Suspension control method, device, equipment and storage medium of vehicle

Abstract

This application provides a vehicle suspension control method, device, equipment, and storage medium. The method includes: obtaining the road surface type of a target road segment located ahead of the vehicle's travel direction from map data, and determining a first adjustment parameter for the suspension based on the road surface type. Before the vehicle enters the target road segment, the suspension is adjusted using the first adjustment parameter. While the vehicle is traveling on the target road segment, the road surface conditions ahead of the vehicle are obtained, and a decision is made whether to adjust the suspension based on the road surface conditions. If suspension adjustment is determined, a second adjustment parameter for the suspension is obtained based on the road surface conditions and the vehicle's travel parameters, and the suspension is adjusted based on the second adjustment parameter. This method enables the vehicle's suspension to be adjusted in advance based on road surface type and conditions, improving the responsiveness of the vehicle's active suspension adjustment and enhancing user ride comfort.

Description

Technical Field

[0001] This application relates to the field of motor vehicle technology, and in particular to a suspension control method, device, equipment and storage medium for a vehicle. Background Technology

[0002] Active suspension incorporates an adjustment mechanism within its structure that can be manually or automatically controlled, automatically adjusting parameters such as stiffness and damping based on road conditions to achieve better ride comfort. With technological advancements, more and more vehicles are using active suspension technology. However, currently, vehicles equipped with active suspension only adjust the suspension when the vehicle reaches a road surface requiring adjustment, resulting in relatively poor responsiveness of the active suspension adjustment.

[0003] Therefore, improving the responsiveness of active suspension adjustment is an urgent problem to be solved. Summary of the Invention

[0004] This application provides a vehicle suspension control method, device, equipment, and storage medium to solve the problem of poor response timeliness of active suspension adjustment in the prior art.

[0005] In a first aspect, this application provides a suspension control method for a vehicle, comprising:

[0006] Obtain the road surface type of the target road segment located ahead of the vehicle's direction of travel from the map data, and determine the first adjustment parameter of the suspension based on the road surface type;

[0007] Before the vehicle enters the target road section, the suspension is adjusted using the first adjustment parameter;

[0008] While the vehicle is traveling on the target road segment, the road conditions ahead of the vehicle are acquired, and the suspension is adjusted based on the road conditions.

[0009] If it is determined that the suspension needs to be adjusted, then a second adjustment parameter for the suspension is obtained based on the road conditions and the vehicle's driving parameters;

[0010] The suspension is adjusted according to the second adjustment parameter.

[0011] Optionally, determining whether to adjust the suspension based on the road surface conditions includes:

[0012] If, based on the road surface conditions, it is determined that there is a first object on the road surface of the target road section that affects the stability of the vehicle body, then it is determined to adjust the suspension.

[0013] If, based on the road surface conditions, it is determined that there is no first object affecting the vehicle's stability on the target road section, then it is determined that the suspension will not be adjusted.

[0014] Optionally, obtaining the second adjustment parameter of the suspension based on the road conditions and the vehicle's driving parameters includes:

[0015] If the first object matches a second object in a preset object library, then the adjustment parameters corresponding to the second object are obtained from the object library;

[0016] Based on the vehicle's driving parameters, the adjustment parameters corresponding to the second object are adjusted to obtain the second adjustment parameters.

[0017] Optionally, obtaining the second adjustment parameter of the suspension based on the road conditions and the vehicle's driving parameters includes:

[0018] If the first object does not match any object in the preset object library, then the adjustment parameters corresponding to the first object are obtained based on the first object and the default parameters of the suspension.

[0019] Based on the vehicle's driving parameters, the adjustment parameters corresponding to the first object are adjusted to obtain the second adjustment parameters.

[0020] Optionally, the method further includes:

[0021] Add the first object and its corresponding adjustment parameters to the object library.

[0022] Optionally, the method further includes:

[0023] The vehicle acquires the initial road surface conditions ahead of it using its own data acquisition device.

[0024] The vehicle network acquires the second initial road surface conditions ahead of the vehicle, collected by other vehicles.

[0025] The road surface condition is obtained based on the first initial road surface condition and the second initial road surface condition.

[0026] Optionally, the method further includes:

[0027] Obtain the current suspension mode of the vehicle;

[0028] Determining the first adjustment parameter of the suspension based on the road surface type includes:

[0029] Based on the road surface type, determine the first adjustment parameter of the suspension in the current suspension mode;

[0030] The step of obtaining the second adjustment parameter of the suspension based on the road conditions and the vehicle's driving parameters includes:

[0031] Based on the road conditions and the vehicle's driving parameters, a second adjustment parameter for the suspension in the current suspension mode is determined.

[0032] Secondly, this application provides a vehicle suspension control device, comprising:

[0033] The first processing module is used to obtain the road surface type of the target road segment located in front of the vehicle's driving direction from the map data, and determine the first adjustment parameter of the suspension based on the road surface type.

[0034] A first control module is used to adjust the suspension using the first adjustment parameter before the vehicle enters the target road section;

[0035] The second processing module is used to acquire the road surface conditions ahead of the vehicle while the vehicle is driving on the target road segment, and determine whether to adjust the suspension based on the road surface conditions; if it is determined to adjust the suspension, the second adjustment parameters of the suspension are obtained based on the road surface conditions and the vehicle's driving parameters.

[0036] The second control module is used to adjust the suspension according to the second adjustment parameter.

[0037] Thirdly, this application provides an electronic device, including: a processor, a communication interface, and a memory; the processor is communicatively connected to the communication interface and the memory respectively;

[0038] The memory stores computer-executed instructions;

[0039] The communication interface communicates and interacts with external devices.

[0040] The processor executes computer execution instructions stored in the memory to implement the method as described in any one of the first aspects.

[0041] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the suspension control method for a vehicle as described in any one of the first aspects.

[0042] Fifthly, this application provides a computer program product, which, when executed by a processor, is used to implement the suspension control method for a vehicle as described in any one of the first aspects.

[0043] The vehicle suspension control method, device, equipment, and storage medium provided in this application obtain the road surface type of a target road segment ahead of the vehicle's travel direction from map data, and determine a first adjustment parameter for the suspension based on this road surface type. Before the vehicle enters the target road segment, the suspension is adjusted using the first adjustment parameter. While the vehicle is traveling on the target road segment, the road conditions ahead of the vehicle are obtained, and a decision is made whether to adjust the suspension based on these conditions. If suspension adjustment is determined, a second adjustment parameter for the suspension is obtained based on the road conditions and the vehicle's travel parameters, and the suspension is adjusted accordingly. This achieves the function of adjusting the vehicle's suspension in advance based on road surface type and conditions, improving the responsiveness of the vehicle's active suspension adjustment and enhancing user ride comfort. Attached Figure Description

[0044] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0045] Figure 1 A schematic diagram illustrating the suspension control scenario for existing vehicles;

[0046] Figure 2 A schematic flowchart illustrating a vehicle suspension control method provided in an embodiment of this application;

[0047] Figure 3 A schematic flowchart illustrating another vehicle suspension control method provided in this application embodiment;

[0048] Figure 4 A schematic flowchart illustrating another vehicle suspension control method provided in this application embodiment;

[0049] Figure 5 A schematic diagram of the structure of a vehicle suspension control device provided in an embodiment of this application;

[0050] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0051] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0052] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0053] First, to facilitate understanding, an example of adjusting the suspension in a vehicle currently equipped with active suspension will be provided. Figure 1 This is a schematic diagram illustrating a scenario for suspension control in an existing vehicle. (Example) Figure 1 As shown, the vehicle is equipped with an active suspension. When the vehicle is driving on the road, if there are obstacles, potholes, or speed bumps on the road surface, Figure 1 Let's take a pothole on the road as an example. When the vehicle drives over the pothole, it can automatically adjust the suspension based on the pothole's location. For example, it can adjust parameters such as suspension stiffness and damping to provide appropriate support when the vehicle passes over the pothole, thereby improving the vehicle's stability and / or comfort.

[0054] However, current technology only adjusts the vehicle's active suspension in real time based on the pothole's condition and / or the vehicle's speed when the vehicle is driving over it, i.e., when the wheels enter the pothole. During this process, the suspension response is slow and cannot adjust to suitable parameters for the entire duration of the journey over the pothole, resulting in temporary instability and poor comfort. Therefore, improving the responsiveness of active suspension adjustment is a pressing issue that needs to be addressed.

[0055] In view of this, this application provides a vehicle suspension control method, which obtains the road surface type and road surface conditions of the target road segment ahead of the vehicle's driving direction in advance, determines whether the vehicle's suspension needs to be adjusted in advance, and if adjustment is required, determines how to adjust the vehicle's suspension according to the road surface type and road surface conditions, thereby realizing the function of adjusting the vehicle's suspension in advance according to the road surface type and road surface conditions, thereby improving the responsiveness of the vehicle's active suspension adjustment and enhancing the user's ride comfort.

[0056] The vehicle suspension control method provided in this application can be executed by the vehicle's infotainment system equipped with an intelligent driving system, or by the processing chip of that infotainment system. The vehicle can be, for example, a passenger car, bus, or commercial vehicle, and the intelligent driving system can be, for example, an Advanced Driving Assistance System (ADAS), an autonomous driving system, or other systems used to control the vehicle. When the execution entity is the processing chip of the infotainment system, the processing chip can execute the software or program code of the vehicle's suspension control method, thereby enabling the vehicle's suspension to be adjusted in advance based on the road surface type and conditions of the target road segment ahead of the vehicle's travel direction.

[0057] The following describes the technical solution of this application and how it solves the above-mentioned technical problems, taking the processing chip of the ADAS system as the execution subject. Specific embodiments are used to illustrate these solutions in detail. The following specific embodiments can be combined with each other, and similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0058] Figure 2 This is a schematic flowchart illustrating a vehicle suspension control method provided in an embodiment of this application. Figure 2 As shown, the method may include:

[0059] S201. Obtain the road surface type of the target road segment located in front of the vehicle's driving direction from the map data, and determine the first adjustment parameter of the suspension based on the road surface type.

[0060] The map data includes road surface types, such as high-precision map data. Road surface types can include paved roads and unpaved roads. Paved roads can include, for example, asphalt roads, while unpaved roads can include, for example, gravel roads, dirt roads, and sand roads. When a vehicle travels on different road surface types, the required suspension parameters differ due to variations in road smoothness and friction. The first adjustment parameter of the suspension corresponds to the specific road surface type. For example, when a vehicle travels on an asphalt road, the first adjustment parameter of the suspension is the parameter corresponding to asphalt roads. This first adjustment parameter can include parameters affecting suspension support and comfort, such as suspension stiffness and damping. The ADAS system can store a preset mapping relationship between adjustment parameters and road surface types. Based on the road surface type and this mapping relationship, the first adjustment parameter of the suspension can be determined.

[0061] One possible implementation is that the ADAS system obtains the road surface type of the target road segment ahead of the vehicle's travel direction based on the vehicle's current location and the map data. For example, when the vehicle is traveling, the system obtains the road the vehicle is currently traveling on from the map data and determines the target road segment ahead of the vehicle's travel direction. Based on the target road segment, the system obtains the road surface type of the target road segment from the map data.

[0062] Another possible implementation involves the ADAS system determining the road surface type of a target road segment ahead of the vehicle's travel direction based on the vehicle's navigation route and the map data. The ADAS system acquires the vehicle's navigation route to determine its future travel trajectory and identifies the target road segment ahead of the vehicle's travel direction from that trajectory. Based on the target road segment, the system retrieves the road surface type of that target road segment from the map data.

[0063] S202. Before the vehicle enters the target road section, adjust the suspension using the first adjustment parameter.

[0064] The ADAS system can adjust the current parameters of the suspension according to the first adjustment parameter. For example, it can control the electromagnetic proportional valve in the suspension through the control signal corresponding to the first adjustment parameter, drive the valve core in the electromagnetic proportional valve to move up and down, so as to change the throttling area of ​​the valve body, thereby changing the damping of the suspension.

[0065] The time for adjusting the suspension using the first adjustment parameter can be set according to actual needs, as long as it is before the vehicle enters the target road section; this application does not impose any restrictions on this. The time can also be determined based on the duration required to adjust the suspension using the first adjustment parameter, for example, by performing the adjustment at any point in time before the vehicle enters the target road section, where the remaining time is longer than the duration required to adjust the suspension using the first adjustment parameter.

[0066] S203. While the vehicle is traveling on the target road section, obtain the road conditions ahead of the vehicle and determine whether to adjust the suspension based on the road conditions.

[0067] The road surface conditions may include the presence of a primary object affecting vehicle stability. This primary object could be, for example, an obstacle, pothole, or speed bump. If the road surface conditions determine that a primary object affecting vehicle stability exists on the target road segment, then the suspension will be adjusted. If the road surface conditions determine that a primary object affecting vehicle stability does not exist on the target road segment, then the suspension will not be adjusted.

[0068] One possible implementation is that the road conditions ahead of the vehicle can be acquired by receiving data from sensors mounted on the front of the vehicle, such as cameras or ultrasonic sensors. These sensors can be positioned anywhere on the front of the vehicle, such as the front of the chassis or the front of the body; this application does not limit the sensor's installation location. By receiving the road condition data collected by these sensors, the ADAS system can obtain information about the road conditions ahead of the vehicle.

[0069] Another possible implementation is that the road conditions ahead of the vehicle can be obtained from the vehicle-to-everything (V2X) system through the ADAS system. For example, the road conditions in that area can be obtained from other vehicles through the V2X system.

[0070] Another possible implementation involves comprehensively determining the road conditions ahead of the vehicle based on the road conditions obtained from sensors mounted at the front of the vehicle and from the vehicle-to-everything (V2X) system.

[0071] S204. If it is determined that the suspension needs to be adjusted, the second adjustment parameters of the suspension shall be obtained based on the road conditions and the vehicle's driving parameters.

[0072] The vehicle's driving parameters can include parameters that characterize its driving status, such as speed, acceleration, vehicle posture, suspension posture, and braking status. Vehicle posture, for example, might be a higher front end during acceleration, a higher rear end during deceleration, or a certain degree of body roll during cornering. Suspension posture can be determined based on the suspension height change rate. Acceleration and braking status can affect both vehicle posture and suspension posture.

[0073] Since the required suspension parameters differ depending on the vehicle's driving parameters when traversing the first object, it is necessary to consider both road conditions and the vehicle's driving parameters to determine a second adjustment parameter for the suspension suitable for traversing the first object.

[0074] One possible implementation involves determining the corresponding adjustment parameter based on a database storing a preset mapping relationship between road conditions and suspension adjustment parameters, and then adjusting this adjustment parameter according to the vehicle's driving parameters to determine the second adjustment parameter. The second adjustment parameter corresponding to the road conditions and vehicle driving parameters can be obtained from the database using the road conditions, vehicle driving parameters, and the preset mapping relationship.

[0075] Another possible implementation is to calculate the second adjustment parameter corresponding to the road conditions and vehicle driving parameters in real time, based on the road conditions and vehicle driving parameters.

[0076] S205. Adjust the suspension according to the second adjustment parameter.

[0077] The method of adjusting the suspension according to the second adjustment parameter is the same as the method of adjusting the suspension according to the first adjustment parameter in the aforementioned step S202, and will not be repeated here.

[0078] The method provided in this application embodiment obtains the road surface type of a target road segment ahead of the vehicle's driving direction from map data, and determines a first adjustment parameter for the suspension based on the road surface type. Before the vehicle enters the target road segment, the suspension is adjusted using the first adjustment parameter. While the vehicle is traveling on the target road segment, the road conditions ahead of the vehicle are obtained, and a decision is made whether to adjust the suspension based on these conditions. If suspension adjustment is determined, a second adjustment parameter for the suspension is obtained based on the road conditions and the vehicle's driving parameters, and the suspension is adjusted accordingly. This achieves the function of adjusting the vehicle's suspension in advance based on road surface type and conditions, improving the responsiveness of the vehicle's active suspension adjustment and enhancing user ride comfort.

[0079] The following section will take the determination of the second adjustment parameter in step S204 above, based on a database storing a preset mapping relationship between road conditions and suspension adjustment parameters, as an example to explain in detail how the second adjustment parameter of the suspension is obtained in step S204 above based on road conditions and vehicle driving parameters. Figure 3 This is a schematic flowchart illustrating another vehicle suspension control method provided in an embodiment of this application. Figure 3 As shown, the aforementioned step S204 may include:

[0080] S301. Determine whether the first object matches any object in the preset object library. If the first object matches any second object in the preset object library, it means that the adjustment parameters corresponding to the first object can be directly obtained from the object library, and step S302 is executed; if the first object does not match any object in the preset object library, it means that the adjustment parameters corresponding to the first object cannot be directly obtained from the object library.

[0081] When the first object does not match any object in the preset object library, one possible implementation is to not adjust the suspension for that road condition. Another possible implementation is to execute step S304 to obtain the adjustment parameters corresponding to the first object based on the first object and the default parameters of the suspension, and adjust the adjustment parameters corresponding to the first object according to the vehicle's driving parameters to obtain the second adjustment parameters.

[0082] The preset object library is a database storing preset mapping relationships between road conditions and suspension adjustment parameters. This library can store multiple preset objects, which may include various obstacles, potholes, etc. The first object is matched against preset objects in the library. If a similar preset object is found, that similar preset object becomes the second object. For example, the existence of a second object can be determined based on the matching degree between the first object and the preset objects. When the first object matches, if there are preset objects with a matching degree greater than a preset threshold, it indicates the existence of a second object. The second object can be selected from these preset objects with matching degrees greater than the preset threshold; for example, the preset object with the highest matching degree can be selected as the second object.

[0083] S302. Obtain the adjustment parameters corresponding to the second object from the object library.

[0084] The object library also includes adjustment parameters corresponding to the second object. These adjustment parameters can be, for example, adjustment parameters that have a mapping relationship with the second object, or adjustment parameters stored in the attributes of the second object. These adjustment parameters are used to adjust the suspension to improve the stability and / or comfort of the vehicle when passing over the second object, and can be, for example, parameters that adjust the stiffness and / or damping of the suspension.

[0085] S303. Based on the vehicle's driving parameters, adjust the adjustment parameters corresponding to the second object to obtain the second adjustment parameters.

[0086] Since the adjustment parameters corresponding to the second object are not necessarily the suspension adjustment parameters suitable for the current driving parameters of the vehicle, adjusting the adjustment parameters corresponding to the second object according to the driving parameters of the vehicle can improve the accuracy of the suspension adjustment.

[0087] The ADAS system may include an adjustment function or adjustment model for adjusting the adjustment parameters corresponding to the second object based on the vehicle's driving parameters. This adjustment model could be, for example, a neural network model for adjusting the adjustment parameters corresponding to the second object based on the vehicle's driving parameters. The second adjustment parameter can be obtained by using the vehicle's driving parameters and the adjustment parameters corresponding to the second object as input data. How to adjust the adjustment parameters corresponding to the second object based on the vehicle's driving parameters can be referenced in existing technologies for adjusting suspension adjustment parameters based on driving parameters such as vehicle speed, acceleration, and vehicle attitude; this application will not elaborate on these details here.

[0088] S304. Based on the first object and the default parameters of the suspension, obtain the adjustment parameters corresponding to the first object.

[0089] The default parameters of the suspension can be, for example, preset default values ​​or current parameters. These default parameters can be set according to actual needs, and this application does not impose any restrictions on them. The ADAS system determines the attributes of the first object based on the first object. These attributes may include at least one of the following: the type of the first object, the height difference of the first object, and the size of the first object. For example, when the attribute includes the type of the first object, it can characterize whether the first object is an obstacle or a pothole, and the corresponding adjustment parameter can be determined based on the type. When the attribute includes the height difference of the first object, taking a pothole as an example, the accurate value of the corresponding adjustment parameter can be determined based on the height of the pothole. When the attribute includes the size of the first object, the duration of the adjustment parameter can be determined based on the size. It should be understood that the above are only examples illustrating various solutions for different attributes of the first object. These solutions can also be combined to adapt to situations where the attribute includes multiple attributes.

[0090] One possible implementation is that the adjustment parameters corresponding to the first object can be calculated and obtained in real time based on the first object and the default parameters of the suspension.

[0091] Another possible implementation is that the adjustment parameters corresponding to the first object can be obtained from a server connected to the ADAS system. For example, the server can be used to obtain the adjustment parameters of other vehicles when dealing with the first object, as well as the adjustment effect, and then select the better adjustment parameters as the adjustment parameters corresponding to the first object.

[0092] Optionally, in this step, after obtaining the adjustment parameters corresponding to the first object, the first object and the adjustment parameters corresponding to the first object can be added to the aforementioned preset object library to update the preset object library and enrich the preset objects and the adjustment parameters corresponding to the preset objects included in the preset object library.

[0093] Optionally, after obtaining the adjustment parameters corresponding to the first object, the first object and its corresponding adjustment parameters can be uploaded to a server connected to the ADAS system so that other vehicles can obtain more accurate adjustment parameters when dealing with the first object.

[0094] S305. Based on the vehicle's driving parameters, adjust the adjustment parameters corresponding to the first object to obtain the second adjustment parameters.

[0095] The method of adjusting the adjustment parameters corresponding to the first object based on the vehicle's driving parameters to obtain the second adjustment parameters is the same as how to adjust the adjustment parameters corresponding to the second object based on the vehicle's driving parameters to obtain the second adjustment parameters in the aforementioned step S303, and will not be repeated here.

[0096] The method provided in this application, after pre-adjusting the suspension adjustment parameters to match the road surface type, further acquires the road surface conditions ahead of the vehicle's driving direction while driving on that road surface type. Based on the actual road surface conditions, it determines whether there is a first object affecting the vehicle's stability. If there is, it acquires a second adjustment parameter based on the first object and the vehicle's driving parameters, and performs adaptive adjustments for different road surface conditions based on the second adjustment parameter. This further improves the accuracy of pre-adjusting the vehicle's active suspension, thereby improving vehicle stability and user ride comfort.

[0097] The following will describe in detail step S203, taking as an example the road conditions obtained from the sensors installed at the front of the vehicle and the road conditions obtained from the vehicle network system, and comprehensively determining the road conditions ahead of the vehicle.

[0098] Figure 4 This is a flowchart illustrating another vehicle suspension control method provided in an embodiment of this application.

[0099] like Figure 4 As shown, step S203 may include:

[0100] S401: Acquire the initial road surface conditions ahead of the vehicle through its own data acquisition device.

[0101] The self-collecting device can be the aforementioned sensor installed at the front of the vehicle, such as an image sensor (camera, etc.) or an ultrasonic sensor. The initial road surface range ahead of the vehicle's direction of travel can be preset, user-defined, or determined based on the vehicle's current speed and / or current acceleration. When the road surface range is determined based on the vehicle's current speed and / or current acceleration, the faster the speed and the greater the acceleration, the larger the range. For example, at a speed of 30 km / h, the range could be 10 meters ahead of the vehicle's direction of travel; at a speed of 80 km / h, the range could be 50 meters ahead of the vehicle's direction of travel, and so on.

[0102] One possible implementation involves capturing a target image of the road surface area in front of the vehicle's direction of travel using an image sensor, extracting image features from the target image, and determining the initial road surface conditions in front of the vehicle based on the results of the image feature extraction.

[0103] Another possible approach is to use an ultrasonic sensor to emit energy waves to detect the road surface within a certain range ahead of the vehicle's direction of travel, acquire the corresponding ultrasonic echo waveform, analyze the ultrasonic echo waveform, and determine the initial road surface condition ahead of the vehicle based on the results of ultrasonic energy feature extraction.

[0104] Another possible approach is to combine the results of image recognition and ultrasonic recognition to make a comprehensive judgment, since relying solely on image recognition or ultrasonic recognition may result in certain errors, in order to obtain the initial road surface conditions ahead of the vehicle.

[0105] S402. Obtain the second initial road surface conditions ahead of the vehicle by means of other vehicles through the vehicle network.

[0106] Depending on the scenario, the other vehicles can be determined accordingly. For example, the following examples illustrate how to determine other vehicles in several scenarios:

[0107] Scenario 1: When the vehicle's own data acquisition device has poor data collection performance, it can obtain second initial road conditions from other vehicles with better data collection devices to obtain the road conditions. For example, if the vehicle's own data acquisition device has low accuracy and the obtained first initial road conditions have a large error compared to the actual situation, other vehicles that have already passed or are about to pass through the road section in front of the vehicle and whose own data acquisition devices have high accuracy can be selected as other vehicles to obtain the second initial road conditions.

[0108] Scenario 2: When the vehicle's own data collection device performs poorly due to environmental factors, it can obtain second initial road surface conditions from other vehicles that passed through the same road segment at other times. For example, if the vehicle is collecting data during rain, fog, or at night, which affects the collection effect, it can use vehicles that passed through the same road segment during a recent sunny day as other vehicles to obtain second initial road surface conditions with better collection results.

[0109] Scenario 3: If there are many vehicles in front of the vehicle, and the initial road surface conditions collected by the vehicle's own data collection device are incomplete, then at least one vehicle in front of the vehicle can be used as another vehicle to obtain a second initial road surface condition with more complete data collection.

[0110] S403. Obtain the road surface conditions based on the first and second initial road surface conditions.

[0111] One possible implementation is to obtain the road surface condition based on the matching result of a first initial road surface condition and a second initial road surface condition. This implementation can be applied to scenario 1 above. For example, the first initial road surface condition and the second initial road surface condition can be matched. If the first initial road surface condition matches a second initial road surface condition that exceeds a preset proportion, then the first initial road surface condition can be used as the road surface condition; if they do not match, then the second initial road surface condition that exceeds the preset proportion can be used as the road surface condition. Another example is to match the first initial road surface condition and the second initial road surface condition. If the similarity between the first initial road surface condition and the second initial road surface condition is higher than a preset threshold, then the first initial road surface condition can be used as the road surface condition; if it is lower than the preset threshold, then the second initial road surface condition can be used as the road surface condition, and so on.

[0112] Another possible implementation is to combine the first and second initial road surface conditions to obtain the road surface information. This implementation can be applied to scenario 2 or scenario 3 above. For example, the first and second initial road surface conditions can be pieced together to obtain road surface information that better matches the current road surface condition. For instance, incomplete first and second initial road surface conditions can be pieced together to improve the completeness of the road surface information; or, a first road surface condition with poor acquisition results can be pieced together with a second initial road surface condition with better acquisition results to determine the difference between the currently acquired first road surface condition and the most recently acquired second initial road surface condition, thereby improving the accuracy of obtaining the road surface information.

[0113] The method provided in this application embodiment acquires the first initial road surface conditions ahead of the vehicle through its own acquisition device, acquires the second initial road surface conditions ahead of the vehicle through the vehicle network, and acquires the road surface conditions based on the first and second initial road surface conditions. This avoids the problem of poor road surface condition acquisition due to acquisition effect, environmental factors, etc., and improves the accuracy of acquiring road surface conditions.

[0114] Furthermore, considering that vehicles equipped with active suspension typically offer users the option to select suspension modes, such as Normal, Comfort, and Sport modes, the driving experience varies depending on the suspension mode. On the other hand, the user's choice of suspension mode also reflects their suspension adjustment preferences. To cater to different user suspension adjustment preferences, the method of this application may further include determining different first and second adjustment parameters based on the vehicle's different suspension modes.

[0115] The ADAS system can obtain the vehicle's current suspension mode and the corresponding suspension adjustment range or suspension adjustment strategy. For example, when the suspension mode is Comfort mode, the user prefers a softer suspension adjustment to improve comfort; when the suspension mode is Sport mode, the user prefers a firmer suspension adjustment to improve vehicle handling and suspension support.

[0116] In this implementation, determining the first adjustment parameter of the suspension based on the road surface type in the aforementioned step S201 includes: determining the first adjustment parameter of the suspension in the current suspension mode based on the road surface type.

[0117] In this implementation, obtaining the second adjustment parameters of the suspension in the aforementioned step S204, based on the road conditions and the vehicle's driving parameters, includes: determining the second adjustment parameters of the suspension in the current suspension mode based on the road conditions and the vehicle's driving parameters.

[0118] One possible implementation involves determining a first adjustment parameter and / or a second adjustment parameter for the suspension in the current suspension mode by controlling the adjustment range of the suspension's adjustment parameters. For different current suspension modes, the adjustment range of the suspension's adjustment parameters is also different. Based on the methods for obtaining the first and second adjustment parameters included in the aforementioned embodiments, the value ranges of the first and second adjustment parameters are limited according to the adjustment range of the suspension's adjustment parameters corresponding to the current suspension mode, thereby obtaining the first and / or second adjustment parameters that conform to the current suspension mode.

[0119] Another possible implementation involves determining a first adjustment parameter and / or a second adjustment parameter for the suspension under the current suspension mode by selecting a mapping relationship, adjustment function, or adjustment model for the suspension's adjustment parameters. The mapping relationship, adjustment function, or adjustment model for the suspension's adjustment parameters differs for different current suspension modes. Based on the current suspension mode, a mapping relationship, adjustment function, or adjustment model corresponding to that mode is selected. Through this mapping relationship, adjustment function, or adjustment model, the method for obtaining the first and second adjustment parameters described in the previous embodiments is implemented, thereby obtaining the first and / or second adjustment parameters that conform to the current suspension mode.

[0120] The method provided in this application embodiment, by considering the current suspension mode of the vehicle, and based on the current suspension mode and the user's suspension adjustment preferences, uses the methods for obtaining a first adjustment parameter, obtaining a second adjustment parameter, and a suspension adjustment strategy corresponding to the current suspension mode, as included in the aforementioned method embodiment, to obtain a first adjustment parameter and / or a second adjustment parameter that conforms to the current suspension mode, thereby further enhancing the personalization of suspension adjustment and improving the user experience.

[0121] Figure 5 This is a schematic diagram of the structure of a vehicle suspension control device provided in an embodiment of this application. Figure 5 As shown, the suspension control device of the vehicle may include: a first processing module 11, a first control module 12, a second processing module 13, and a second control module 14.

[0122] The first processing module 11 is used to obtain the road surface type of the target road segment located in front of the vehicle's driving direction from the map data, and determine the first adjustment parameter of the suspension based on the road surface type.

[0123] The first control module 12 is used to adjust the suspension using the first adjustment parameter before the vehicle enters the target road section.

[0124] The second processing module 13 is used to acquire the road surface conditions ahead of the vehicle while it is traveling on the target road segment, and determine whether to adjust the suspension based on the road surface conditions. If it is determined that the suspension should be adjusted, the second adjustment parameters of the suspension are obtained based on the road surface conditions and the vehicle's driving parameters.

[0125] The second control module 14 is used to adjust the suspension according to the second adjustment parameter.

[0126] One possible implementation is that the second processing module 13 is specifically used to determine whether to adjust the suspension if, based on the road surface conditions, there is a first object affecting the vehicle's stability on the target road section. If, based on the road surface conditions, there is no first object affecting the vehicle's stability on the target road section, then the suspension is not adjusted.

[0127] In this implementation, the second processing module 13 is specifically used to obtain the adjustment parameters corresponding to the second object from the object library if the first object matches a second object in the preset object library. Based on the vehicle's driving parameters, the adjustment parameters corresponding to the second object are adjusted to obtain the second adjustment parameters.

[0128] Optionally, the second processing module 13 is specifically used to, if the first object does not match any object in the preset object library, obtain the adjustment parameters corresponding to the first object based on the first object and the default parameters of the suspension. Based on the vehicle's driving parameters, the adjustment parameters corresponding to the first object are adjusted to obtain the second adjustment parameters.

[0129] Optionally, the second processing module 13 is further configured to add the first object and the adjustment parameters corresponding to the first object to the object library.

[0130] In any of the above implementations, the second processing module 13 is further configured to acquire a first initial road surface condition ahead of the vehicle using its own acquisition device; acquire a second initial road surface condition ahead of the vehicle from other vehicles via the vehicle network; and acquire the road surface condition based on the first and second initial road surface conditions.

[0131] In another possible implementation, the first processing module 11 is further configured to obtain the current suspension mode of the vehicle. Based on the road surface type, it determines a first adjustment parameter for the suspension in the current suspension mode. The second processing module 13 is further configured to determine a second adjustment parameter for the suspension in the current suspension mode based on the road surface conditions and the vehicle's driving parameters.

[0132] The vehicle suspension control device provided in this application embodiment can execute the vehicle suspension control method in the above method embodiment. Its implementation principle and technical effect are similar, and will not be repeated here.

[0133] Figure 6 This is a schematic diagram of an electronic device provided in an embodiment of this application. The electronic device is used to perform the aforementioned vehicle suspension control, and may be, for example, the vehicle infotainment system running an ADAS system. Figure 6 As shown, the electronic device 600 may include at least one processor 601, a memory 602, and a communication interface 603.

[0134] The memory 602 is used to store programs. Specifically, the program may include program code, which includes computer operation instructions.

[0135] The memory 602 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0136] The processor 601 is used to execute computer execution instructions stored in the memory 602 to implement the method described in the foregoing method embodiments. The processor 601 may be a CPU, an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0137] The processor 601 can communicate and interact with external devices through the communication interface 603. These external devices could be, for example, the network devices used in the aforementioned vehicle-to-everything (V2X) network. In specific implementations, if the communication interface 603, memory 602, and processor 601 are implemented independently, they can be interconnected via a bus to complete communication. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc., but this does not imply that there is only one bus or one type of bus.

[0138] Optionally, in a specific implementation, if the communication interface 603, memory 602, and processor 601 are integrated on a single chip, then the communication interface 603, memory 602, and processor 601 can communicate through an internal interface.

[0139] This application also provides a computer-readable storage medium, which may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. Specifically, the computer-readable storage medium stores program instructions, which are used in the methods described in the above embodiments.

[0140] This application also provides a program product including executable instructions stored in a readable storage medium. At least one processor of a computing device can read the executable instructions from the readable storage medium, and the at least one processor executes the executable instructions to cause the computing device to implement the aforementioned vehicle suspension control method.

[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A suspension control method for a vehicle, characterized in that, include: The road surface type of the target road segment located in front of the vehicle's direction of travel is obtained from map data, and the first adjustment parameter of the suspension is determined based on the road surface type, wherein the road surface type includes paved road surface and unpaved road surface. Before the vehicle enters the target road section, the suspension is adjusted using the first adjustment parameter; While the vehicle is traveling on the target road section, the road conditions ahead of the vehicle are acquired, including whether there is a first object on the road that affects the stability of the vehicle body, and the suspension is adjusted based on the road conditions. If it is determined that the suspension needs to be adjusted, then a second adjustment parameter for the suspension is obtained based on the road conditions and the vehicle's driving parameters; The suspension is adjusted according to the second adjustment parameter.

2. The method according to claim 1, characterized in that, The step of determining whether to adjust the suspension based on the road surface conditions includes: If, based on the road surface conditions, it is determined that there is a first object on the road surface of the target road section that affects the stability of the vehicle body, then it is determined to adjust the suspension. If, based on the road surface conditions, it is determined that there is no first object affecting the vehicle's stability on the target road section, then it is determined that the suspension will not be adjusted.

3. The method according to claim 2, characterized in that, The step of obtaining the second adjustment parameter of the suspension based on the road conditions and the vehicle's driving parameters includes: If the first object matches a second object in a preset object library, then the adjustment parameters corresponding to the second object are obtained from the object library; Based on the vehicle's driving parameters, the adjustment parameters corresponding to the second object are adjusted to obtain the second adjustment parameters.

4. The method according to claim 3, characterized in that, The step of obtaining the second adjustment parameter of the suspension based on the road conditions and the vehicle's driving parameters includes: If the first object does not match any object in the preset object library, then the adjustment parameters corresponding to the first object are obtained based on the first object and the default parameters of the suspension. Based on the vehicle's driving parameters, the adjustment parameters corresponding to the first object are adjusted to obtain the second adjustment parameters.

5. The method according to claim 4, characterized in that, The method further includes: Add the first object and its corresponding adjustment parameters to the object library.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: The vehicle acquires the initial road surface conditions ahead of it using its own data acquisition device. The vehicle network acquires the second initial road surface conditions ahead of the vehicle, collected by other vehicles. The road surface condition is obtained based on the first initial road surface condition and the second initial road surface condition.

7. The method according to any one of claims 1-5, characterized in that, The method further includes: Obtain the current suspension mode of the vehicle; Determining the first adjustment parameter of the suspension based on the road surface type includes: Based on the road surface type, determine the first adjustment parameter of the suspension in the current suspension mode; The step of obtaining the second adjustment parameter of the suspension based on the road conditions and the vehicle's driving parameters includes: Based on the road conditions and the vehicle's driving parameters, a second adjustment parameter for the suspension in the current suspension mode is determined.

8. A suspension control device for a vehicle, characterized in that, include: The first processing module is used to obtain the road surface type of the target road segment located in front of the vehicle's driving direction from the map data, and determine the first adjustment parameter of the suspension based on the road surface type, wherein the road surface type includes paved road surface and unpaved road surface. A first control module is used to adjust the suspension using the first adjustment parameter before the vehicle enters the target road section; The second processing module is used to acquire the road surface conditions ahead of the vehicle while the vehicle is driving on the target road section. The road surface conditions include whether there is a first object on the road surface that affects the stability of the vehicle body, and to determine whether to adjust the suspension based on the road surface conditions. If it is determined that the suspension needs to be adjusted, then a second adjustment parameter for the suspension is obtained based on the road conditions and the vehicle's driving parameters; The second control module is used to adjust the suspension according to the second adjustment parameter.

9. An electronic device, characterized in that, include: The processor includes a communication interface and a memory, wherein the processor is communicatively connected to the communication interface and the memory, respectively. The memory stores computer-executed instructions; The communication interface communicates and interacts with external devices. The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the suspension control method for a vehicle as described in any one of claims 1 to 7.

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