Suspension control method and system based on chassis domain controller

Abstract

The present application provides a suspension control method and system based on a chassis domain controller. The chassis domain controller is integrated with a control part of an integrated air supply unit; the suspension control method based on the chassis domain controller includes: collecting the current state of the suspension; triggering the suspension control based on the current state of the suspension, and the chassis domain controller outputs a control signal; regulating the power parts of the integrated air supply unit according to the control signal to adjust the height of the suspension; in the process of adjusting the height of the suspension, monitoring the height control, stiffness control and damping control of the suspension; coordinating at least two of the height control, stiffness control and damping control to maintain the dynamic balance of the suspension, thereby ensuring the height adjustment of the suspension, and then associating the height control, stiffness control and damping control of the frame when adjusting the height, so as to facilitate the coordination of at least two of the height control, stiffness control and damping control.

Description

Technical Field

[0001] The present application relates to the technical field of suspension control based on a chassis domain controller, and in particular to a suspension control method and system based on a chassis domain controller. Background Art

[0002] With the development of automobile electronics and intelligence, the current general vehicle integration solution for vehicles equipped with chassis domain controllers and integrated air supply units is as follows: all suspension height control software is deployed in the integrated air supply unit, and the chassis domain controller interacts with the integrated air supply unit through the bus. However, after the air supply unit is integrated with the controller, its size increases and it is difficult to place it at the wheel end or suspension, and a separate control chip is required, which increases the cost of the vehicle. Summary of the invention

[0003] One object of the present application is to provide a suspension control method and system based on a chassis domain controller, wherein the chassis domain controller is integrated with a control part of an integrated air supply unit, thereby avoiding the use of a suspension controller control chip alone, while achieving cost reduction, size reduction, and placement space for the air supply unit. At least two of the height control, stiffness control, and damping control are coordinated with each other to maintain the dynamic balance of the suspension, thereby ensuring the height adjustment of the suspension, and then the height control, stiffness control, and damping control of the frame are associated when adjusting the height, so as to facilitate the coordination of at least two of the height control, stiffness control, and damping control to maintain the dynamic balance of the suspension and ensure the stability of the suspension.

[0004] To achieve the above objectives, some embodiments of the present application provide a suspension control method based on a chassis domain controller, which is applied to a chassis domain controller, wherein the chassis domain controller is integrated with a control part of an integrated air supply unit; the suspension control method based on the chassis domain controller includes:

[0005] Collect the current state of the suspension;

[0006] Suspension control is triggered based on the current state of the suspension, and the chassis domain controller outputs a control signal;

[0007] Controlling the power parts of the integrated air supply unit according to the control signal to adjust the height of the suspension;

[0008] During the process of adjusting the height of the suspension, monitoring the height control, stiffness control and damping control of the suspension;

[0009] At least two of the height control, stiffness control and damping control are coordinated with each other to maintain the dynamic balance of the suspension.

[0010] Some embodiments of the present application further provide a suspension control system based on a chassis domain controller, including:

[0011] A collection module is used to collect the current state of the suspension;

[0012] A control signal module, used to trigger suspension control based on the current state of the suspension, and the chassis domain controller outputs a control signal;

[0013] A regulating module, used for regulating a power part of the integrated air supply unit according to a control signal to adjust the height of the suspension;

[0014] A monitoring module, used for monitoring the height control, stiffness control and damping control of the suspension during the process of adjusting the height of the suspension;

[0015] The coordination module is used for coordinating at least two of the height control, the stiffness control and the damping control to maintain the dynamic balance of the suspension.

[0016] Some embodiments of the present application further provide a suspension control device based on a chassis domain controller, the device comprising:

[0017] one or more processors; and

[0018] A memory storing computer program instructions, which, when executed, cause the processor to perform the above-mentioned chassis domain controller-based suspension control method.

[0019] Some embodiments of the present application further provide a computer-readable medium having computer program instructions stored thereon, wherein the computer program instructions can be executed by a processor to implement the above-mentioned chassis domain controller-based suspension control method.

[0020] Compared with the prior art, in the solution provided in the embodiment of the present application, the chassis domain controller is integrated with the control part of the integrated air supply unit, avoiding the use of the suspension controller control chip alone, while achieving cost reduction, volume reduction and placement space of the air supply unit. At this time, the current state of the suspension is collected; the suspension control is triggered based on the current state of the suspension, and the chassis domain controller outputs a control signal; the power parts of the integrated air supply unit are regulated according to the control signal to adjust the height of the suspension; in the process of adjusting the height of the suspension, the height control, stiffness control and damping control of the suspension are monitored; based on at least two of the height control, stiffness control and damping control, the dynamic balance of the suspension is maintained, thereby ensuring the height adjustment of the suspension, and then when adjusting the height, the height control, stiffness control and damping control of the frame are associated, so as to facilitate the coordination of at least two of the height control, stiffness control and damping control to maintain the dynamic balance of the suspension and ensure the stability of the suspension. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic flow chart of a suspension control method based on a chassis domain controller provided in an embodiment of the present application;

[0022] Figure 2 Shows Figure 1 Flowchart of S120;

[0023] Figure 3 Shows Figure 1 Flowchart of S130;

[0024] Figure 4 Shows Figure 1 Flowchart of S140;

[0025] Figure 5 Shows Figure 1 Flowchart of S150;

[0026] Figure 6 A practical schematic diagram of a suspension control method based on a chassis domain controller provided in an embodiment of the present application;

[0027] Figure 7 A block diagram of a suspension control system based on a chassis domain controller according to an embodiment of the present application is shown;

[0028] Figure 8 A schematic structural diagram of a suspension control device based on a chassis domain controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] refer to Figures 1 to 8 The embodiment of the present application also provides a suspension control method based on a chassis domain controller, which is applied to a chassis domain controller, and the chassis domain controller integrates a control part of an integrated air supply unit; avoiding the use of a suspension controller control chip alone, while achieving cost reduction, volume reduction, and placement space of the air supply unit, thereby reducing the volume. The suspension control method based on the chassis domain controller includes:

[0031] Step S110 collects the current state of the suspension;

[0032] Step S120 triggers suspension control based on the current state of the suspension, and the chassis domain controller outputs a control signal;

[0033] Step S130: regulating the power component of the integrated air supply unit according to the control signal to adjust the height of the suspension;

[0034] Step S140: During the process of adjusting the height of the suspension, monitoring the height control, stiffness control and damping control of the suspension;

[0035] Step S150 is based on the mutual coordination of at least two of the height control, the stiffness control and the damping control to maintain the dynamic balance of the suspension.

[0036] In the solution provided in the embodiment of the present application, the chassis domain controller is integrated with the control part of the integrated air supply unit; the use of the suspension controller control chip alone is avoided, while achieving cost reduction, volume reduction and placement space of the air supply unit, and collecting the current state of the suspension; the suspension control is triggered based on the current state of the suspension, and the chassis domain controller outputs a control signal; the power parts of the integrated air supply unit are regulated according to the control signal to adjust the height of the suspension; in the process of adjusting the height of the suspension, the height control, stiffness control and damping control of the suspension are monitored; based on at least two of the height control, stiffness control and damping control, the dynamic balance of the suspension is maintained, thereby ensuring the height adjustment of the suspension, and then when adjusting the height, the height control, stiffness control and damping control of the frame are associated, so as to facilitate the mutual coordination based on at least two of the height control, stiffness control and damping control to maintain the dynamic balance of the suspension and ensure the stability of the suspension.

[0037] In step S110 , the current state of the suspension is acquired.

[0038] In an embodiment of the present application, the suspension is monitored and a first height of the suspension is detected; a second height of the suspension is detected within a preset time; a current state of the suspension is determined based on a height change rate between the second height and the first height; or, the current state of the suspension is determined based on a height difference between the second height and the first height.

[0039] Among them, the suspension is monitored to facilitate the detection of the height of the suspension. At this time, the first height of the suspension is detected, and the second height of the suspension is detected within a preset time, so as to control the changes of the first height and the second height within the preset time. At this time, the current state of the suspension is determined according to the height change rate between the second height and the first height; or, the current state of the suspension is determined according to the height difference between the second height and the first height, thereby making full use of the first height and the second height to determine the current state of the suspension, thereby ensuring the accuracy of the current state of the suspension.

[0040] In step S120, suspension control is triggered based on the current state of the suspension, and a control signal is output by the chassis domain controller.

[0041] In an embodiment of the present application, the current state of the suspension is obtained so as to trigger suspension control according to the current state of the suspension. At this time, the chassis domain controller is integrated with the control part of the integrated air supply unit, and the chassis domain controller outputs a control signal so as to control the integrated air supply unit based on the control signal.

[0042] The specific steps are as follows:

[0043] Step S121 obtains the current state of the suspension;

[0044] Step S122 matches the control logic of the suspension based on the current state of the suspension;

[0045] Step S123 triggers suspension control according to the control logic of the suspension, and the chassis domain controller outputs a control signal, wherein the chassis domain controller is integrated with the control part of the integrated air supply unit.

[0046] In an embodiment of the present application, the current state of the suspension is obtained, and the control logic of the suspension is matched according to the current state of the suspension, so as to make corresponding control feedback based on the current state, so as to trigger the suspension control according to the control logic of the suspension, and the chassis domain controller outputs a control signal, so as to facilitate targeted control for the current state, wherein the chassis domain controller is integrated with the control part of the integrated air supply unit. Optionally, the current state of the suspension can be descending, ascending, emergency braking, etc.

[0047] In step S130 , the power components of the integrated air supply unit are regulated according to the control signal to adjust the height of the suspension.

[0048] In an embodiment of the present application, a control signal is acquired, and a power component of the integrated air supply unit is regulated according to the control signal, thereby adjusting the power component to facilitate adjusting the height of the suspension.

[0049] The specific steps are as follows:

[0050] Step S131 analyzes the control signal and determines a control strategy for the integrated air supply unit;

[0051] Step S132 defines an action signal of a power component of the integrated air supply unit based on a control strategy of the integrated air supply unit;

[0052] Step S133: regulating the power component of the integrated air supply unit according to the action signal of the power component of the integrated air supply unit;

[0053] Step S134 adjusts the height of the suspension based on the operation of the power member of the integrated air supply unit.

[0054] In an embodiment of the present application, a control signal is analyzed and a control strategy for an integrated air supply unit is determined, so as to determine the control strategy of the integrated air supply unit, thereby defining an action signal of a power part of the integrated air supply unit based on the control strategy of the integrated air supply unit, and then controlling the power part of the integrated air supply unit according to the action signal of the power part of the integrated air supply unit, thereby ensuring the operation of the power part, and therefore adjusting the height of the suspension based on the operation of the power part of the integrated air supply unit.

[0055] The method of regulating the power parts of the integrated air supply unit according to the control signal to adjust the height of the suspension also includes: acquiring multiple parameters, the multiple parameters including temperature data, temperature and pressure data, vehicle status data, road condition data or working parameters of the power parts; defining the state of the suspension based on the multiple parameters; triggering the control part in the chassis domain controller according to the state of the suspension, and outputting a solenoid valve command and a motor command; and controlling the solenoid valve drive module and the motor drive module respectively according to the solenoid valve command and the motor command to adjust the height of the suspension.

[0056] At this time, the state of the suspension is defined by multiple parameters to facilitate the clear state of the suspension, and then the control part in the chassis domain controller is triggered according to the state of the suspension, and the solenoid valve command and the motor command are output. Therefore, the solenoid valve drive module and the motor drive module are controlled respectively according to the solenoid valve command and the motor command to adjust the height of the suspension.

[0057] In step S140 , during the process of adjusting the height of the suspension, the height control, stiffness control and damping control of the suspension are monitored.

[0058] The specific steps are as follows:

[0059] Step S141 divides the control of the chassis domain controller during the process of adjusting the height of the suspension;

[0060] Step S142 forms the height control, stiffness control and damping control of the suspension based on the control part of the chassis domain controller;

[0061] Step S143 links the height control, stiffness control and damping control.

[0062] In an embodiment of the present application, in the process of adjusting the height of the suspension, the chassis domain controller is controlled and divided, and the height control, stiffness control and damping control of the suspension are formed. The height of the suspension is adjusted based on the height control, the stiffness of the suspension is adjusted based on the stiffness control, and the damping of the suspension is adjusted based on the damping control. At this time, the height control, stiffness control and damping control of the suspension are formed based on the control part of the chassis domain controller, and the height control, stiffness control and damping control are associated to form a balanced state between the height control, stiffness control and damping control.

[0063] In step S150, at least two of the height control, the stiffness control and the damping control are coordinated with each other to maintain the dynamic balance of the suspension.

[0064] The specific steps are as follows:

[0065] Step S151 obtains height control and stiffness control;

[0066] Step S152 associates the height control and the stiffness control, and defines the height output by the height control and the stiffness output by the stiffness control;

[0067] Step S153 forms a first balance learning model based on the height output by the height control and the stiffness output by the stiffness control, wherein the first balance learning model is trained by the previous height and stiffness;

[0068] Step S154 constructs a first dynamic balance relationship for the height and stiffness of the suspension according to the first balance learning model.

[0069] In view of the balance between height control and stiffness control, the height control and stiffness control are associated, and the height output by the height control and the stiffness output by the stiffness control are defined. A first balance learning model is formed according to the height output by the height control and the stiffness output by the stiffness control, so as to use the first balance learning model to construct a first dynamic balance relationship between the height and stiffness of the suspension, so that the height and stiffness are balanced in the change, and the mutual adjustment between the height and stiffness is guaranteed. Among them, the first balance learning model is formed by the previous height and stiffness training;

[0070] In addition, the method of coordinating at least two of the height control, stiffness control and damping control to maintain the dynamic balance of the suspension also includes: obtaining height control and damping control; associating the height control and damping control, and defining the height output by the height control and the damping output by the damping control; forming a second balance learning model based on the height output by the height control and the damping output by the damping control, wherein the second balance learning model is trained by previous height and damping; and constructing a second dynamic balance relationship for the height and damping of the suspension according to the second balance learning model.

[0071] In view of the balance between height control and damping control, height control and damping control are associated, and the height output by height control and the damping output by damping control are defined. A second balance learning model is formed according to the height output by height control and the damping output by damping control, so as to construct a second dynamic balance relationship for the height and damping of the suspension using the second balance learning model, so that the height and damping are balanced with each other in the change, and the mutual adjustment between the height and damping is ensured. Among them, the second balance learning model is formed by the previous height and damping training.

[0072] The suspension control method based on the chassis domain controller also includes: locating the control part of the chassis domain controller; associating the control part of the chassis domain controller with the cloud; and optimizing or upgrading the control part of the chassis domain controller based on the cloud.

[0073] Specifically, the control module of the integrated air supply unit 1 is transplanted to the chassis domain controller 2, which mainly includes the MCU minimum circuit, the height sensor acquisition circuit, the solenoid valve drive circuit, the motor drive circuit, the CAN communication circuit, the temperature and pressure sensor acquisition circuit, etc. The control module only retains a simple PCB board for leading out the solenoid valve pins, the motor pins, and the temperature and pressure sensor pins.

[0074] Since the PCB board only serves as a lead and does not require heat dissipation of power devices, the ECU cover of the integrated air supply unit 1 is changed from aluminum to plastic to reduce costs. The height control function software and the integrated air supply unit hardware driver software are all transplanted to the chassis domain controller 2. The hardware driver software includes solenoid valve driver software, motor driver software, temperature and pressure sensor acquisition software, height sensor acquisition software, and CAN communication driver software.

[0075] The integrated air supply unit 1 is connected to the chassis domain controller 2 through a wiring harness, and the wiring harness connects the solenoid valve pins, the motor pins and the temperature and pressure sensor pins.

[0076] At this time, in step 1, the chassis domain controller 2 collects the height sensor 4 signal and the temperature and pressure sensor signal, in step 2, the chassis domain controller 2 receives the driving request signal through the bus, in step 3, the vehicle status signal and road condition information, etc. At the same time, in step 4, the chassis domain controller 2 detects the battery voltage, the health status of the solenoid valve and the motor, etc.

[0077] Therefore, the chassis domain controller 2 runs the height control software based on the input of steps 1, 2, 3, and 4, and then outputs the solenoid valve command and the motor command to the solenoid valve drive module and the motor drive module. The solenoid valve drive module and the motor drive module control the solenoid valve and the motor of the integrated air supply unit 1 through the wiring harness to achieve the suspension target height control. At the same time, the chassis domain controller 2 transmits the key information of the height control function to the cloud 3 via Ethernet.

[0078] In the solution provided in the embodiment of the present application, the chassis domain controller is integrated with the control part of the integrated air supply unit; the use of the suspension controller control chip alone is avoided, and the cost reduction, volume reduction and placement space of the air supply unit are achieved at the same time. At this time, the current state of the suspension is collected; the suspension control is triggered based on the current state of the suspension, and the chassis domain controller outputs a control signal; the power parts of the integrated air supply unit are regulated according to the control signal to adjust the height of the suspension; in the process of adjusting the height of the suspension, the height control, stiffness control and damping control of the suspension are monitored; based on at least two of the height control, stiffness control and damping control, the dynamic balance of the suspension is maintained, thereby ensuring the height adjustment of the suspension, and then when adjusting the height, the height control, stiffness control and damping control of the frame are associated, so as to facilitate the mutual coordination based on at least two of the height control, stiffness control and damping control to maintain the dynamic balance of the suspension and ensure the stability of the suspension.

[0079] refer to Figure 7 Some embodiments of the present application further provide a suspension control system 200 based on a chassis domain controller, characterized in that it includes:

[0080] A collection module 210 is used to collect the current state of the suspension;

[0081] A control signal module 220, for triggering suspension control based on the current state of the suspension, and outputting a control signal by the chassis domain controller;

[0082] The regulating module 230 is used to regulate the power component of the integrated air supply unit according to the control signal to adjust the height of the suspension;

[0083] A monitoring module 240, for monitoring the height control, stiffness control and damping control of the suspension during the process of adjusting the height of the suspension;

[0084] The coordination module 250 is used to coordinate with each other based on at least two of the height control, the stiffness control and the damping control to maintain the dynamic balance of the suspension.

[0085] In addition, the present application also provides a suspension control device based on a chassis domain controller, the structure of which is as follows: Figure 8 As shown, the device includes a memory 31 for storing computer-readable instructions and a processor 32 for executing computer-readable instructions, wherein when the computer-readable instructions are executed by the processor, the processor is triggered to execute the suspension control method based on the chassis domain controller.

[0086] The methods and / or embodiments in the embodiments of the present application may be implemented as computer software programs. For example, the embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart. When the computer program is executed by the processing unit, the above functions defined in the method of the present application are executed.

[0087] It should be noted that the computer-readable medium described in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device.

[0088] In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0089] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0090] The flow chart or block diagram in the accompanying drawings shows the possible architecture, function and operation of the equipment, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated system for hardware that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0091] As another aspect, the embodiments of the present application further provide a computer-readable medium, which may be included in the device described in the above embodiments; or may exist independently without being assembled into the device. The above computer-readable medium carries one or more computer-readable instructions, which may be executed by a processor to implement the steps of the methods and / or technical solutions of the above multiple embodiments of the present application.

[0092] In a typical configuration of the present application, the terminal and the equipment of the service network each include one or more processors (CPU), input / output interface, network interface and memory.

[0093] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0094] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, modules of programs or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0095] In addition, an embodiment of the present application further provides a computer program, which is stored in a computer device, so that the computer device executes the method for controlling code execution.

[0096] It should be noted that the present application can be implemented in software and / or a combination of software and hardware, for example, can be implemented using an application specific integrated circuit (ASIC), a general purpose computer or any other similar hardware device. In certain embodiments, the software program of the present application can be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including related data structures) can be stored in a computer-readable recording medium, for example, a RAM memory, a magnetic or optical drive or a floppy disk and similar devices. In addition, some steps or functions of the present application can be implemented using hardware, for example, as a circuit that cooperates with a processor to perform each step or function.

[0097] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or basic features of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present application is limited by the attached claims rather than the above description, so it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or systems stated in the system claim can also be implemented by one unit or system through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

Claims

1. A suspension control method based on a chassis domain controller, characterized in that: Applied to a chassis domain controller, the chassis domain controller is integrated with a control part of an integrated air supply unit, the control part includes an MCU minimum circuit, a height sensor acquisition circuit, a temperature and pressure sensor acquisition circuit, a solenoid valve drive circuit, a motor drive circuit, and a CAN communication circuit; the integrated air supply unit without a control part is connected to the chassis domain controller through a wiring harness, the chassis domain controller runs the height control software based on the height sensor signal, the temperature and pressure sensor signal, the driving request signal, the vehicle status signal, the road condition information, the battery voltage, the solenoid valve and the motor health status, and then outputs the solenoid valve command and the motor command to the solenoid valve drive circuit and the motor drive circuit, the solenoid valve drive circuit and the motor drive circuit control the solenoid valve and the motor of the integrated air supply unit through the wiring harness to realize the suspension target height control; The suspension control method based on the chassis domain controller includes: Collect the current state of the suspension; Suspension control is triggered based on the current state of the suspension, and the chassis domain controller outputs a control signal; Controlling the power parts of the integrated air supply unit according to the control signal to adjust the height of the suspension; During the process of adjusting the height of the suspension, monitoring the height control, stiffness control and damping control of the suspension; At least two of the height control, stiffness control and damping control are coordinated with each other to maintain the dynamic balance of the suspension.

2. The suspension control method based on chassis domain controller according to claim 1, characterized in that: The current state of the acquisition suspension includes: monitoring the suspension and detecting a first height of the suspension; detecting a second height of the suspension within a preset time; The current state of the suspension is determined according to the height change rate between the second height and the first height; or, the current state of the suspension is determined according to the height difference between the second height and the first height.

3. The suspension control method based on chassis domain controller according to claim 1, characterized in that: The triggering of suspension control based on the current state of the suspension and the output of the control signal by the chassis domain controller include: Get the current state of the suspension; Matching the control logic of the suspension based on the current state of the suspension; The suspension control is triggered according to the control logic of the suspension, and the control signal is output by the chassis domain controller, wherein the chassis domain controller is integrated with the control part of the integrated air supply unit.

4. The suspension control method based on chassis domain controller according to claim 1, characterized in that: The method of regulating the power part of the integrated air supply unit according to the control signal to adjust the height of the suspension includes: Analyze control signals and determine control strategies for integrated air supply units; Defining an action signal of a power component of the integrated air supply unit based on a control strategy of the integrated air supply unit; Controlling the power part of the integrated air supply unit according to the action signal of the power part of the integrated air supply unit; The height of the suspension is adjusted based on the operation of the power element of the integrated air supply unit.

5. The suspension control method based on chassis domain controller according to claim 4, characterized in that: The method of regulating the power part of the integrated air supply unit according to the control signal to adjust the height of the suspension also includes: Acquiring multiple parameters, the multiple parameters including temperature data, temperature and pressure data, vehicle status data, road condition data or working parameters of power parts; Define the state of the suspension based on multiple parameters; The control part in the chassis domain controller is triggered according to the state of the suspension, and the solenoid valve command and the motor command are output; The solenoid valve drive module and the motor drive module are controlled respectively according to the solenoid valve command and the motor command to adjust the height of the suspension.

6. The suspension control method based on chassis domain controller according to claim 1, characterized in that: In the process of adjusting the height of the suspension, monitoring the height control, stiffness control and damping control of the suspension includes: In the process of adjusting the height of the suspension, the chassis domain controller is controlled and divided; The height control, stiffness control and damping control of the suspension are formed based on the control part of the chassis domain controller; Links height control, stiffness control, and damping control.

7. The suspension control method based on chassis domain controller according to claim 1, characterized in that: The method of coordinating at least two of the height control, the stiffness control and the damping control to maintain the dynamic balance of the suspension comprises: Get height control, stiffness control; Associate height control and stiffness control, and define the height output by height control and the stiffness output by stiffness control; forming a first balance learning model based on the height output by the height control and the stiffness output by the stiffness control, wherein the first balance learning model is trained by previous height and stiffness; A first dynamic balance relationship is constructed for the height and stiffness of the suspension according to the first balance learning model.

8. The suspension control method based on chassis domain controller according to claim 7, characterized in that: The method of coordinating at least two of the height control, the stiffness control and the damping control to maintain the dynamic balance of the suspension further includes: Get height control, damping control; Associating height control and damping control, and defining the height output by the height control and the damping output by the damping control; forming a second balance learning model based on the height output by the height control and the damping output by the damping control, wherein the second balance learning model is trained by previous height and damping; A second dynamic balance relationship is constructed for the height and damping of the suspension according to the second balance learning model.

9. The suspension control method based on chassis domain controller according to claim 1, characterized in that: The suspension control method based on the chassis domain controller further includes: Locate the control part of the chassis domain controller; Link the control part of the chassis domain controller to the cloud; Optimize or upgrade the control part of the chassis domain controller based on the cloud.

10. A suspension control system based on a chassis domain controller, characterized in that: The suspension control method based on the chassis domain controller as claimed in any one of claims 1 to 9 is executed, wherein the suspension control system based on the chassis domain controller comprises: A collection module is used to collect the current state of the suspension; A control signal module, used to trigger suspension control based on the current state of the suspension, and the chassis domain controller outputs a control signal; A regulating module, used for regulating a power part of the integrated air supply unit according to a control signal to adjust the height of the suspension; A monitoring module, used for monitoring the height control, stiffness control and damping control of the suspension during the process of adjusting the height of the suspension; The coordination module is used for coordinating at least two of the height control, the stiffness control and the damping control to maintain the dynamic balance of the suspension.

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