as microprocessors (MCUs) or field-programmable gate arrays (FPGAs),) a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display device 110, an input / output device 108 (i.e., I / O devices), a Universal Serial Bus (USB) port (which may be included as one of the ports of a computer bus, not shown in the figure), a network interface (not shown in the figure), a power supply (not shown in the figure), and / or a camera (not shown in the figure). Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the vehicle terminal 1 described above. For example, the vehicle terminal 10 may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0037] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits may be embodied, in whole or in part, as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the vehicle terminal 10 (or mobile device).

[0038] The memory 104 can be used to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the vehicle shock absorber control method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the aforementioned vehicle shock absorber control method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the vehicle terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0039] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the vehicle terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0040] Under the above operating environment, the embodiments of the present invention provide as follows: Figure 2 The control method of the vehicle shock absorber shown is as follows: Figure 2 This is a flowchart of a control method for a vehicle shock absorber according to an embodiment of the present invention, such as... Figure 2 As shown above, Figure 2 The embodiments shown may include at least the following implementation steps, namely, the technical solutions implemented by steps S21 to S25.

[0041] Step S21: Collect vehicle data of the target vehicle, wherein the vehicle data is used to characterize the road conditions where the target vehicle is located.

[0042] In the optional technical solution provided in step S21 above, the target vehicle is a vehicle equipped with a semi-active suspension system. It should also be noted that the semi-active suspension system can use electronic controllers, hydraulic or pneumatic components to adjust the vehicle's suspension stiffness and damping force. Furthermore, the system can automatically adjust the suspension response based on road conditions, driver behavior, and other factors to improve the vehicle's comfort, stability, and safety.

[0043] In the optional technical solutions provided in step S21 above, the vehicle data may include, but is not limited to: vehicle speed, longitudinal acceleration, lateral acceleration, and vertical acceleration. The road conditions may include, but are not limited to: straight road conditions, sloping road conditions, and continuous speed bump conditions. Different road conditions can transmit road excitations of different frequencies to the vehicle.

[0044] Step S22: Based on the vehicle model, determine the first weighting coefficients corresponding to multiple parameters of the wheel shock absorbers of the target vehicle. The first weighting coefficients are used to adjust the degree of change of multiple parameters with the road excitation frequency.

[0045] In the optional technical solutions provided in step S22 above, the type of the target vehicle may include, but is not limited to: balanced vehicles, sport vehicles, and comfort vehicles. It should also be noted that balanced vehicles may include, but are not limited to: racing cars and off-road vehicles; sport vehicles may include, but are not limited to: ordinary sports cars and supercars; and comfort vehicles may include, but are not limited to: sedans and suburban utility vehicles (SUVs).

[0046] In the optional technical solution provided in step S22 above, the above-mentioned multiple parameters can be vehicle parameters related to the damping force of the wheel shock absorber. These multiple parameters may include, but are not limited to: the vertical displacement of the vehicle body, the vertical velocity of the vehicle body, and the vertical acceleration of the vehicle body. Under this condition, the first weighting coefficient may include: the vehicle body displacement coefficient, the vehicle body velocity coefficient, and the vehicle body acceleration coefficient. It should also be noted that the vehicle body displacement coefficient can be controlled by the stroke of the wheel shock absorbers. This coefficient can be used to control the vehicle's attitude under low-frequency (e.g., less than 0.5Hz) road surface excitation. Specifically, for example, when the vehicle slowly passes over a large pothole, the vertical velocity and vertical acceleration of the vehicle body are relatively small, while the vertical displacement is relatively large. To improve the handling of the vehicle's attitude, an appropriate vehicle body displacement coefficient is selected to calculate the damping force of the wheel shock absorbers. The vehicle body speed coefficient can be controlled by the speed of the wheel shock absorbers. This coefficient can be used to control the vehicle's motion attitude under medium-frequency (e.g., frequency range [0.5Hz, 3Hz]) road surface excitation. The vehicle body acceleration coefficient can be controlled by the acceleration of the wheel shock absorbers. This coefficient can be used to control the vehicle's motion attitude under high-frequency (e.g., greater than 3Hz) road surface excitation. Specifically, for example, when the vehicle is traveling at a relatively high speed on a straight road surface, the vertical displacement and vertical velocity of the vehicle body are relatively small, while the vertical acceleration is relatively large. To improve the handling of the vehicle's attitude, an appropriate vehicle body acceleration coefficient is selected to calculate the damping force of the wheel shock absorbers.

[0047] In the technical solution provided by the present invention, since the first weighting coefficient is a coefficient determined based on the model of the target vehicle, and the first weighting coefficient can be used to adjust the degree of change of multiple parameters of the wheel shock absorber with the road excitation frequency, the technical solution provided by the present invention can be applied to different models, and has better adaptability to the road excitation frequency, thereby improving the overall vehicle comfort.

[0048] Step S23: Based on the vehicle data, calculate the second weighting coefficients corresponding to multiple parameters, wherein the second weighting coefficients are used to adjust the degree of change of multiple parameters with vehicle speed;

[0049] In the technical solution provided by this invention, the aforementioned second weighting coefficient can be determined based on the vehicle speed of the target vehicle. It can be used to characterize the degree of influence of vehicle speed on multiple parameters. Specifically, for example, when the vehicle speed is too high, the second weighting coefficient corresponding to the first parameter (such as the vertical velocity of the vehicle body) among the multiple parameters also increases accordingly, indicating that the vehicle speed has a significant impact on the first parameter; when the vehicle speed is too high, the second weighting coefficient corresponding to the second parameter (such as the vertical acceleration of the vehicle body) among the multiple parameters does not change, indicating that the current vehicle speed has a relatively small impact on the second parameter. It should also be noted that the aforementioned second weighting coefficient can also be calibrated by technicians based on the vehicle type and speed of the target vehicle.

[0050] Step S24: Based on multiple parameters, the first weighting coefficient, and the second weighting coefficient, the target damping force of the wheel shock absorber is calculated.

[0051] In the optional technical solution provided in step S24 above, the target damping force of the wheel shock absorber includes the target damping force of the shock absorber at each wheel of the target vehicle. Specifically, assuming the target vehicle is a four-wheeled sedan, the target damping force of the wheel shock absorber includes: the first target damping force of the left front wheel shock absorber, the second target damping force of the left rear wheel shock absorber, the third target damping force of the right front wheel shock absorber, and the fourth target damping force of the right rear wheel shock absorber.

[0052] Step S25: Control the wheel shock absorber according to the target damping force.

[0053] In the technical solution provided by the present invention, the vehicle controller can generate control commands based on the calculated target damping force of the wheel shock absorber and send them to the control element of each wheel shock absorber. Then, the control element of each wheel shock absorber controls the corresponding shock absorber to work with the corresponding target damping force, thereby improving the stability of each wheel and thus improving the stability, comfort and handling of the whole vehicle.

[0054] In this embodiment of the invention, vehicle data of the target vehicle is first collected, wherein the vehicle data is used to characterize the road conditions on which the target vehicle is located. Then, based on the vehicle model, a first weighting coefficient corresponding to multiple parameters of the target vehicle's wheel shock absorber is determined, wherein the first weighting coefficient is used to adjust the degree of change of multiple parameters with the road excitation frequency. Furthermore, based on the vehicle data, a second weighting coefficient corresponding to multiple parameters is calculated, wherein the second weighting coefficient is used to adjust the degree of change of multiple parameters with vehicle speed. Further, based on the multiple parameters, the first weighting coefficient, and the second weighting coefficient, the target damping force of the wheel shock absorber is calculated. Finally, the wheel shock absorber is controlled according to the target damping force.

[0055] It is easy to understand that the method provided by the present invention determines a first weighting coefficient for adjusting the degree of change of multiple parameters of the vehicle shock absorber with the road excitation frequency based on the vehicle model, calculates a second weighting coefficient for adjusting the degree of change of multiple parameters with the vehicle speed based on vehicle data, and then obtains the target damping force of the wheel shock absorber by adjusting the multiple parameters, the first weighting coefficient, and the second weighting coefficient. This achieves the purpose of improving the adaptability of the vehicle shock absorber control method to vehicle model, road excitation frequency, and vehicle speed, thereby reducing the calculation complexity of the target damping force of the wheel shock absorber and improving the applicability of the wheel shock absorber control method to vehicle model. In turn, it solves the technical problems of high complexity and poor applicability of the vehicle shock absorber control method provided by related technologies.

[0056] The methods described in the embodiments of the present invention will be further described below.

[0057] In one optional embodiment, in step S21, the vehicle data includes at least: vehicle speed, longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of roll angle, angular acceleration of pitch angle, angular acceleration of yaw angle, and wheel bounce information of any wheel.

[0058] In the technical solution provided by this invention, the angular acceleration of the roll angle can be the torsional angular acceleration of the target vehicle around the X-axis, which can be used to characterize the degree of rollover to the left or right; the angular acceleration of the pitch angle can be the torsional angular acceleration of the target vehicle around the Y-axis, which can be used to characterize the degree of tilting forward or backward; the angular acceleration of the yaw angle can be the torsional angular acceleration of the target vehicle around the Z-axis, which can be used to characterize the degree of rotation of the vehicle in the vertical direction; the wheel bounce information of any wheel can be obtained during the driving of the target vehicle due to uneven road surface, wheel malfunction, or other problems causing vehicle body vibration or bumps. It should also be noted that the wheel bounce information of any wheel can be determined using specialized equipment (including but not limited to: suspension system testers, balancing machines).

[0059] In one optional embodiment, in step S22, the multiple parameters include at least: a preset minimum damping force, the vertical displacement of the vehicle body, the vertical velocity of the vehicle body, and the vertical acceleration of the vehicle body.

[0060] In the technical solution provided by the present invention, the aforementioned preset minimum damping force can be preset by technicians based on the vehicle information (such as performance parameters) of the target vehicle. The preset minimum damping force can be used to ensure that the wheel shock absorber outputs damping force regardless of the road conditions of the target vehicle, so as to avoid high-frequency road excitation from affecting the overall stability and comfort of the target vehicle.

[0061] In the technical solution provided by this invention, the vertical displacement of the vehicle body can be determined by, but is not limited to, the following methods: Measuring the surface of the vehicle body using a high-precision rangefinder or laser scanner to obtain the coordinate position of each point on the surface in space, and then calculating the vertical displacement of the vehicle body based on the coordinate position of each point; Installing relevant equipment (such as accelerometers and pressure sensors) at the bottom of the target vehicle to collect relevant data (such as vertical acceleration) in real time, and then analyzing the relevant data to obtain the vertical displacement of the vehicle body; Based on image processing technology, extracting feature points from the driving video of the target vehicle captured by a camera, calculating the shape and position changes of the vehicle body based on the feature points, and further determining the vertical displacement of the vehicle body; Under the condition of known road surface height, calculating the relative positional relationship between the vehicle body and the road surface through geometric relationships, thereby analyzing and obtaining the vertical displacement of the vehicle body.

[0062] In an optional embodiment, the control method for the vehicle shock absorber further includes:

[0063] Step S26: Calculate multiple data points in the vehicle data to obtain multiple parameters of the wheel shock absorber. Among these multiple data points, at least the following are included: longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of roll angle, angular acceleration of pitch angle, angular acceleration of yaw angle, and wheel bounce information of any wheel.

[0064] Step S261: Calculate the longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of pitch angle, angular acceleration of yaw angle, angular acceleration of roll angle, and wheel bounce information of any wheel to obtain the vertical velocity and vertical acceleration of the vehicle body.

[0065] Step S262: Calculate the vertical acceleration of the vehicle body to obtain the vertical displacement of the vehicle body.

[0066] Step S2611: Calculate the longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of pitch angle, angular acceleration of yaw angle, angular acceleration of roll angle, and wheel bounce information of any wheel to obtain the velocity and acceleration on the angular spring corresponding to any wheel.

[0067] Step S2612: Determine the vertical velocity of the vehicle body based on the velocity on the angular spring corresponding to any wheel, and determine the vertical acceleration of the vehicle body based on the acceleration on the angular spring corresponding to any wheel.

[0068] In the technical solution provided by this invention, as an optional implementation, based on rigid body dynamics calculation rules, longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of pitch angle, angular acceleration of yaw angle, angular acceleration of roll angle, and wheel bounce information of any wheel are calculated to obtain the velocity and acceleration on the angular spring corresponding to any wheel. Further, the vertical displacement of the vehicle body and the velocity and acceleration on the angular spring corresponding to any wheel are used as multiple control parameters of the shock absorber of any wheel. According to the target vehicle's model, speed, and other information, the weighting coefficient of each control parameter (including but not limited to: the above-mentioned first weighting coefficient and the above-mentioned second weighting coefficient) is determined, and then the target damping force of the shock absorber of any wheel is calculated.

[0069] According to another aspect of the present invention, a method for controlling a vehicle shock absorber is also provided, comprising:

[0070] Step S271: Collect vehicle data of the target vehicle, wherein the vehicle data is used to characterize the road conditions where the target vehicle is located.

[0071] Step S272: Based on the vehicle model of the target vehicle, determine the first weighting coefficient and the second weighting coefficient corresponding to multiple parameters of the wheel shock absorber of the target vehicle. The first weighting coefficient is used to adjust the degree of change of multiple parameters with the road excitation frequency, and the second weighting coefficient is used to adjust the degree of change of multiple parameters with the vehicle speed.

[0072] Step S273: Based on multiple parameters, the first weighting coefficient, and the second weighting coefficient, the target damping force of the wheel shock absorber is calculated.

[0073] Step S274: Control the wheel shock absorber according to the target damping force.

[0074] The following combination Figure 3 , Figure 4 The above methods will be further explained.

[0075] Figure 3 This is a schematic diagram of the control process of an optional vehicle shock absorber according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the control coefficient of an optional vehicle shock absorber according to an embodiment of the present invention, such as... Figure 3 , Figure 4 As shown, firstly, vehicle data of the target vehicle is collected, and the vehicle data is calculated to determine the parameter values ​​of multiple parameters. Then, based on the vehicle model and the current speed of the target vehicle, the first weight coefficient and the second weight coefficient of multiple parameters are calibrated. Further, based on the parameter values ​​of multiple parameters, the calibrated value of the first weight coefficient, and the calibrated value of the second weight coefficient, the target damping force of the wheel shock absorber is calculated. Then, the wheel shock absorber is controlled with the target damping force to make the target vehicle have good stability and improve the user's riding experience.

[0076] In the technical solution provided by this invention, multiple parameters of the wheel shock absorber may include: a preset minimum damping force C. bias Vertical displacement Z of the vehicle body body Vertical velocity V of the vehicle body body The vertical acceleration A of the vehicle body body The first weighting coefficient for multiple parameters may include: vehicle displacement coefficient K Z Vehicle speed coefficient K V Vehicle acceleration coefficient K A The second weighting coefficients corresponding to multiple parameters may include: a preset minimum damping force correction coefficient K. VC Vehicle displacement correction coefficient K VZ Vehicle speed correction coefficient K VV Vehicle acceleration correction coefficient K VA The target damping force C of the wheel shock absorber is calculated based on multiple parameters, the first weighting coefficient, and the second weighting coefficient. crefIt can be shown in the following formula (1):

[0077] C cref =K VC C bias +K VZ K Z Z body +K VV K V V body +K VA K A A body Formula (1)

[0078] In the technical solution provided by this invention, as an optional implementation, the first weighting coefficient and preset minimum damping force corresponding to multiple parameters of the wheel shock absorber can be as shown in Table 1 below:

[0079] Table 1

[0080] <![CDATA[C bias ]]> <![CDATA[K Z ]]> <![CDATA[K V ]]> <![CDATA[K A ]]> [100,300] [10,30] [80,120] [2,5]

[0081] In the technical solution provided by this invention, as another optional implementation, the second weighting coefficients corresponding to the multiple parameters of the wheel shock absorber can be as follows: Figure 4 As shown. In another optional implementation, the target vehicle is a comfort vehicle. Currently, the target vehicle is traveling on a certain road surface at a speed of 60 km / h. Based on the vehicle type and current speed, several parameters are determined, including a first weighting coefficient and a second weighting coefficient: K. VC For 1, C bias For 100, K VZ For 1.1, K Z For 20, Z body 15, K VV 1.2, K V For 90, V body For 12, K VA 0.9, K A 4, A body The value is 130. Furthermore, the target damping force of the wheel shock absorber can be calculated as shown in the following formula (2):

[0082] C cref =1×100+1.1×20×15+1.2×90×12+0.9×4×130=2194N Formula (2)

[0083] In the technical solution provided by this invention, it should also be noted that the preset minimum damping force can be used to improve the toughness of the vehicle chassis and reduce the feeling of "looseness". When the target vehicle is a balanced vehicle, a larger value (e.g., greater than 250) can be used; the vehicle displacement coefficient can be used to balance the vertical displacement of the vehicle body, balance the pitch excitation of the road surface, and improve the handling of the target vehicle. When the target vehicle is a sporty vehicle, a larger value (e.g., greater than 25) can be used; the vehicle speed coefficient can be used to balance the vertical displacement of the vehicle body. When the target vehicle is a balanced vehicle, a larger value (e.g., greater than 100) can be used; the vehicle acceleration coefficient can be used to balance the vertical acceleration of the vehicle body, balance the low-frequency excitation of the road surface, and improve the overall vehicle comfort. When the target vehicle is a comfort vehicle, a larger value (e.g., greater than 3.5) can be used.

[0084] In the technical solution provided by this invention, it should also be noted that the preset minimum damping force correction coefficient can be set to a larger value when the target vehicle is a balanced vehicle to ensure the handling of the target vehicle at high speeds; the body displacement correction coefficient can be set to a larger value when the target vehicle is a sporty vehicle, and when the real-time speed of the target vehicle is low (e.g., less than 20 km / h), the value of the body displacement correction coefficient can be 0; the body speed correction coefficient can be set to a larger value when the target vehicle is a balanced vehicle to quickly suppress body vibration; the body acceleration correction coefficient can be used to prevent shock absorber overload, and when the real-time speed of the target vehicle is low (e.g., less than 60 km / h), the body acceleration correction coefficient can be 0.

[0085] In the technical solution provided by the present invention, the damping force requirement of each wheel shock absorber over a period of time can be determined based on the target damping force of each wheel shock absorber of the target vehicle at each moment. By controlling each wheel shock absorber according to the damping force requirement, the overall stability, comfort, and handling of the target vehicle can be improved, thereby enhancing the user's driving experience.

[0086] The technical effect achieved by the technical solution provided by the present invention is as follows: the first weighting coefficient and the second weighting coefficient of multiple parameters of the wheel shock absorber are determined according to the target vehicle's model, speed and other information, which reduces the complexity of the vehicle shock absorber control method, improves the applicability of the vehicle shock absorber control method to different models, and improves the adaptability to road excitation frequency and vehicle speed, thereby improving the overall vehicle stability, handling and comfort, and thus improving the user's driving experience.

[0087] In this embodiment, a control device for a vehicle shock absorber is also provided. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, a "module" is a combination of software and / or hardware that can perform a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0088] Figure 5 This is a structural block diagram of an optional vehicle shock absorber control device according to an embodiment of the present invention, such as... Figure 5 As shown, the device includes:

[0089] The acquisition module 501 is used to acquire vehicle data of the target vehicle, wherein the vehicle data is used to characterize the road conditions where the target vehicle is located.

[0090] The determination module 502 is used to determine the first weighting coefficients corresponding to multiple parameters of the wheel shock absorbers of the target vehicle according to the vehicle model. The first weighting coefficients are used to adjust the degree of change of multiple parameters with the road excitation frequency.

[0091] The first calculation module 503 is used to calculate the second weighting coefficients corresponding to multiple parameters based on vehicle data. The second weighting coefficients are used to adjust the degree of change of multiple parameters with vehicle speed.

[0092] The second calculation module 504 is used to calculate the target damping force of the wheel shock absorber based on multiple parameters, a first weighting coefficient, and a second weighting coefficient.

[0093] The control module 505 is used to control the wheel shock absorber according to the target damping force.

[0094] Optionally, the above-mentioned acquisition module 501 is also used to: include at least the following vehicle data: vehicle speed, longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of roll angle, angular acceleration of pitch angle, angular acceleration of yaw angle, and wheel bounce information of any wheel.

[0095] Optionally, the acquisition module 502 is also used to collect multiple parameters, including at least: a preset minimum damping force, the vertical displacement of the vehicle body, the vertical velocity of the vehicle body, and the vertical acceleration of the vehicle body.

[0096] Optionally, Figure 6 This is a structural block diagram of another optional vehicle shock absorber control device according to an embodiment of the present invention, such as... Figure 6 As shown, the device includes Figure 5In addition to all the modules shown, it also includes: a third calculation module 506, which is used to calculate multiple data in the vehicle data to obtain multiple parameters of the wheel shock absorber. Among them, the multiple data include at least: longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of roll angle, angular acceleration of pitch angle, angular acceleration of yaw angle, and wheel bounce information of any wheel.

[0097] Optionally, the third calculation module 506 is further configured to: calculate multiple data in the vehicle data to obtain multiple parameters of the wheel shock absorber, including: calculating longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of pitch angle, angular acceleration of yaw angle, angular acceleration of roll angle, and wheel bounce information of any wheel to obtain the vertical velocity and vertical acceleration of the vehicle body; and calculating the vertical acceleration of the vehicle body to obtain the vertical displacement of the vehicle body.

[0098] Optionally, the third calculation module 506 is further configured to: calculate the longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of the roll angle, angular acceleration of the pitch angle, angular acceleration of the yaw angle, and wheel bounce information of any wheel to obtain the vertical velocity and vertical acceleration of the vehicle body, including: calculating the longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of the pitch angle, angular acceleration of the yaw angle, angular acceleration of the roll angle, and wheel bounce information of any wheel to obtain the velocity and acceleration on the angular spring corresponding to any wheel; determining the vertical velocity of the vehicle body based on the velocity on the angular spring corresponding to any wheel; and determining the vertical acceleration of the vehicle body based on the acceleration on the angular spring corresponding to any wheel.

[0099] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0100] According to another aspect of the present invention, a storage medium is also provided, the storage medium including a stored program, wherein, when the program is running, the device where the storage medium is located controls the execution of any of the aforementioned vehicle shock absorber control methods.

[0101] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0102] Step S1: Collect vehicle data of the target vehicle, wherein the vehicle data is used to characterize the road conditions where the target vehicle is located.

[0103] Step S2: Based on the vehicle model, determine the first weighting coefficients corresponding to multiple parameters of the wheel shock absorbers of the target vehicle. The first weighting coefficients are used to adjust the degree of change of multiple parameters with the road excitation frequency.

[0104] Step S3: Based on the vehicle data, calculate the second weighting coefficients corresponding to multiple parameters. The second weighting coefficients are used to adjust the degree of change of multiple parameters with vehicle speed.

[0105] Step S4: Based on multiple parameters, the first weighting coefficient, and the second weighting coefficient, the target damping force of the wheel shock absorber is calculated.

[0106] Step S5: Control the wheel shock absorber according to the target damping force.

[0107] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0108] According to another aspect of the present invention, a vehicle is also provided, including an on-board memory and an on-board processor, wherein the on-board memory stores a computer program and the on-board processor is configured to run the computer program to execute the control method of the vehicle shock absorber of any of the foregoing embodiments.

[0109] Optionally, in this embodiment, the on-board processor can be configured to perform the following steps via a computer program:

[0110] Step S1: Collect vehicle data of the target vehicle, wherein the vehicle data is used to characterize the road conditions where the target vehicle is located.

[0111] Step S2: Based on the vehicle model, determine the first weighting coefficients corresponding to multiple parameters of the wheel shock absorbers of the target vehicle. The first weighting coefficients are used to adjust the degree of change of multiple parameters with the road excitation frequency.

[0112] Step S3: Based on the vehicle data, calculate the second weighting coefficients corresponding to multiple parameters. The second weighting coefficients are used to adjust the degree of change of multiple parameters with vehicle speed.

[0113] Step S4: Based on multiple parameters, the first weighting coefficient, and the second weighting coefficient, the target damping force of the wheel shock absorber is calculated.

[0114] Step S5: Control the wheel shock absorber according to the target damping force.

[0115] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and their optional implementations, which will not be repeated here.

[0116] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0117] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0118] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

[0119] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0120] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0121] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0122] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method of a vehicle shock absorber, characterized by, The method comprises: collecting vehicle data of a target vehicle, wherein the vehicle data is used to represent a road working condition in which the target vehicle is located; determining first weight coefficients corresponding to a plurality of parameters of a wheel shock absorber of the target vehicle according to a vehicle model of the target vehicle, wherein the first weight coefficients are used to adjust degrees of change of the plurality of parameters with respect to a road excitation frequency, and the plurality of parameters at least include a preset minimum damping force, a vertical displacement of a vehicle body, a vertical velocity of the vehicle body, and a vertical acceleration of the vehicle body; calculating second weight coefficients corresponding to the plurality of parameters according to the vehicle data, wherein the second weight coefficients are used to adjust degrees of change of the plurality of parameters with respect to a vehicle speed; calculating a target damping force of the wheel shock absorber based on the plurality of parameters, the first weight coefficients, and the second weight coefficients; controlling the wheel shock absorber according to the target damping force; The control method of the vehicle shock absorber further comprises: calculating longitudinal acceleration, lateral acceleration, vertical acceleration, angular acceleration of a pitch angle, angular acceleration of a yaw angle, angular acceleration of a roll angle, and wheel jump information of any wheel in the vehicle data to obtain a velocity and an acceleration on an angular spring corresponding to the any wheel; determining a vertical velocity of the vehicle body according to the velocity on the angular spring corresponding to the any wheel, and determining a vertical acceleration of the vehicle body according to the acceleration on the angular spring corresponding to the any wheel; extracting feature points of a driving video of the target vehicle captured by a camera based on an image processing technology, calculating a shape of the vehicle body and a position change of the vehicle body based on the feature points; and calculating a relative position relationship between the vehicle body and a road surface based on the shape of the vehicle body, the position change of the vehicle body, and a road surface height corresponding to the road surface in which the target vehicle is located to obtain a vertical displacement of the vehicle body.

2. A control method of a vehicle shock absorber, characterized by, The method comprises: collecting vehicle data of a target vehicle, wherein the vehicle data is used to represent a road working condition in which the target vehicle is located; determining first weight coefficients and second weight coefficients corresponding to a plurality of parameters of a wheel shock absorber of the target vehicle according to a vehicle model of the target vehicle, wherein the first weight coefficients are used to adjust degrees of change of the plurality of parameters with respect to a road excitation frequency, the second weight coefficients are used to adjust degrees of change of the plurality of parameters with respect to a vehicle speed, and the plurality of parameters at least include a preset minimum damping force, a vertical displacement of a vehicle body, a vertical velocity of the vehicle body, and a vertical acceleration of the vehicle body; calculating a target damping force of the wheel shock absorber based on the plurality of parameters, the first weight coefficients, and the second weight coefficients; controlling the wheel shock absorber according to the target damping force; The control method of the vehicle shock absorber further comprises: calculating the longitudinal acceleration, the lateral acceleration, the vertical acceleration, the angular acceleration of the pitch angle, the angular acceleration of the yaw angle, the angular acceleration of the roll angle, and the wheel jump information of any wheel in the vehicle data to obtain the speed and acceleration on the corresponding angular spring of the wheel; determining the vertical speed of the vehicle body according to the speed on the corresponding angular spring of the wheel, and determining the vertical acceleration of the vehicle body according to the acceleration on the corresponding angular spring of the wheel; extracting the feature points of the driving video of the target vehicle captured by the camera based on the image processing technology, calculating the shape of the vehicle body and the position change of the vehicle body based on the feature points; and calculating the relative position relationship between the vehicle body and the road surface based on the shape of the vehicle body, the position change of the vehicle body, and the road surface height corresponding to the road surface where the target vehicle is located to obtain the vertical displacement of the vehicle body.

3. A control device for a vehicle shock absorber, characterized by Comprise: The acquisition module is used for acquiring vehicle data of a target vehicle, wherein the vehicle data is used for representing a road surface working condition where the target vehicle is located; The determination module is used for determining a first weight coefficient corresponding to a plurality of parameters of a wheel shock absorber of the target vehicle according to a vehicle model of the target vehicle, wherein the first weight coefficient is used for adjusting a variation degree of the plurality of parameters with a road surface excitation frequency, and the plurality of parameters at least include a preset minimum damping force, a vertical displacement of a vehicle body, a vertical speed of the vehicle body, and a vertical acceleration of the vehicle body; The first calculation module is used for calculating a second weight coefficient corresponding to the plurality of parameters according to the vehicle data, wherein the second weight coefficient is used for adjusting a variation degree of the plurality of parameters with a vehicle speed; The second calculation module is used for calculating a target damping force of the wheel shock absorber based on the plurality of parameters, the first weight coefficient, and the second weight coefficient; The control module is used for controlling the wheel shock absorber according to the target damping force; The third calculation module is used for calculating the longitudinal acceleration, the lateral acceleration, the vertical acceleration, the angular acceleration of the pitch angle, the angular acceleration of the yaw angle, the angular acceleration of the roll angle, and the wheel jump information of any wheel in the vehicle data to obtain the speed and acceleration on the corresponding angular spring of the wheel; determining the vertical speed of the vehicle body according to the speed on the corresponding angular spring of the wheel, and determining the vertical acceleration of the vehicle body according to the acceleration on the corresponding angular spring of the wheel; extracting the feature points of the driving video of the target vehicle captured by the camera based on the image processing technology, calculating the shape of the vehicle body and the position change of the vehicle body based on the feature points; and calculating the relative position relationship between the vehicle body and the road surface based on the shape of the vehicle body, the position change of the vehicle body, and the road surface height corresponding to the road surface where the target vehicle is located to obtain the vertical displacement of the vehicle body.

4. A storage medium, characterized by The storage medium comprises a stored program, wherein the program controls the device where the storage medium is located to execute the control method of the vehicle shock absorber in any one of claims 1 to 2 when the program is running.

5. A vehicle characterized by comprising: The vehicle shock absorber control method according to any one of claims 1 to 2 is executed by a vehicle shock absorber control device including an in-vehicle memory in which a computer program is stored, and an in-vehicle processor configured to execute the computer program.

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