Vehicle control method, device, apparatus and computer readable storage medium

Abstract

The application discloses a vehicle control method, device and equipment and a computer readable storage medium, and relates to the technical field of vehicles. The vehicle control method comprises the following steps: acquiring current road condition information, vehicle load information and vehicle speed information of a current vehicle; determining corresponding target damping and / or target stiffness according to the current road condition information, the vehicle load information and the vehicle speed information; adjusting a shock absorber of the current vehicle based on the target damping, and / or adjusting a stabilizer bar of the current vehicle based on the target stiffness. The application solves the technical problem that the suspension system of the current vehicle is difficult to adapt to different working conditions, resulting in poor vehicle operation stability and smoothness.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle control method, apparatus, device, and computer-readable storage medium. Background Technology

[0002] In recent years, due to the development of the vehicle industry and the improvement of people's living standards, the use of vehicles has become increasingly common in people's daily lives.

[0003] Currently, in order to improve the handling stability and ride comfort of vehicles, major manufacturers will set up shock absorption systems and stabilizer bar systems in the vehicle suspension system. However, the damping effect of the shock absorption system and the improvement of the vehicle's roll degree by the stabilizer bar system are usually relatively fixed and difficult to adapt to different operating conditions, resulting in poor vehicle handling stability and ride comfort. Summary of the Invention

[0004] The main objective of this application is to provide a vehicle control method, device, equipment, and computer-readable storage medium, which aims to solve the technical problem that current vehicle suspension systems are difficult to adapt to different working conditions, resulting in poor vehicle handling stability and ride comfort.

[0005] To achieve the above objectives, in a first aspect, this application provides a vehicle control method applied to a vehicle suspension system, the suspension system including a shock absorber and a stabilizer bar, the vehicle control method comprising:

[0006] Obtain current road condition information, vehicle load information, and vehicle speed information for the current vehicle;

[0007] Based on current road conditions, vehicle load, and vehicle speed, determine the corresponding target damping and / or target stiffness;

[0008] The shock absorbers of the current vehicle are adjusted based on the target damping, and / or the stabilizer bar of the current vehicle is adjusted based on the target stiffness.

[0009] According to the first aspect, prior to the step of obtaining the current road condition information, vehicle load information, and vehicle speed information of the current vehicle, the following is included:

[0010] Obtain the first vertical acceleration and the first horizontal acceleration of the current vehicle;

[0011] The current road surface type corresponding to the first vertical acceleration and the current curve type corresponding to the first horizontal acceleration are obtained by querying the preset road condition mapping table, and the current road surface type and / or the current curve type are used as the current road condition information of the current vehicle.

[0012] According to the first aspect, or any implementation of the first aspect above, the step of determining the corresponding target damping and / or target stiffness based on current road condition information, vehicle load information, and vehicle speed information includes:

[0013] Based on the current road condition information, determine the current road surface type and / or the current curve type of the current vehicle;

[0014] Based on the current road surface type, the vehicle load information, and the vehicle speed information, the corresponding target damping is obtained by querying a preset damping mapping table.

[0015] And / or, based on the current curve type, the vehicle load information, and the vehicle speed information, a preset stiffness mapping table is queried to obtain the corresponding target stiffness.

[0016] According to the first aspect, or any implementation of the first aspect above, the steps of adjusting the shock absorber of the current vehicle based on the target damping, and / or adjusting the stabilizer bar of the current vehicle based on the target stiffness, include:

[0017] Obtain the current damping adjustment rate of the shock absorber and / or the current stiffness adjustment rate of the stabilizer bar;

[0018] Adjust the current damping of the shock absorber to the target damping according to the current damping adjustment rate;

[0019] And / or, adjust the current stiffness of the stabilizer bar to the target stiffness according to the current stiffness adjustment rate.

[0020] According to the first aspect, or any implementation of the first aspect above, before the step of obtaining the current damping adjustment rate of the shock absorber and / or the current stiffness adjustment rate of the stabilizer bar, the method further includes:

[0021] Obtain the damping difference between the current damping of the shock absorber and the target damping, and / or the stiffness difference between the current stiffness of the stabilizer and the target stiffness;

[0022] The current damping adjustment rate is calculated based on the damping difference and the first preset shortest adjustment time.

[0023] And / or, the current stiffness adjustment rate is calculated based on the stiffness difference and the second preset shortest adjustment time.

[0024] According to the first aspect, or any implementation of the first aspect above, after the steps of adjusting the shock absorber of the current vehicle based on the target damping and / or adjusting the stabilizer bar of the current vehicle based on the target stiffness, the method includes:

[0025] After a preset allowable adjustment period, the second vertical acceleration of the current vehicle is obtained;

[0026] Determine whether the second vertical acceleration is greater than the first preset acceleration threshold;

[0027] If the second vertical acceleration is greater than the first preset acceleration threshold, the shock absorber is restored to its initial state before adjustment, and after a preset interval, the following steps are performed: obtaining the current road condition information, vehicle load information, and vehicle speed information of the current vehicle.

[0028] According to the first aspect, or any implementation of the first aspect above, before the step of obtaining the current road condition information, vehicle load information, and vehicle speed information of the current vehicle, the method further includes:

[0029] Obtain the third vertical acceleration, the second horizontal acceleration, and the real-time vehicle speed of the current vehicle;

[0030] After the third vertical acceleration is greater than the second preset acceleration threshold and the real-time vehicle speed is greater than the preset vehicle speed threshold, and / or the second horizontal acceleration is greater than the third preset acceleration threshold and the real-time vehicle speed is greater than the preset vehicle speed threshold, the following steps are performed: obtain the current road condition information, vehicle load information and vehicle speed information of the current vehicle.

[0031] Secondly, this application provides a vehicle control device applied to a vehicle suspension system, the suspension system including a shock absorber and a stabilizer bar, the vehicle control device comprising:

[0032] The acquisition module is used to acquire current road condition information, vehicle load information, and vehicle speed information of the current vehicle;

[0033] The determination module is used to determine the corresponding target damping and / or target stiffness based on the current road condition information, vehicle load information, and vehicle speed information;

[0034] An adjustment module is used to adjust the shock absorbers of the current vehicle based on the target damping, and / or adjust the stabilizer bar of the current vehicle based on the target stiffness.

[0035] According to the second aspect, the vehicle control device further includes a road condition recognition module, used for:

[0036] Obtain the first vertical acceleration and the first horizontal acceleration of the current vehicle;

[0037] The current road surface type corresponding to the first vertical acceleration and the current curve type corresponding to the first horizontal acceleration are obtained by querying the preset road condition mapping table, and the current road surface type and / or the current curve type are used as the current road condition information of the current vehicle.

[0038] Based on the second aspect, or any implementation of the second aspect above, the module is determined and is also used for:

[0039] Based on the current road condition information, determine the current road surface type and / or the current curve type of the current vehicle;

[0040] Based on the current road surface type, the vehicle load information, and the vehicle speed information, the corresponding target damping is obtained by querying a preset damping mapping table.

[0041] And / or, based on the current curve type, the vehicle load information, and the vehicle speed information, a preset stiffness mapping table is queried to obtain the corresponding target stiffness.

[0042] According to the second aspect, or any implementation of the second aspect above, the adjustment module is also used for:

[0043] Obtain the current damping adjustment rate of the shock absorber and / or the current stiffness adjustment rate of the stabilizer bar;

[0044] Adjust the current damping of the shock absorber to the target damping according to the current damping adjustment rate;

[0045] And / or, adjust the current stiffness of the stabilizer bar to the target stiffness according to the current stiffness adjustment rate.

[0046] According to the second aspect, or any implementation of the second aspect above, the adjustment module is also used for:

[0047] Obtain the damping difference between the current damping of the shock absorber and the target damping, and / or the stiffness difference between the current stiffness of the stabilizer and the target stiffness;

[0048] The current damping adjustment rate is calculated based on the damping difference and the first preset shortest adjustment time.

[0049] And / or, the current stiffness adjustment rate is calculated based on the stiffness difference and the second preset shortest adjustment time.

[0050] According to the second aspect, or any implementation of the second aspect above, the adjustment module is also used for:

[0051] After a preset allowable adjustment period, the second vertical acceleration of the current vehicle is obtained;

[0052] Determine whether the second vertical acceleration is greater than the first preset acceleration threshold;

[0053] If the second vertical acceleration is greater than the first preset acceleration threshold, the shock absorber is restored to its initial state before adjustment, and after a preset interval, the following steps are performed: obtaining the current road condition information, vehicle load information, and vehicle speed information of the current vehicle.

[0054] According to the second aspect, or any implementation of the second aspect above, the vehicle control device further includes an activation module, used for:

[0055] Obtain the third vertical acceleration, the second horizontal acceleration, and the real-time vehicle speed of the current vehicle;

[0056] After the third vertical acceleration is greater than the second preset acceleration threshold and the real-time vehicle speed is greater than the preset vehicle speed threshold, and / or the second horizontal acceleration is greater than the third preset acceleration threshold and the real-time vehicle speed is greater than the preset vehicle speed threshold, the following steps are performed: obtain the current road condition information, vehicle load information and vehicle speed information of the current vehicle.

[0057] Thirdly, this application provides a vehicle control device, the vehicle control device comprising: a memory and a processor, wherein the memory stores a computer program executable on the processor, the computer program being configured to implement the steps of the vehicle control method as described above.

[0058] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the vehicle control method as described in any one of the first aspects or possible implementations thereof.

[0059] Fifthly, embodiments of this application provide a computer program including instructions for executing the vehicle control method in the first aspect and any possible implementation thereof.

[0060] This application proposes a vehicle control method, apparatus, device, and readable storage medium. It acquires current road condition information, vehicle load information, and vehicle speed information of a current vehicle. Then, based on the current road condition information, vehicle load information, and vehicle speed information, it determines the corresponding target damping and / or target stiffness. This yields target damping and / or target stiffness that match the current operating conditions (i.e., road condition, load, and vehicle speed) of the current vehicle. Therefore, the shock absorbers of the current vehicle can be adjusted based on the target damping, and / or the stabilizer bar of the current vehicle can be adjusted based on the target stiffness, to adjust the shock absorbers and / or stabilizer bar to a state that matches the current operating conditions of the current vehicle. Thus, this application can adapt to different vehicle operating conditions, improving the vehicle's handling stability and ride comfort. Attached Figure Description

[0061] Figure 1 This is a flowchart illustrating the first embodiment of the vehicle control method of this application;

[0062] Figure 2 This is a flowchart illustrating the second embodiment of the vehicle control method of this application;

[0063] Figure 3 This is a flowchart illustrating the third embodiment of the vehicle control method of this application;

[0064] Figure 4 This is a schematic diagram of the architecture of the vehicle control system involved in the embodiments of this application;

[0065] Figure 5 This is a schematic diagram of the vehicle control device of this application;

[0066] Figure 6 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of this application.

[0067] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0068] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0069] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0070] The terms "first" and "second," etc., used in the specification and claims of this application are used to distinguish different objects, not to describe a specific order of objects. For example, "first target object" and "second target object," etc., are used to distinguish different target objects, not to describe a specific order of target objects.

[0071] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0072] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0073] The vehicle control method of this application will be described below with reference to some existing technologies:

[0074] In recent years, due to the development of the vehicle industry and the improvement of people's living standards, the use of vehicles has become increasingly common in people's daily lives.

[0075] Currently, in order to improve the handling stability and ride comfort of vehicles, major manufacturers will set up shock absorption systems and stabilizer bar systems in the vehicle suspension system. However, the damping effect of the shock absorption system and the improvement of the vehicle's roll degree by the stabilizer bar system are usually relatively fixed and difficult to adapt to different operating conditions, resulting in poor vehicle handling stability and ride comfort.

[0076] This application determines the corresponding target damping and / or target stiffness based on the current road conditions, vehicle load, and speed information of the vehicle. This yields target damping and / or target stiffness that matches the current operating conditions (i.e., road conditions, load, and speed) of the vehicle. Therefore, based on the target damping and / or target stiffness, the shock absorbers and / or stabilizer bars can be adjusted to match the current operating conditions. Thus, this application can adapt to different vehicle operating conditions, improving the vehicle's handling stability and ride comfort.

[0077] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the vehicle control method of this application. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0078] The first embodiment of this application provides a vehicle control method applied to a vehicle suspension system, the suspension system including a shock absorber and a stabilizer bar, the vehicle control method including the following steps:

[0079] Step S100: Obtain the current road condition information, vehicle load information, and vehicle speed information of the current vehicle;

[0080] In this embodiment, it should be noted that the vehicle control method is applied to the vehicle suspension system, which includes shock absorbers and stabilizer bars. The shock absorbers are used to suppress the oscillations when the vehicle's springs absorb shocks and rebound, as well as the impacts from the road surface, accelerating the attenuation of vibrations between the chassis and the body to improve the vehicle's ride comfort. The stabilizer bars are used to maintain the stability of the vehicle body, preventing excessive lateral roll during cornering, thereby reducing the degree of lateral roll and improving handling stability.

[0081] In this embodiment, it should be noted that the current road condition information may include the current road surface type and / or the current curve type. The current road surface type describes the degree of bumpiness experienced by the current vehicle while traveling on the current road surface, and the current curve type describes the degree of lateral tilt experienced by the current vehicle while traveling on the current road surface. For example, the current road surface type may include good road surface, general road surface, and bad road surface; the current curve type may include straight lanes, general curves, and sharp curves. Of course, it is understood that the current road surface type and the current curve type may be divided into more or fewer types. The vehicle load information may include the vehicle's load weight. The vehicle speed information includes at least the current vehicle's real-time speed, and may also include vehicle acceleration, vehicle deceleration, and other speed information.

[0082] In this embodiment, when the driver is driving the vehicle, the sensors configured on the vehicle collect road condition signals, load signals, and vehicle speed signals in real time. In this way, the current road condition information, vehicle load information, and vehicle speed information of the current vehicle can be obtained by receiving these three signals.

[0083] Prior to the step S100, which involves obtaining the current road condition information, vehicle load information, and vehicle speed information of the current vehicle, the following steps are included:

[0084] Step S110: Obtain the first vertical acceleration and the first horizontal acceleration of the current vehicle;

[0085] Step S120: Query the preset road condition mapping table to obtain the current road surface type corresponding to the first vertical acceleration and the current curve type corresponding to the first horizontal acceleration, and use the current road surface type and / or the current curve type as the current road condition information of the current vehicle.

[0086] In this embodiment, it should be noted that the first vertical acceleration is the acceleration of the current vehicle perpendicular to the road surface, and the first horizontal acceleration is the acceleration of the current vehicle parallel to the road surface. The first vertical acceleration and the first horizontal acceleration can be acquired by the same acceleration sensor or by different acceleration sensors. Since the perceived acceleration may differ at different positions of the current vehicle, the acceleration sensor can be positioned at the seat position of the current vehicle, and the vertical and horizontal accelerations at the seat position can be used as the first vertical acceleration and the first horizontal acceleration. Alternatively, the acceleration sensor can be positioned at a target position of the current vehicle where improved operational stability and ride comfort are desired, and the vertical and horizontal accelerations at the target position can be used as the first vertical acceleration and the first horizontal acceleration.

[0087] In this embodiment, it should also be noted that the preset road condition mapping table may include a preset road surface mapping table showing the correspondence between vertical acceleration and road surface type, and a preset curve mapping table showing the correspondence between horizontal acceleration and curve type.

[0088] In this embodiment, it is understood that during vehicle travel, the greater the road undulation, the more bumpy the vehicle, and the greater the vertical acceleration; conversely, the smaller the vehicle's turning radius, the greater the centrifugal force and the more severe the body roll, and the greater the horizontal acceleration. Furthermore, it is understood that when the road undulation is small, the faster the vehicle speed, the more bumpy the vehicle will be, and the greater the vertical acceleration; conversely, when the vehicle's turning radius is large, the faster the vehicle speed, the more severe the body roll, and the greater the horizontal acceleration. Since this embodiment can use vertical acceleration to represent the degree of bumpiness when driving over the road surface and horizontal acceleration to represent the degree of body roll when driving over the road surface, this embodiment is suitable for using vertical acceleration to represent the degree of bumpiness.

[0089] This embodiment can, after obtaining the first vertical acceleration of the current vehicle, query the preset road surface mapping table in the preset road condition mapping table based on the first vertical acceleration to obtain the current road surface type corresponding to the first vertical acceleration. After obtaining the first horizontal acceleration of the current vehicle, query the preset curve mapping table in the preset road condition mapping table based on the first horizontal acceleration to obtain the current curve type corresponding to the first horizontal acceleration. Therefore, the current road surface type and / or the current curve type can be used as the current road condition information of the current vehicle.

[0090] Prior to the step of obtaining the current road condition information, vehicle load information, and vehicle speed information of the current vehicle in step S100, the method further includes:

[0091] Step A10: Obtain the third vertical acceleration, the second horizontal acceleration, and the real-time vehicle speed of the current vehicle;

[0092] Step A20: After the third vertical acceleration is greater than the second preset acceleration threshold and the real-time vehicle speed is greater than the preset vehicle speed threshold, and / or the second horizontal acceleration is greater than the third preset acceleration threshold and the real-time vehicle speed is greater than the preset vehicle speed threshold, the following steps are performed: Obtain the current road condition information, vehicle load information and vehicle speed information of the current vehicle.

[0093] This embodiment can acquire the third vertical acceleration, the second horizontal acceleration, and the real-time vehicle speed of the current vehicle. It can then determine whether the third vertical acceleration of the current vehicle is greater than a second preset acceleration threshold (e.g., 0.2 m / 2, 0.3 m / 2, etc.), whether the second horizontal acceleration is greater than a third preset acceleration threshold (e.g., 0.2 m / 2, 0.3 m / 2, etc.), and whether the real-time vehicle speed is greater than a preset speed threshold (e.g., 10 km / h, 15 km / h, etc.). The preset speed threshold is a speed value used to determine whether the current vehicle is in a normal driving state. If the third vertical acceleration is greater than the second preset acceleration threshold and the real-time vehicle speed is greater than the preset speed threshold, it indicates that the current vehicle is in a normal driving state, and the current road surface is relatively bumpy, indicating a need for shock absorber damping adjustment. Therefore, the current damping of the current vehicle's shock absorbers needs to be adjusted. If the second horizontal acceleration is greater than a third preset acceleration threshold and the real-time vehicle speed is greater than a preset vehicle speed threshold, it indicates that the current vehicle is in a normal driving state, and the current driving path is relatively curved. Therefore, there is a need to adjust the stability bar stiffness, and the current stiffness of the current vehicle's stability bar needs to be adjusted. The following steps can then be performed: obtain the current road condition information, vehicle load information, and vehicle speed information.

[0094] Step S200: Determine the corresponding target damping and / or target stiffness based on the current road condition information, vehicle load information, and vehicle speed information;

[0095] In this embodiment, it should be noted that a first correspondence between current road condition information, vehicle load information, vehicle speed information, and shock absorber damping can be pre-defined. This first correspondence can be described in the form of a function, mapping table, or similar. Similarly, a second correspondence between current road condition information, vehicle load information, vehicle speed information, and stabilizer bar stiffness can be pre-defined. This second correspondence can also be described in the form of a function, mapping table, or similar.

[0096] As an example, when there is a need to adjust the damper damping, the first correspondence can be queried based on the current road conditions, vehicle load information, and vehicle speed information to obtain the damper damping corresponding to the current road conditions, vehicle load information, and vehicle speed information as the target damping.

[0097] As another example, when there is a need to adjust the stabilizer bar stiffness, the second correspondence can be queried based on the current road conditions, vehicle load, and vehicle speed information to obtain the stabilizer bar stiffness corresponding to the current road conditions, vehicle load, and vehicle speed information as the target stiffness.

[0098] As another example, when there is a need to adjust the damper damping and the stabilizer stiffness, the first and second correspondences can be queried based on the current road conditions, vehicle load, and vehicle speed information to obtain the damper damping and stabilizer stiffness corresponding to the current road conditions, vehicle load, and vehicle speed information as the target damping and target stiffness.

[0099] The step S200, which involves determining the corresponding target damping and / or target stiffness based on current road condition information, vehicle load information, and vehicle speed information, includes:

[0100] Step S210: Determine the current road surface type and / or current curve type of the current vehicle based on the current road condition information;

[0101] Step S220: Based on the current road surface type, the vehicle load information, and the vehicle speed information, query the preset damping mapping table to obtain the corresponding target damping;

[0102] Step S230, and / or, based on the current curve type, the vehicle load information and the vehicle speed information, query a preset stiffness mapping table to obtain the corresponding target stiffness.

[0103] In this embodiment, it should be noted that the current road condition information includes the current road surface type and / or the current curve type. The preset damping mapping table includes a first correspondence between the current road surface type, vehicle load information, and vehicle speed information in the current road condition information and the shock absorber damping. The preset stiffness mapping table includes a second correspondence between the current curve type, vehicle load information, and vehicle speed information in the current road condition information and the stabilizer bar stiffness.

[0104] As an example, when there is a need to adjust the damper damping, the current road surface type of the current vehicle can be determined based on the current road condition information. Then, based on the current road surface type, the vehicle load information, and the vehicle speed information, a preset damping mapping table is consulted to obtain the damper damping corresponding to the current road surface type, the vehicle load information, and the vehicle speed information as the target damping.

[0105] As another example, when there is a need to adjust the stabilizer bar stiffness, the current curve type of the vehicle can be determined based on the current road condition information. Then, based on the current curve type, the vehicle load information, and the vehicle speed information, a preset stiffness mapping table is consulted to obtain the stabilizer bar stiffness corresponding to the current curve type, vehicle load information, and vehicle speed information as the target stiffness.

[0106] As another example, when there are requirements for both shock absorber damping adjustment and stabilizer bar stiffness adjustment, the current road surface type and current curve type of the current vehicle can be determined based on the current road condition information. Then, based on the current road surface type, the vehicle load information, and the vehicle speed information, a preset damping mapping table is consulted to obtain the shock absorber damping corresponding to the current road surface type, vehicle load information, and vehicle speed information as the target damping. Similarly, based on the current curve type, vehicle load information, and vehicle speed information, a preset stiffness mapping table is consulted to obtain the stabilizer bar stiffness corresponding to the current curve type, vehicle load information, and vehicle speed information as the target stiffness.

[0107] Step S300: Adjust the shock absorber of the current vehicle based on the target damping, and / or adjust the stabilizer bar of the current vehicle based on the target stiffness.

[0108] In this embodiment, it should be noted that the shock absorber is a device used to reduce vibration in the suspension system of the current vehicle, and the stabilizer bar is a device used to control the vehicle roll angle in the suspension system of the current vehicle.

[0109] As an example, if there is a need to adjust the damper damping, the current damper of the vehicle can be adjusted based on the target damping to adjust the current damping of the damper to the target damping.

[0110] As another example, when there is a need to adjust the stabilizer bar stiffness, the stabilizer bar of the current vehicle can be adjusted based on the target stiffness to bring the current stiffness of the stabilizer bar to the target stiffness.

[0111] As another example, when there is a need to adjust the damper damping and the stabilizer bar stiffness, the damper and stabilizer bar of the current vehicle can be adjusted based on the target damping and the target stiffness to adjust the current damping of the damper to the target damping and the current stiffness of the stabilizer bar to the target stiffness.

[0112] Furthermore, in this embodiment, when adjusting the shock absorbers and / or the stabilizer bar of the current vehicle, a preset adjustment prompt message can be output to remind the driver that the shock absorbers and / or stabilizer bar are being adjusted. The preset adjustment prompt message can be output in the form of text, images, voice, icons, lights, etc.

[0113] In the first embodiment of this application, current road condition information, vehicle load information, and vehicle speed information of the current vehicle are acquired. Then, based on the current road condition information, vehicle load information, and vehicle speed information, a corresponding target damping and / or target stiffness is determined. This yields target damping and / or target stiffness that match the current operating conditions (i.e., road conditions, load, and vehicle speed) of the current vehicle. Therefore, the shock absorbers of the current vehicle can be adjusted based on the target damping, and / or the stabilizer bar of the current vehicle can be adjusted based on the target stiffness, to adjust the shock absorbers and / or stabilizer bar to a state that matches the current operating conditions of the current vehicle. Thus, this application can adapt to different operating conditions of the vehicle, improving the vehicle's handling stability and ride comfort.

[0114] Reference Figure 2 , Figure 2 This is a flowchart illustrating the second embodiment of the vehicle control method of this application.

[0115] In another embodiment of this application, content that is the same as or similar to the above embodiments can be referred to the above description, and will not be repeated hereafter. A second embodiment of this application provides a vehicle control method, wherein the steps in step S300 of adjusting the shock absorber of the current vehicle based on the target damping and / or adjusting the stabilizer bar of the current vehicle based on the target stiffness include:

[0116] Step S310: Obtain the current damping adjustment rate of the shock absorber and / or the current stiffness adjustment rate of the stabilizer bar;

[0117] Step S320: Adjust the current damping of the shock absorber to the target damping according to the current damping adjustment rate;

[0118] Step S330, and / or, adjust the current stiffness of the stabilizer bar to the target stiffness according to the current stiffness adjustment rate.

[0119] In this embodiment, it should be noted that the current damping adjustment rate can be a preset damping adjustment rate, or it can be a damping adjustment rate determined by the damping difference between the current damping of the shock absorber and the target damping and the first preset shortest adjustment time. Similarly, the current stiffness adjustment rate can be a preset stiffness adjustment rate, or it can be a stiffness adjustment rate determined by the stiffness difference between the current stiffness of the stabilizer bar and the target stiffness and the second preset shortest adjustment time.

[0120] As an example, when adjusting the damping of a vibration damper, the current damping adjustment rate of the vibration damper can be obtained, and the current damping of the vibration damper can be adjusted to the target damping according to the current damping adjustment rate.

[0121] As another example, when adjusting the stiffness of a stabilizer bar, the current stiffness adjustment rate of the stabilizer bar can be obtained, and the current stiffness of the stabilizer bar can be adjusted to the target stiffness according to the current stiffness adjustment rate.

[0122] As another example, when adjusting the damping of a shock absorber and the stiffness of a stabilizer bar, the current damping adjustment rate of the shock absorber and the current stiffness adjustment rate of the stabilizer bar can be obtained. The current damping of the shock absorber is adjusted to the target damping according to the current damping adjustment rate, and the current stiffness of the stabilizer bar is adjusted to the target stiffness according to the current stiffness adjustment rate.

[0123] Prior to the step S310 of obtaining the current damping adjustment rate of the shock absorber and / or the current stiffness adjustment rate of the stabilizer bar, the method further includes:

[0124] Step S311: Obtain the damping difference between the current damping of the shock absorber and the target damping, and / or the stiffness difference between the current stiffness of the stabilizer and the target stiffness.

[0125] Step S312: Calculate the current damping adjustment rate based on the damping difference and the first preset shortest adjustment time.

[0126] Step S313, and / or, calculate the current stiffness adjustment rate based on the stiffness difference and the second preset shortest adjustment time.

[0127] In this embodiment, it should be noted that the first preset minimum adjustment time is the shortest time required for the shock absorber to complete the adjustment, such as 40ms, 50ms, 60ms, etc. The second preset minimum adjustment time is the shortest time required for the stabilizer bar to complete the adjustment, such as 40ms, 50ms, 60ms, etc.

[0128] As an example, when adjusting the damping of a vibration damper, the damping difference between the current damping and the target damping can be obtained. Then, based on the damping difference and the first preset minimum adjustment time, the current damping adjustment rate is calculated, where the current damping adjustment rate is the quotient of the damping difference and the first preset minimum adjustment time.

[0129] As another example, when adjusting the stiffness of a stabilizer bar, the stiffness difference between the current stiffness and the target stiffness can be obtained. Then, based on the stiffness difference and the second preset minimum adjustment time, the current stiffness adjustment rate is calculated, where the current stiffness adjustment rate is the quotient of the stiffness difference and the second preset minimum adjustment time.

[0130] As another example, when adjusting the damping of a shock absorber and the stiffness of a stabilizer bar, the damping difference between the current damping and the target damping of the shock absorber, and the stiffness difference between the current stiffness and the target stiffness of the stabilizer bar can be obtained. Then, based on the damping difference and the first preset minimum adjustment time, the current damping adjustment rate is calculated. Based on the stiffness difference and the second preset minimum adjustment time, the current stiffness adjustment rate is calculated.

[0131] In the second embodiment of this application, the current damping adjustment rate of the shock absorber and / or the current stiffness adjustment rate of the stabilizer bar are obtained. The current damping of the shock absorber is adjusted to the target damping according to the current damping adjustment rate; and / or, the current stiffness of the stabilizer bar is adjusted to the target stiffness according to the current stiffness adjustment rate. The current damping adjustment rate is determined based on the damping difference between the current damping of the shock absorber and the target damping and a first preset minimum adjustment time. The stiffness adjustment rate is determined based on the stiffness difference between the current stiffness of the stabilizer bar and the target stiffness and a second preset minimum adjustment time. This allows damping and stiffness adjustments to be completed in the shortest possible time within the allowable range of the shock absorber and stabilizer bar, thereby reducing control lag.

[0132] Reference Figure 3 , Figure 3 This is a flowchart illustrating the second embodiment of the vehicle control method of this application.

[0133] In another embodiment of this application, content that is the same as or similar to the above embodiment can be referred to the above description, and will not be repeated hereafter. A second embodiment of this application provides a vehicle control method, which, after the steps of adjusting the shock absorber of the current vehicle based on the target damping and / or adjusting the stabilizer bar of the current vehicle based on the target stiffness in step S300, includes:

[0134] Step B10: After a preset allowable adjustment period, obtain the second vertical acceleration of the current vehicle;

[0135] Step B20: Determine whether the second vertical acceleration is greater than the first preset acceleration threshold;

[0136] Step B30: If the second vertical acceleration is greater than the first preset acceleration threshold, the shock absorber is restored to its initial state before adjustment, and after a preset interval, the following steps are performed: obtain the current road condition information, vehicle load information, and vehicle speed information of the current vehicle.

[0137] In this embodiment, it should be noted that the preset allowable adjustment time is a pre-set maximum duration for which the shock absorbers and / or stabilizer bars of the current vehicle can be continuously adjusted, such as 20 seconds, 25 seconds, or 30 seconds. The first preset acceleration threshold is an acceleration value that characterizes relatively mild vehicle vibration, such as 0.3 m / 2 or 0.4 m / 2.

[0138] In this embodiment, it is understood that road surface undulations are not always constant and may change frequently within a short section. After a preset allowable adjustment period, the second vertical acceleration of the current vehicle is acquired. It is then determined whether the second vertical acceleration is greater than a first preset acceleration threshold to ascertain whether the vehicle's damping effect still meets requirements after a period of time following adjustment of the shock absorbers. If the second vertical acceleration is greater than the first preset acceleration threshold, it indicates that the vehicle's damping effect does not meet requirements after a period of time, and the road surface type changes rapidly. In this case, the shock absorbers can be restored to their initial state before adjustment to avoid excessively frequent adjustments that could negatively impact damping performance. After a preset interval (e.g., 90s, 120s), the following steps are executed: acquiring the vehicle's current road condition information, vehicle load information, and vehicle speed information. Thus, after restoring the shock absorbers to their initial state before adjustment and pausing for a period of time, readjustment is performed again.

[0139] In the third embodiment of this application, after a preset allowable adjustment period, the second vertical acceleration of the current vehicle is obtained; it is then determined whether the second vertical acceleration is greater than a first preset acceleration threshold to ascertain whether the vibration damping effect of the current vehicle still meets the requirements after a period of time following adjustment of the shock absorber. If the second vertical acceleration is greater than the first preset acceleration threshold, it indicates that the vibration damping effect of the current vehicle does not meet the requirements after a period of time, and the road surface type of the current road segment changes rapidly. In this case, the shock absorber can be restored to its initial state before adjustment, and after a preset interval period, the following steps are executed: obtaining the current road condition information, vehicle load information, and vehicle speed information of the current vehicle. This reduces the impact of frequent shock absorber adjustments on the vibration damping effect on roads with frequent changes in road bumpiness.

[0140] See Figure 4 , Figure 4 This is a schematic diagram of the architecture of the vehicle control system involved in the embodiments of this application.

[0141] like Figure 4As shown, the vehicle control system includes a demand acquisition module, a demand processing module, and a control execution module. The demand processing module can be a vehicle control device (such as a vehicle controller) as described in this embodiment. The demand acquisition module is used to acquire current road condition information, vehicle load information, and vehicle speed information. The demand acquisition module includes a pressure sensor, an acceleration sensor, and a vehicle speed sensor. The control execution module is used to adjust the shock absorbers of the current vehicle based on the target damping, and / or adjust the stabilizer bar of the current vehicle based on the target stiffness. The control execution module includes a suspension controller, shock absorbers, and stabilizer bar. The modules in the vehicle control system can communicate with each other via CAN (Controller Area Network).

[0142] The pressure sensor, acceleration sensor, and vehicle speed sensor in the demand acquisition module collect the current vehicle load information, current road condition information, and vehicle speed information, respectively, and then send the corresponding load signal, road condition signal, and vehicle speed signal to the demand processing module. Based on the received load signal, road condition signal, and vehicle speed signal, the demand processing module determines the corresponding target damping and / or target stiffness. The demand processing module sends the damper damping signal and / or stabilizer bar stiffness signal corresponding to the target damping and / or target stiffness to the suspension controller in the control execution module. The suspension controller can adjust the current damping of the damper to the target damping based on the target damping in the damper damping signal. The suspension controller can adjust the current stiffness of the stabilizer bar to the target stiffness based on the target stiffness in the stabilizer bar stiffness signal.

[0143] like Figure 5 As shown, Figure 5 This is a schematic diagram of the vehicle control device of this application.

[0144] This application embodiment also provides a vehicle control device applied to a vehicle suspension system, the suspension system including a shock absorber and a stabilizer bar, the vehicle control device including:

[0145] The acquisition module 10 is used to acquire the current road condition information, vehicle load information and vehicle speed information of the current vehicle;

[0146] The determination module 20 is used to determine the corresponding target damping and / or target stiffness based on the current road condition information, vehicle load information and vehicle speed information;

[0147] The adjustment module 30 is used to adjust the shock absorber of the current vehicle based on the target damping, and / or adjust the stabilizer bar of the current vehicle based on the target stiffness.

[0148] Optionally, the vehicle control device further includes a road condition recognition module, used for:

[0149] Obtain the first vertical acceleration and the first horizontal acceleration of the current vehicle;

[0150] The current road surface type corresponding to the first vertical acceleration and the current curve type corresponding to the first horizontal acceleration are obtained by querying the preset road condition mapping table, and the current road surface type and / or the current curve type are used as the current road condition information of the current vehicle.

[0151] Optionally, module 20 is also used for:

[0152] Based on the current road condition information, determine the current road surface type and / or the current curve type of the current vehicle;

[0153] Based on the current road surface type, the vehicle load information, and the vehicle speed information, the corresponding target damping is obtained by querying a preset damping mapping table.

[0154] And / or, based on the current curve type, the vehicle load information, and the vehicle speed information, a preset stiffness mapping table is queried to obtain the corresponding target stiffness.

[0155] Optionally, the adjustment module 30 is also used for:

[0156] Obtain the current damping adjustment rate of the shock absorber and / or the current stiffness adjustment rate of the stabilizer bar;

[0157] Adjust the current damping of the shock absorber to the target damping according to the current damping adjustment rate;

[0158] And / or, adjust the current stiffness of the stabilizer bar to the target stiffness according to the current stiffness adjustment rate.

[0159] Optionally, the adjustment module 30 is also used for:

[0160] Obtain the damping difference between the current damping of the shock absorber and the target damping, and / or the stiffness difference between the current stiffness of the stabilizer and the target stiffness;

[0161] The current damping adjustment rate is calculated based on the damping difference and the first preset shortest adjustment time.

[0162] And / or, the current stiffness adjustment rate is calculated based on the stiffness difference and the second preset shortest adjustment time.

[0163] Optionally, the adjustment module 30 is also used for:

[0164] After a preset allowable adjustment period, the second vertical acceleration of the current vehicle is obtained;

[0165] Determine whether the second vertical acceleration is greater than the first preset acceleration threshold;

[0166] If the second vertical acceleration is greater than the first preset acceleration threshold, the shock absorber is restored to its initial state before adjustment, and after a preset interval, the following steps are performed: obtaining the current road condition information, vehicle load information, and vehicle speed information of the current vehicle.

[0167] Optionally, the vehicle control device further includes an activation module for:

[0168] Obtain the third vertical acceleration, the second horizontal acceleration, and the real-time vehicle speed of the current vehicle;

[0169] After the third vertical acceleration is greater than the second preset acceleration threshold and the real-time vehicle speed is greater than the preset vehicle speed threshold, and / or the second horizontal acceleration is greater than the third preset acceleration threshold and the real-time vehicle speed is greater than the preset vehicle speed threshold, the following steps are performed: obtain the current road condition information, vehicle load information and vehicle speed information of the current vehicle.

[0170] The vehicle control device provided in this application, employing the vehicle control methods described in the above embodiments, solves the technical problem that current vehicle suspension systems are unable to adapt to different operating conditions, resulting in poor vehicle handling stability and ride comfort. Compared with the prior art, the beneficial effects of the vehicle control device provided in this application are the same as those of the vehicle control methods provided in the above embodiments, and other technical features in this vehicle control device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0171] like Figure 6 As shown, Figure 6 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of this application.

[0172] Specifically, the vehicle control device may be a VCU (Vehicle control unit), ECU (Electronic Control Unit, also known as "vehicle computer"), PC (Personal Computer), tablet computer, portable computer, or server, etc.

[0173] like Figure 6As shown, the vehicle control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0174] Those skilled in the art will understand that Figure 6 The device structure shown does not constitute a limitation on the vehicle control device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0175] like Figure 6 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle control application.

[0176] exist Figure 6 In the device shown, the network interface 1004 is mainly used to connect to the backend server and communicate data with the backend server; the user interface 1003 is mainly used to connect to the client and communicate data with the client; and the processor 1001 can be used to call the vehicle control program stored in the memory 1005 to implement the operations in the vehicle control method provided in the above embodiments.

[0177] Furthermore, this application also proposes a vehicle that includes the aforementioned vehicle control equipment. It is understood that the vehicle may also include energy storage devices, drive systems, and other devices that ensure the normal operation of the vehicle.

[0178] Furthermore, this application also proposes a computer storage medium storing a computer program. When the computer program is executed by a processor, it implements the operations in the vehicle control method provided in the above embodiments. The specific steps will not be described in detail here.

[0179] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity / operation / object from another, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects; the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0180] For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and relevant details can be found in the description of the method embodiments. The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate. Some or all of the modules can be selected according to actual needs to achieve the purpose of this application. Those skilled in the art can understand and implement this without creative effort.

[0181] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0182] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, vehicle, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0183] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A vehicle control method applied to a vehicle suspension system, said suspension system comprising a shock absorber and a stabilizer bar, characterized in that, The vehicle control method includes the following steps: Obtain current road condition information, vehicle load information, and vehicle speed information for the current vehicle, wherein the current road condition information includes road surface type and curve type; Based on current road conditions, vehicle load, and speed information, determine the corresponding target damping and target stiffness; The shock absorbers of the current vehicle are adjusted based on the target damping, and the stabilizer bar of the current vehicle is adjusted based on the target stiffness; The steps of adjusting the shock absorber of the current vehicle based on the target damping and adjusting the stabilizer bar of the current vehicle based on the target stiffness include: obtaining the current damping adjustment rate of the shock absorber and the current stiffness adjustment rate of the stabilizer bar. Before the steps of obtaining the current damping adjustment rate of the shock absorber and the current stiffness adjustment rate of the stabilizer bar, the method further includes: Obtain the damping difference between the current damping of the shock absorber and the target damping, and the difference between the current stiffness of the stabilizer bar and the target stiffness; The current damping adjustment rate is calculated based on the damping difference and the first preset shortest adjustment time. The current stiffness adjustment rate is calculated based on the stiffness difference and the second preset shortest adjustment time. After a preset allowable adjustment period, the second vertical acceleration of the current vehicle is obtained; Determine whether the second vertical acceleration is greater than the first preset acceleration threshold; If the second vertical acceleration is greater than the first preset acceleration threshold, the shock absorber is restored to its initial state before adjustment, and after a preset interval, the following steps are performed: obtaining the current road condition information, vehicle load information, and vehicle speed information of the current vehicle.

2. The vehicle control method as described in claim 1, characterized in that, Before the steps of obtaining the current road condition information, vehicle load information, and vehicle speed information of the current vehicle, the following are included: Obtain the first vertical acceleration and the first horizontal acceleration of the current vehicle; The current road surface type corresponding to the first vertical acceleration and the current curve type corresponding to the first horizontal acceleration are obtained by querying the preset road condition mapping table, and the current road surface type and / or the current curve type are used as the current road condition information of the current vehicle.

3. The vehicle control method as described in claim 1, characterized in that, The step of determining the corresponding target damping and / or target stiffness based on current road condition information, vehicle load information, and vehicle speed information includes: Based on the current road condition information, determine the current road surface type and / or the current curve type of the current vehicle; Based on the current road surface type, the vehicle load information, and the vehicle speed information, the corresponding target damping is obtained by querying a preset damping mapping table. Based on the current curve type, the vehicle load information, and the vehicle speed information, the corresponding target stiffness is obtained by querying a preset stiffness mapping table.

4. The vehicle control method as described in claim 1, characterized in that, After the step of obtaining the current damping adjustment rate of the shock absorber and the current stiffness adjustment rate of the stabilizer bar, the method further includes: Adjust the current damping of the shock absorber to the target damping according to the current damping adjustment rate; Adjust the current stiffness of the stabilizer bar to the target stiffness according to the current stiffness adjustment rate.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that, Before the step of obtaining the current road condition information, vehicle load information, and vehicle speed information of the current vehicle, the following steps are also included: Obtain the third vertical acceleration, the second horizontal acceleration, and the real-time vehicle speed of the current vehicle; When the third vertical acceleration is greater than the second preset acceleration threshold and the real-time vehicle speed is greater than the preset vehicle speed threshold. If the second horizontal acceleration is greater than the third preset acceleration threshold and the real-time vehicle speed is greater than the preset vehicle speed threshold, the following steps are executed: obtain the current road condition information, vehicle load information and vehicle speed information of the current vehicle.

6. A vehicle control device applied to a vehicle suspension system, said suspension system including a shock absorber and a stabilizer bar, characterized in that, The vehicle control device includes: The acquisition module is used to acquire the current road condition information, vehicle load information, and vehicle speed information of the current vehicle, wherein the current road condition information includes road surface type and curve type; The determination module is used to determine the corresponding target damping and target stiffness based on the current road condition information, vehicle load information, and vehicle speed information; An adjustment module is used to adjust the shock absorber of the current vehicle based on the target damping and to adjust the stabilizer bar of the current vehicle based on the target stiffness. Specifically, the adjustment module is used to obtain the current damping adjustment rate of the shock absorber and the current stiffness adjustment rate of the stabilizer bar. The vehicle control device further includes: acquiring the damping difference between the current damping of the shock absorber and the target damping, and the difference between the current stiffness of the stabilizer bar and the target stiffness; calculating the current damping adjustment rate based on the damping difference and a first preset shortest adjustment time; and calculating the current stiffness adjustment rate based on the stiffness difference and a second preset shortest adjustment time. The vehicle control device further includes: after a preset allowable adjustment time, acquiring the second vertical acceleration of the current vehicle; determining whether the second vertical acceleration is greater than a first preset acceleration threshold; if the second vertical acceleration is greater than the first preset acceleration threshold, restoring the shock absorber to its initial state before adjustment, and after a preset interval time, performing the step: acquiring the current road condition information, vehicle load information, and vehicle speed information of the current vehicle.

7. A vehicle control device, characterized in that, The vehicle control device includes a memory and a processor. The memory stores a computer program that can run on the processor. When the computer program is executed by the processor, it implements the steps of the vehicle control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vehicle control program, which, when executed by a processor, implements the steps of the vehicle control method as described in any one of claims 1 to 5.

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