Air suspension static leveling method, device, equipment and readable storage medium

Abstract

The present application provides an air suspension static leveling method, device, equipment and readable storage medium. The method includes: when the vehicle is in a stationary state, determining the vehicle body attitude according to the lateral acceleration and longitudinal acceleration of the vehicle; detecting whether there is a target spring group according to the vehicle body attitude and the height of the air springs. The target spring group is two air springs arranged side by side horizontally or longitudinally, and the vehicle body tilts towards the side where the air spring with a larger height value is located; for the target spring group, controlling the air spring with a larger height value to inflate and controlling the air spring with a smaller height value to deflate, so as to make the vehicle body attitude tend to be stable. Through the present application, when the vehicle body attitude does not match the height of the air springs significantly due to a non-level road surface, the target spring group is determined, and the target spring group is controlled to inflate and deflate in a manner different from the conventional strategy, so that the vehicle body attitude tends to be stable, thereby improving the driving and riding experience of users.

Description

Technical Field

[0001] The present application relates to the technical field of air suspension, and particularly relates to an air suspension static leveling method, device, equipment and readable storage medium. Background Art

[0002] With the development of automotive technology, the configuration rate of air suspension on passenger cars has gradually increased. Vehicles equipped with air suspension not only have good ride comfort, but also can adjust the height of the vehicle body according to the driver's needs, and perform height leveling as the vehicle load changes. However, in the current air suspension leveling methods, the influence of the road surface on the vehicle body attitude is not considered. When the vehicle is parked on a non-level road surface, the leveling operation may exacerbate the vehicle body tilt, bringing a bad driving experience to users. Summary of the Invention

[0003] The present application provides an air suspension static leveling method, device, equipment and readable storage medium, which can solve the technical problem that the leveling operation in the prior art may exacerbate the vehicle body tilt.

[0004] In a first aspect, an embodiment of the present application provides an air suspension static leveling method, and the air suspension static leveling method includes:

[0005] When the vehicle is in a stationary state, determine the vehicle body attitude according to the lateral acceleration and longitudinal acceleration of the vehicle;

[0006] Detect whether there is a target spring group according to the vehicle body attitude and the height of the air springs. The target spring group is two air springs arranged side by side horizontally or longitudinally, and the vehicle body tilts towards the side where the air spring with a larger height value is located;

[0007] For the target spring group, control the inflation of the air spring with a larger height value and control the deflation of the air spring with a smaller height value to make the vehicle body attitude tend to be stable.

[0008] Further, in an embodiment, the step of determining the vehicle body attitude according to the lateral acceleration and longitudinal acceleration of the vehicle includes:

[0009] If the absolute value of the lateral acceleration is greater than the lateral tilt threshold and the absolute value of the longitudinal acceleration is less than or equal to the longitudinal tilt threshold, determine that the vehicle body is laterally tilted;

[0010] If the absolute value of the longitudinal acceleration is greater than the longitudinal tilt threshold and the absolute value of the lateral acceleration is less than or equal to the lateral tilt threshold, determine that the vehicle body is longitudinally tilted;

[0011] If the absolute value of the lateral acceleration is greater than the lateral tilt threshold and the absolute value of the longitudinal acceleration is greater than the longitudinal tilt threshold, determine that the vehicle body is tilted both horizontally and longitudinally;

[0012] If the absolute value of the lateral acceleration is less than or equal to the lateral tilt threshold and the absolute value of the longitudinal acceleration is less than or equal to the longitudinal tilt threshold, it is determined that the vehicle body is stable.

[0013] Further, in one embodiment, the step of detecting whether there is a target spring group according to the vehicle body attitude and the height of the air spring includes:

[0014] If the vehicle body is laterally tilted or tilted both laterally and longitudinally, determine the left - right tilt orientation of the vehicle body according to the positive or negative of the lateral acceleration;

[0015] If the vehicle body tilts to the left and the height value of the left front air spring is greater than the height value of the right front air spring, determine that the left front air spring and the right front air spring are the target spring group;

[0016] If the vehicle body tilts to the left and the height value of the left rear air spring is greater than the height value of the right rear air spring, determine that the left rear air spring and the right rear air spring are the target spring group;

[0017] If the vehicle body tilts to the right and the height value of the left front air spring is less than the height value of the right front air spring, determine that the left front air spring and the right front air spring are the target spring group;

[0018] If the vehicle body tilts to the right and the height value of the left rear air spring is less than the height value of the right rear air spring, determine that the left rear air spring and the right rear air spring are the target spring group.

[0019] Further, in one embodiment, the step of detecting whether there is a target spring group according to the vehicle body attitude and the height of the air spring includes:

[0020] If the vehicle body is longitudinally tilted, determine the front - rear tilt orientation of the vehicle body according to the positive or negative of the longitudinal acceleration;

[0021] If the vehicle body tilts forward and the height value of the left front air spring is greater than the height value of the left rear air spring, determine that the left front air spring and the left rear air spring are the target spring group;

[0022] If the vehicle body tilts forward and the height value of the right front air spring is greater than the height value of the right rear air spring, determine that the right front air spring and the right rear air spring are the target spring group;

[0023] If the vehicle body tilts backward and the height value of the left front air spring is less than the height value of the left rear air spring, determine that the left front air spring and the left rear air spring are the target spring group;

[0024] If the vehicle body tilts backward and the height value of the right front air spring is less than the height value of the right rear air spring, determine that the right front air spring and the right rear air spring are the target spring group.

[0025] Further, in one embodiment, the step of detecting whether there is a target spring group according to the vehicle body attitude and the height of the air spring includes:

[0026] If the vehicle body is stable, it is determined that there is no target spring group.

[0027] Further, in one embodiment, the step of, for the target spring group, controlling the inflation of the air spring with a larger height value and controlling the deflation of the air spring with a smaller height value to make the vehicle body attitude tend to be stable includes:

[0028] For the target spring group, define the air spring with a larger height value as the first air spring, and define the air spring with a smaller height value as the second air spring. Record the initial height value of the first air spring as the first height value, and record the initial height value of the second air spring as the second height value;

[0029] Calculate the vehicle body height difference according to the acceleration, gravitational acceleration, and wheelbase in the arrangement direction of the target spring group;

[0030] Calculate the difference between the tensile limit height value of the air spring and the first height value to obtain the maximum tensile stroke, and calculate the difference between the second height value and the compression limit height value of the air spring to obtain the maximum compression stroke;

[0031] According to the vehicle body height difference, the maximum tensile stroke, and the maximum compression stroke, determine the inflation adjustment amount of the first air spring and the deflation adjustment amount of the second air spring, where the inflation adjustment amount is less than or equal to the maximum tensile stroke, and the deflation adjustment amount is less than or equal to the maximum compression stroke;

[0032] Control the inflation of the first air spring according to the inflation adjustment amount, and control the deflation of the second air spring according to the deflation adjustment amount to make the vehicle body attitude tend to be stable.

[0033] Further, in one embodiment, the step of determining the inflation adjustment amount of the first air spring and the deflation adjustment amount of the second air spring according to the vehicle body height difference, the maximum tensile stroke, and the maximum compression stroke includes:

[0034] Divide the vehicle body height difference by 2 to obtain the reference adjustment amount;

[0035] Determine the smaller value between the maximum tensile stroke and the reference adjustment amount as the inflation adjustment amount of the first air spring;

[0036] Determine the smaller value between the maximum compression stroke and the reference adjustment amount as the deflation adjustment amount of the second air spring.

[0037] In a second aspect, an embodiment of the present application further provides an air suspension static leveling device, and the air suspension static leveling device includes:

[0038] An attitude determination module, configured to determine the vehicle body attitude according to the lateral acceleration and longitudinal acceleration of the vehicle when the vehicle is in a stationary state;

[0039] A target detection module, configured to detect whether there is a target spring group according to the vehicle body attitude and the height of the air springs. The target spring group is two air springs arranged side by side horizontally or longitudinally, and the vehicle body is tilted toward the side where the air spring with a larger height value is located;

[0040] A leveling module, configured to, for the target spring group, control the air spring with a larger height value to inflate and control the air spring with a smaller height value to deflate, so as to make the vehicle body attitude tend to be stable.

[0041] In a third aspect, an embodiment of the present application further provides an air suspension static leveling device, which includes a processor, a memory, and an air suspension static leveling program stored on the memory and executable by the processor. When the air suspension static leveling program is executed by the processor, the steps of the above air suspension static leveling method are implemented.

[0042] In a fourth aspect, an embodiment of the present application further provides a readable storage medium, on which an air suspension static leveling program is stored. When the air suspension static leveling program is executed by a processor, the steps of the above air suspension static leveling method are implemented.

[0043] In the present application, when the vehicle is in a stationary state, the vehicle body attitude is determined according to the lateral acceleration and longitudinal acceleration of the vehicle; whether there is a target spring group is detected according to the vehicle body attitude and the height of the air springs. The target spring group is two air springs arranged side by side horizontally or longitudinally, and the vehicle body is tilted toward the side where the air spring with a larger height value is located; for the target spring group, the air spring with a larger height value is controlled to inflate and the air spring with a smaller height value is controlled to deflate, so as to make the vehicle body attitude tend to be stable. Through the present application, when the vehicle body attitude and the height of the air springs do not match significantly due to a non-level road surface, the target spring group is determined, and the target spring group is controlled to inflate and deflate in a manner different from the conventional strategy, so that the vehicle body attitude tends to be stable, thereby improving the driving and riding experience of users. Description of the Drawings

[0044] Figure 1 It is a schematic flowchart of an air suspension static leveling method in an embodiment of the present application;

[0045] Figure 2 It is a schematic diagram of the functional modules of an air suspension static leveling device in an embodiment of the present application;

[0046] Figure 3 It is a schematic hardware structure diagram of an air suspension static leveling device involved in the solution of an embodiment of the present application. Detailed implementation manners

[0047] To enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part rather than all of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0048] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned accompanying drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices. The descriptions with terms such as "first", "second", and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit that "first", "second", and "third" are of different types.

[0049] In the description of the embodiments of this application, terms such as "exemplary", "for example", or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary", "for example", or "for instance" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of terms such as "exemplary", "for example", or "for instance" is intended to present relevant concepts in a specific manner.

[0050] In the description of the embodiments of this application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B; the "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "a plurality of" means two or more than two.

[0051] In some processes described in the embodiments of this application, multiple operations or steps appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of this application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0052] To make the objectives, technical solutions, and advantages of this application more clear, the following will further describe the embodiments of this application in detail with reference to the accompanying drawings.

[0053] In a first aspect, an embodiment of this application provides an air suspension static leveling method.

[0054] Figure 1 The flowchart of the air suspension static leveling method in an embodiment of this application is shown.

[0055] Referring to Figure 1 , in an embodiment, the air suspension static leveling method includes the following steps:

[0056] S11. When the vehicle is in a stationary state, determine the body attitude based on the lateral acceleration and longitudinal acceleration of the vehicle.

[0057] In this embodiment, the longitudinal direction is the front-rear direction of the vehicle, and the lateral direction is the left-right direction of the vehicle. When the vehicle is in a stationary state, if the body is tilted, corresponding accelerations will be generated under the influence of the gravitational acceleration. For example, when the body tilts backward, that is, when the rear side of the vehicle is lower than the front side, a longitudinal backward acceleration will be generated. The lateral acceleration and longitudinal acceleration of the vehicle can be obtained from the ESC (Electronic Stability Control, body stability control system).

[0058] Further, in an embodiment, the step of determining the body attitude based on the lateral acceleration and longitudinal acceleration of the vehicle includes:

[0059] If the absolute value of the lateral acceleration is greater than the lateral tilt threshold and the absolute value of the longitudinal acceleration is less than or equal to the longitudinal tilt threshold, determine that the body is laterally tilted;

[0060] If the absolute value of the longitudinal acceleration is greater than the longitudinal tilt threshold and the absolute value of the lateral acceleration is less than or equal to the lateral tilt threshold, determine that the body is longitudinally tilted;

[0061] If the absolute value of the lateral acceleration is greater than the lateral tilt threshold and the absolute value of the longitudinal acceleration is greater than the longitudinal tilt threshold, determine that the body is tilted both laterally and longitudinally;

[0062] If the absolute value of the lateral acceleration is less than or equal to the lateral tilt threshold and the absolute value of the longitudinal acceleration is less than or equal to the longitudinal tilt threshold, determine that the body is stable.

[0063] In this embodiment, based on the comparison of the acceleration with the corresponding tilt threshold, the tilt determination is performed to identify the obvious tilt attitude, avoiding misjudgment caused by acceleration measurement errors and frequent adjustment caused by slight tilt.

[0064] S12. Detect whether there is a target spring group according to the vehicle body attitude and the height of the air springs. The target spring group is two air springs arranged side by side horizontally or longitudinally, and the vehicle body is tilted towards the side where the air spring with a larger height value is located.

[0065] In this embodiment, the height value of the air spring is measured by a corresponding height sensor, which represents the distance between its corresponding wheel and the vehicle body. When the vehicle is parked on a horizontal road surface, the vehicle body attitude and the height of the air springs match each other. For example, when the height of the front air spring is lower than that of the rear air spring, the vehicle body tilts forward. When the vehicle is parked on a non-horizontal road surface, the vehicle body attitude and the height of the air springs may not match. For example, when the vehicle is parked on a slope, even if the heights of the four air springs are the same, the vehicle body attitude is still tilted. In particular, when an individual wheel presses on a protrusion or a pit, resulting in a change in the vehicle body load distribution, there will be an obvious mismatch. For example, when the left wheel presses on the road shoulder, the vehicle body attitude tilts to the right (higher on the left and lower on the right), but the height value of the left air spring will be less than that of the right air spring. This application aims at this obvious mismatch situation.

[0066] Specifically, if the vehicle body is tilted horizontally or tilted both horizontally and longitudinally, determine the left-right tilt direction of the vehicle body according to the positive or negative of the lateral acceleration;

[0067] If the vehicle body tilts to the left and the height value of the left front air spring is greater than that of the right front air spring, determine the left front air spring and the right front air spring as the target spring group;

[0068] If the vehicle body tilts to the left and the height value of the left rear air spring is greater than that of the right rear air spring, determine the left rear air spring and the right rear air spring as the target spring group;

[0069] If the vehicle body tilts to the right and the height value of the left front air spring is less than that of the right front air spring, determine the left front air spring and the right front air spring as the target spring group;

[0070] If the vehicle body tilts to the right and the height value of the left rear air spring is less than that of the right rear air spring, determine the left rear air spring and the right rear air spring as the target spring group.

[0071] In this embodiment, for the cases of the vehicle body tilting horizontally and tilting both horizontally and longitudinally, only the two groups of air springs arranged side by side horizontally are used as the target detection objects. This is because the longitudinal tilt is more likely to be caused by a sloped road surface, while the horizontal tilt is more likely to be caused by a protrusion or a pit, and the horizontal leveling priority is higher. In addition, such detection ensures that the same air spring will not appear in two groups of target spring groups at the same time during one round of detection, avoiding conflicts in subsequent adjustments.

[0072] Specifically, if the vehicle body is longitudinally tilted, the front-back tilt orientation of the vehicle body is determined according to the positive or negative value of the longitudinal acceleration.

[0073] If the vehicle body tilts forward and the height value of the left front air spring is greater than the height value of the left rear air spring, the left front air spring and the left rear air spring are determined as the target spring group.

[0074] If the vehicle body tilts forward and the height value of the right front air spring is greater than the height value of the right rear air spring, the right front air spring and the right rear air spring are determined as the target spring group.

[0075] If the vehicle body tilts backward and the height value of the left front air spring is less than the height value of the left rear air spring, the left front air spring and the left rear air spring are determined as the target spring group.

[0076] If the vehicle body tilts backward and the height value of the right front air spring is less than the height value of the right rear air spring, the right front air spring and the right rear air spring are determined as the target spring group.

[0077] In this embodiment, only for the case where the vehicle body is longitudinally tilted and not laterally tilted, the two sets of air springs arranged side by side longitudinally are used as the target detection objects.

[0078] Specifically, if the vehicle body is stable, it is determined that there is no target spring group.

[0079] S13. For the target spring group, control the inflation of the air spring with a larger height value and control the deflation of the air spring with a smaller height value to make the vehicle body attitude tend to be stable.

[0080] In this embodiment, the vehicle body height on the side where the air spring with a larger height value is located is lower, and the vehicle body height on the side where the air spring with a smaller height value is located is higher. After the conventional strategy is adjusted, the height difference between the two springs usually decreases, resulting in a further increase in the height difference between the two sides of the vehicle body and exacerbating the vehicle body tilt. The control strategy of this embodiment is to reduce the height difference between the two sides of the vehicle body and make the vehicle body attitude tend to be stable.

[0081] Thus, through this embodiment, when the vehicle body attitude and the height situation of the air springs do not match significantly due to a non-level road surface, the target spring group is determined, and the target spring group is controlled to inflate and deflate in a manner different from the conventional strategy to make the vehicle body attitude tend to be stable, thereby improving the user's driving and riding experience.

[0082] It should be noted that the detection and leveling operations of this application can be performed multiple times to avoid the situation where the adjustment is not in place in a single time.

[0083] Further, in one embodiment, the step of controlling the inflation of the air spring with a larger height value and deflating the air spring with a smaller height value for the target spring group to make the vehicle body attitude tend to be stable includes:

[0084] For the target spring group, define the air spring with a larger height value as the first air spring and the air spring with a smaller height value as the second air spring. Record the initial height value of the first air spring as the first height value and record the initial height value of the second air spring as the second height value;

[0085] Calculate the vehicle body height difference based on the acceleration, gravitational acceleration, and wheelbase in the arrangement direction of the target spring group;

[0086] Calculate the difference between the tensile limit height value of the air spring and the first height value to obtain the maximum tensile stroke, and calculate the difference between the second height value and the compression limit height value of the air spring to obtain the maximum compression stroke;

[0087] Determine the inflation adjustment amount of the first air spring and the deflation adjustment amount of the second air spring based on the vehicle body height difference, maximum tensile stroke, and maximum compression stroke, where the inflation adjustment amount is less than or equal to the maximum tensile stroke, and the deflation adjustment amount is less than or equal to the maximum compression stroke;

[0088] Control the inflation of the first air spring according to the inflation adjustment amount and control the deflation of the second air spring according to the deflation adjustment amount to make the vehicle body attitude tend to be stable.

[0089] In this embodiment, the vehicle body height difference, maximum tensile stroke, and maximum compression stroke are used as the basis for setting the inflation and deflation adjustment amounts, which can ensure efficient and accurate leveling while avoiding damage to the spring caused by stretching or compression.

[0090] Optionally, the step of determining the inflation adjustment amount of the first air spring and the deflation adjustment amount of the second air spring according to the vehicle body height difference, maximum tensile stroke, and maximum compression stroke includes:

[0091] Divide the vehicle body height difference by 2 to obtain the reference adjustment amount;

[0092] Determine the smaller value between the maximum tensile stroke and the reference adjustment amount as the inflation adjustment amount of the first air spring;

[0093] Determine the smaller value between the maximum compression stroke and the reference adjustment amount as the deflation adjustment amount of the second air spring.

[0094] In this embodiment, half of the vehicle body height difference is used as the reference adjustment amount, which further improves the leveling efficiency and accuracy.

[0095] In a second aspect, an air suspension static leveling device is further provided in an embodiment of the present application.

[0096] Figure 2 The figure shows a schematic diagram of the functional modules of the air suspension static leveling device in an embodiment of the present application.

[0097] Referring to Figure 2 , in one embodiment, the air suspension static leveling device includes:

[0098] An attitude determination module 10, configured to determine the vehicle body attitude according to the lateral acceleration and longitudinal acceleration of the vehicle when the vehicle is in a stationary state;

[0099] A target detection module 20, configured to detect whether there is a target spring group according to the vehicle body attitude and the height of the air springs. The target spring group is two air springs arranged side by side horizontally or longitudinally, and the vehicle body tilts toward the side where the air spring with a larger height value is located;

[0100] A leveling module 30, configured to, for the target spring group, control the inflation of the air spring with a larger height value and control the deflation of the air spring with a smaller height value, so as to make the vehicle body attitude tend to be stable.

[0101] Further, in one embodiment, the attitude determination module 10 is configured to:

[0102] If the absolute value of the lateral acceleration is greater than the lateral tilt threshold and the absolute value of the longitudinal acceleration is less than or equal to the longitudinal tilt threshold, it is determined that the vehicle body is laterally tilted;

[0103] If the absolute value of the longitudinal acceleration is greater than the longitudinal tilt threshold and the absolute value of the lateral acceleration is less than or equal to the lateral tilt threshold, it is determined that the vehicle body is longitudinally tilted;

[0104] If the absolute value of the lateral acceleration is greater than the lateral tilt threshold and the absolute value of the longitudinal acceleration is greater than the longitudinal tilt threshold, it is determined that the vehicle body is tilted both horizontally and longitudinally;

[0105] If the absolute value of the lateral acceleration is less than or equal to the lateral tilt threshold and the absolute value of the longitudinal acceleration is less than or equal to the longitudinal tilt threshold, it is determined that the vehicle body is stable.

[0106] Further, in one embodiment, the target detection module 20 is configured to:

[0107] If the vehicle body is laterally tilted or tilted both horizontally and longitudinally, determine the left-right tilt direction of the vehicle body according to the positive or negative of the lateral acceleration;

[0108] If the vehicle body tilts to the left and the height value of the left front air spring is greater than the height value of the right front air spring, it is determined that the left front air spring and the right front air spring are the target spring group;

[0109] If the vehicle body tilts to the left side and the height value of the left rear air spring is greater than the height value of the right rear air spring, determine the left rear air spring and the right rear air spring as the target spring group;

[0110] If the vehicle body tilts to the right side and the height value of the left front air spring is less than the height value of the right front air spring, determine the left front air spring and the right front air spring as the target spring group;

[0111] If the vehicle body tilts to the right side and the height value of the left rear air spring is less than the height value of the right rear air spring, determine the left rear air spring and the right rear air spring as the target spring group.

[0112] Further, in an embodiment, the target detection module 20 is configured to:

[0113] If the vehicle body tilts longitudinally, determine the front-back tilt orientation of the vehicle body according to the positive or negative of the longitudinal acceleration;

[0114] If the vehicle body tilts forward and the height value of the left front air spring is greater than the height value of the left rear air spring, determine the left front air spring and the left rear air spring as the target spring group;

[0115] If the vehicle body tilts forward and the height value of the right front air spring is greater than the height value of the right rear air spring, determine the right front air spring and the right rear air spring as the target spring group;

[0116] If the vehicle body tilts backward and the height value of the left front air spring is less than the height value of the left rear air spring, determine the left front air spring and the left rear air spring as the target spring group;

[0117] If the vehicle body tilts backward and the height value of the right front air spring is less than the height value of the right rear air spring, determine the right front air spring and the right rear air spring as the target spring group.

[0118] Further, in an embodiment, the target detection module 20 is configured to:

[0119] If the vehicle body is stable, determine that there is no target spring group.

[0120] Further, in an embodiment, the leveling module 30 is configured to:

[0121] For the target spring group, define the air spring with the larger height value as the first air spring, define the air spring with the smaller height value as the second air spring, record the initial height value of the first air spring as the first height value, and record the initial height value of the second air spring as the second height value;

[0122] Calculate the vehicle body height difference based on the acceleration, gravitational acceleration, and wheelbase in the arrangement direction of the target spring group;

[0123] Calculate the difference between the tensile limit height value and the first height value of the air spring to obtain the maximum tensile stroke, and calculate the difference between the second height value and the compression limit height value of the air spring to obtain the maximum compression stroke;

[0124] Determine the inflation adjustment amount of the first air spring and the deflation adjustment amount of the second air spring according to the vehicle body height difference, the maximum tensile stroke, and the maximum compression stroke, where the inflation adjustment amount is less than or equal to the maximum tensile stroke, and the deflation adjustment amount is less than or equal to the maximum compression stroke;

[0125] Control the inflation of the first air spring according to the inflation adjustment amount, and control the deflation of the second air spring according to the deflation adjustment amount to make the vehicle body attitude tend to be stable.

[0126] Further, in one embodiment, the leveling module 30 is configured to:

[0127] Divide the vehicle body height difference by 2 to obtain a reference adjustment amount;

[0128] Determine the smaller value between the maximum tensile stroke and the reference adjustment amount as the inflation adjustment amount of the first air spring;

[0129] Determine the smaller value between the maximum compression stroke and the reference adjustment amount as the deflation adjustment amount of the second air spring.

[0130] Wherein, the function implementation of each module in the above air suspension static leveling device corresponds to each step in the above air suspension static leveling method embodiment, and its function and implementation process will not be elaborated here one by one.

[0131] In a third aspect, an embodiment of the present application provides an air suspension static leveling device. The air suspension static leveling device can be a device with data processing functions such as a personal computer (PC), a laptop computer, a server, etc.

[0132] Figure 3 Shows a schematic hardware structure diagram of the air suspension static leveling device involved in the embodiment of the present application.

[0133] Refer to Figure 3 In the embodiment of the present application, the air suspension static leveling device may include a processor, a memory, a communication interface, and a communication bus.

[0134] Among them, the communication bus can be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0135] The communication interface includes interfaces such as input / output (I / O) interfaces, physical interfaces, and logical interfaces for implementing the interconnection of components inside the air suspension static leveling device, as well as interfaces for implementing the interconnection between the air suspension static leveling device and other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, an optical fiber interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0136] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0137] The processor can be a general-purpose processor, which can call the air suspension static leveling program stored in the memory and execute the air suspension static leveling method provided by the embodiments of the present application. For example, the general-purpose processor can be a central processing unit (CPU). Among them, the method executed when the air suspension static leveling program is called can refer to the various embodiments of the air suspension static leveling method of the present application, which will not be elaborated here.

[0138] Those skilled in the art can understand that Figure 3 the hardware structure shown in does not constitute a limitation to the present application, and may include more or fewer components than shown in the figure, or combine some components, or arrange different components.

[0139] Fourthly, the embodiments of the present application also provide a readable storage medium.

[0140] The air suspension static leveling program is stored on the readable storage medium of the present application. When the air suspension static leveling program is executed by a processor, the steps of the air suspension static leveling method as described above are implemented.

[0141] Among them, the method implemented when the air suspension static leveling program is executed can refer to the various embodiments of the air suspension static leveling method of the present application, which will not be elaborated here.

[0142] It should be noted that the serial numbers of the above embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0143] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present 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 for causing a terminal device to execute the methods described in various embodiments of the present application.

[0144] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. An air suspension static leveling method, characterized in that, The static leveling method of the air suspension includes: When the vehicle is in a stationary state, determine the body attitude according to the lateral acceleration and longitudinal acceleration of the vehicle; According to the body attitude and the height of the air springs, detect whether there is a target spring group. The target spring group is two air springs arranged side by side horizontally or longitudinally, and the body is inclined towards the side where one of the air springs with a larger height value in the target spring group is located; For the target spring group, control the inflation of the air spring with a larger height value in the target spring group, and control the deflation of the other air spring with a smaller height value in the target spring group to make the body attitude tend to be stable; The step of determining the body attitude according to the lateral acceleration and longitudinal acceleration of the vehicle includes: If the absolute value of the lateral acceleration is greater than the lateral tilt threshold and the absolute value of the longitudinal acceleration is less than or equal to the longitudinal tilt threshold, determine that the body is laterally tilted; If the absolute value of the lateral acceleration is greater than the lateral tilt threshold and the absolute value of the longitudinal acceleration is greater than the longitudinal tilt threshold, determine that the body is tilted both laterally and longitudinally; The step of detecting whether there is a target spring group according to the body attitude and the height of the air springs includes: If the body is laterally tilted or tilted both laterally and longitudinally, determine the left-right tilt direction of the body according to the positive or negative of the lateral acceleration; If the body is tilted to the left and the height value of the left front air spring is greater than the height value of the right front air spring, determine that the left front air spring and the right front air spring are the target spring group; If the body is tilted to the left and the height value of the left rear air spring is greater than the height value of the right rear air spring, determine that the left rear air spring and the right rear air spring are the target spring group; If the body is tilted to the right and the height value of the left front air spring is less than the height value of the right front air spring, determine that the left front air spring and the right front air spring are the target spring group; If the body is tilted to the right and the height value of the left rear air spring is less than the height value of the right rear air spring, determine that the left rear air spring and the right rear air spring are the target spring group.

2. The air suspension static leveling method according to claim 1, wherein, The step of determining the body attitude according to the lateral acceleration and longitudinal acceleration of the vehicle further includes: If the absolute value of the longitudinal acceleration is greater than the longitudinal tilt threshold and the absolute value of the lateral acceleration is less than or equal to the lateral tilt threshold, determine that the body is longitudinally tilted; The step of detecting whether there is a target spring group according to the body attitude and the height of the air springs further includes: If the body is longitudinally tilted, determine the front-rear tilt direction of the body according to the positive or negative of the longitudinal acceleration; If the body is tilted forward and the height value of the left front air spring is greater than the height value of the left rear air spring, determine that the left front air spring and the left rear air spring are the target spring group; If the body is tilted forward and the height value of the right front air spring is greater than the height value of the right rear air spring, determine that the right front air spring and the right rear air spring are the target spring group; If the body is tilted backward and the height value of the left front air spring is less than the height value of the left rear air spring, determine that the left front air spring and the left rear air spring are the target spring group; If the body is tilted backward and the height value of the right front air spring is less than the height value of the right rear air spring, determine that the right front air spring and the right rear air spring are the target spring group.

3. The air suspension static leveling method according to claim 1, characterized in that, The step of determining the vehicle body attitude based on the lateral acceleration and longitudinal acceleration of the vehicle further includes: If the absolute value of the lateral acceleration is less than or equal to the lateral tilt threshold, and the absolute value of the longitudinal acceleration is less than or equal to the longitudinal tilt threshold, it is determined that the vehicle body is stable; The step of detecting whether there is a target spring group according to the vehicle body attitude and the height of the air spring further includes: If the vehicle body is stable, it is determined that there is no target spring group.

4. The air suspension static leveling method according to claim 1, characterized in that, The step of, for the target spring group, controlling one air spring with a larger height value in the target spring group to inflate and controlling the other air spring with a smaller height value in the target spring group to deflate so as to make the vehicle body attitude tend to be stable includes: For the target spring group, define one air spring with a larger height value in the target spring group as the first air spring, and define the other air spring with a smaller height value in the target spring group as the second air spring. Record the initial height value of the first air spring as the first height value, and record the initial height value of the second air spring as the second height value; Calculate the vehicle body height difference based on the acceleration, gravitational acceleration, and wheelbase in the arrangement direction of the target spring group; Calculate the difference between the tensile limit height value of the air spring and the first height value to obtain the maximum tensile stroke, and calculate the difference between the second height value and the compression limit height value of the air spring to obtain the maximum compression stroke; According to the vehicle body height difference, the maximum tensile stroke, and the maximum compression stroke, determine the inflation adjustment amount of the first air spring and the deflation adjustment amount of the second air spring, where the inflation adjustment amount is less than or equal to the maximum tensile stroke, and the deflation adjustment amount is less than or equal to the maximum compression stroke; Control the first air spring to inflate according to the inflation adjustment amount, and control the second air spring to deflate according to the deflation adjustment amount so as to make the vehicle body attitude tend to be stable.

5. The air suspension static leveling method according to claim 4, wherein The step of determining the inflation adjustment amount of the first air spring and the deflation adjustment amount of the second air spring according to the vehicle body height difference, the maximum tensile stroke, and the maximum compression stroke includes: Divide the vehicle body height difference by 2 to obtain the reference adjustment amount; Determine the smaller value between the maximum tensile stroke and the reference adjustment amount as the inflation adjustment amount of the first air spring; Determine the smaller value between the maximum compression stroke and the reference adjustment amount as the deflation adjustment amount of the second air spring.

6. An air suspension static leveling device, characterized in that, The air suspension static leveling device includes: An attitude determination module, which is used to determine the vehicle body attitude according to the lateral acceleration and longitudinal acceleration of the vehicle when the vehicle is in a stationary state; A target detection module, which is used to detect whether there is a target spring group according to the vehicle body attitude and the height of the air spring. The target spring group is two air springs arranged side by side horizontally or longitudinally, and the vehicle body tilts towards the side where one air spring with a larger height value in the target spring group is located; A leveling module, which is used to, for the target spring group, control one air spring with a larger height value in the target spring group to inflate and control the other air spring with a smaller height value in the target spring group to deflate so as to make the vehicle body attitude tend to be stable; The attitude determination module is used for: If the absolute value of the lateral acceleration is greater than the lateral tilt threshold, and the absolute value of the longitudinal acceleration is less than or equal to the longitudinal tilt threshold, it is determined that the vehicle body is laterally tilted; If the absolute value of the lateral acceleration is greater than the lateral tilt threshold and the absolute value of the longitudinal acceleration is greater than the longitudinal tilt threshold, it is determined that the vehicle body is tilted both laterally and longitudinally; The target detection module is used for: If the vehicle body is tilted laterally or tilted both laterally and longitudinally, determine the left-right tilt orientation of the vehicle body according to the positive or negative of the lateral acceleration; If the vehicle body is tilted to the left and the height value of the left front air spring is greater than the height value of the right front air spring, determine the left front air spring and the right front air spring as the target spring group; If the vehicle body is tilted to the left and the height value of the left rear air spring is greater than the height value of the right rear air spring, determine the left rear air spring and the right rear air spring as the target spring group; If the vehicle body is tilted to the right and the height value of the left front air spring is less than the height value of the right front air spring, determine the left front air spring and the right front air spring as the target spring group; If the vehicle body is tilted to the right and the height value of the left rear air spring is less than the height value of the right rear air spring, determine the left rear air spring and the right rear air spring as the target spring group.

7. An air suspension static leveling device, characterized in that, The air suspension static leveling device includes a processor, a memory, and an air suspension static leveling program stored on the memory and executable by the processor. When the air suspension static leveling program is executed by the processor, the steps of the air suspension static leveling method according to any one of claims 1 to 5 are implemented.

8. A readable storage medium, characterized in that, An air suspension static leveling program is stored on the readable storage medium. When the air suspension static leveling program is executed by a processor, the steps of the air suspension static leveling method according to any one of claims 1 to 5 are implemented.

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