A control method, system and device for a vehicle semi-active suspension

Abstract

The application provides a control method, system and device of a vehicle semi-active suspension, which is applied to a smooth regulator. The control method comprises the following steps: obtaining an initial driving current of a shock absorber in a semi-active suspension of a vehicle to be controlled and operation condition information of the vehicle; a timer collects driving time of the vehicle to be controlled according to the operation condition information; an enabling marker analyzes the driving time, determines a target timer, and determines an enabling marker state of a smooth driving current; a smooth current calculator determines a smooth driving current according to the enabling marker state, the initial driving current, a preset smooth coefficient and a preset time sequence; and a current synthesizer determines a target driving current for driving the shock absorber from the initial driving current and the smooth driving current according to the enabling marker state. In this way, the smoothness of current switching is improved by the method of smooth current adjustment in the semi-active suspension control system, so that the comfort of passengers is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle vibration reduction technology, and in particular to a control method, system and device for a semi-active vehicle suspension. Background Technology

[0002] Compared to traditional passive suspension systems, semi-active vehicle suspension systems utilize adjustable damping shock absorbers combined with electronic control units, sensors, and onboard network information to achieve real-time online adjustment of suspension performance, thereby improving vehicle chassis performance, including ride comfort and driving handling.

[0003] Currently, although many closed-loop control methods for semi-active suspension systems have been published, due to the complexity of road surfaces and vehicle driving environments, practical semi-active suspension systems still cannot completely avoid dependence on open-loop control strategies. For example, when a vehicle travels over a sudden, large undulation in the road surface, the shock absorber usually needs to have the characteristic of rapid adjustment. If the traditional closed-loop control method is still used for this sudden special condition, problems such as small adjustment range and insignificant performance improvement may occur; if the closed-loop gain is increased, the damping adjustment range under normal conditions may be too large. Therefore, open-loop control methods have great application value for specific occasional conditions. However, the damping characteristics of the shock absorber under open-loop control often undergo abrupt and non-smooth changes, manifested as jumps in the shock absorber drive current. These current jumps can cause vibrations in the sprung or unsprung sections, affecting the passenger ride experience and the driver's driving experience. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a control method, system and device for a semi-active vehicle suspension, which improves the smoothness of the drive current switching so that the given smooth current directly drives the damping adjustable shock absorber, thereby ensuring the stability of the vehicle during driving and improving the driving experience of the occupants.

[0005] This application provides a control method for a semi-active vehicle suspension, applied to a smooth adjuster, the control method comprising:

[0006] Acquire the initial drive current for driving the shock absorbers installed in the semi-active suspension of the vehicle under control and the operating condition information of the vehicle under control;

[0007] The timer built into the smoothing regulator collects the vehicle travel time of the vehicle to be controlled based on the operating condition information.

[0008] The enable marker in the smoothing regulator analyzes the vehicle's travel time and determines the enable marker state of the smoothing drive current used to drive the shock absorber by determining the target timer for collecting the vehicle's travel time; wherein, the enable marker state is used to reflect the transition state of the smoothing drive current.

[0009] The smoothing current calculator in the smoothing regulator determines the smoothing drive current used to drive the vibration damper according to the enable flag state, using the initial drive current, the preset smoothing coefficient, and the preset time series.

[0010] The current synthesizer in the smoothing regulator determines the target drive current for driving the damper from the initial drive current and the smoothing drive current based on the enable flag state.

[0011] Furthermore, the timers built into the smoothing regulator include an upward timer and a downward timer; the timers built into the smoothing regulator collect the vehicle travel time of the vehicle to be controlled based on the operating condition information, including:

[0012] When the operating condition information indicates that the vehicle to be controlled has entered the target operating state, the rising timer is used to collect the vehicle's travel time; wherein, the target operating state indicates that the vehicle to be controlled has traveled to a special abnormal road condition.

[0013] When the operating condition information indicates that the vehicle to be controlled has exited the target operating state, the vehicle travel time of the vehicle to be controlled is collected using the descent timer.

[0014] Furthermore, the control method also includes:

[0015] When the vehicle travel time collected by the target timer reaches a preset threshold, the target timer is reset.

[0016] Furthermore, the target timer includes an ascending timer and a descending timer; the enable marker in the smoothing regulator determines the enable marker state for the smoothing drive current used to drive the shock absorber by determining the target timer that collects the vehicle's travel time, including:

[0017] When the target timer is a rising timer, the enable flag state is determined to be a rising smooth state; the rising smooth state is used to indicate that the smooth drive current is in the rising smooth period.

[0018] When the target timer is a falling timer, the enable flag state is determined to be a falling smooth state; the falling smooth state is used to indicate that the smooth drive current is in the falling smooth period;

[0019] When neither the rise timer nor the fall timer is in operation, the enable flag state is determined to be non-smooth; the non-smooth state is used to indicate that the smooth drive current is in a non-smooth period.

[0020] Furthermore, the smoothing current calculator in the smoothing regulator determines the smoothing drive current used to drive the vibration damper according to the enabled flag state, using the initial drive current, the preset smoothing coefficient, and the preset time series, including:

[0021] When the enable flag state is the rising smooth state, the rising smooth drive current used to drive the vibration damper is determined using the initial drive current, the preset smoothing coefficient, and the preset time series.

[0022] When the enable flag state is in the descent smoothing state, the descent smoothing drive current used to drive the vibration damper is determined using the initial drive current, the preset smoothing coefficient, and the preset time series.

[0023] Furthermore, the smoothing drive current includes a rising smoothing drive current and a falling smoothing drive current; the current synthesizer in the smoothing regulator determines a target drive current for driving the damper from the initial drive current and the smoothing drive current according to the enable flag state, including:

[0024] When the enable flag state is a non-smooth state, the current synthesizer determines the initial drive current as the target drive current for driving the vibration damper;

[0025] When the enable flag state is in the rising smooth state, the current synthesizer determines the rising smooth drive current as the target drive current for driving the vibration damper.

[0026] When the enable flag state is in the drooping smoothing state, the current synthesizer determines the drooping smoothing drive current as the target drive current for driving the vibration damper.

[0027] This application also provides a control system for a vehicle semi-active suspension, the control system including a special operating condition identifier, a current switching driver, and a smoothing regulator:

[0028] The special operating condition identifier processes the received first vibration acceleration and second vibration acceleration to determine the operating condition information, and sends the determined operating condition information to the current switching driver and the smoothing regulator.

[0029] The current switching driver determines the initial drive current based on the operating condition information and sends the determined initial drive current to the smoothing regulator;

[0030] The smoothing regulator determines the target drive current for driving the vibration damper based on the operating condition information and the initial drive current.

[0031] Furthermore, the special operating condition identifier processes the received first vibration acceleration and second vibration acceleration to determine the operating condition information, including:

[0032] The special condition identifier in the semi-active suspension of the vehicle under control receives the first vibration acceleration of the sprung mass in the vertical direction and the second vibration acceleration of the unsprung mass in the vertical direction in the semi-active suspension of the vehicle under control.

[0033] The first vibration acceleration and the second vibration acceleration are numerically integrated to determine the operating condition parameters, and it is determined whether the operating condition parameters are greater than the preset operating condition threshold.

[0034] If so, confirming the operating condition information indicates that the vehicle to be controlled has entered the target operating state;

[0035] If not, the confirmed operating condition information indicates that the vehicle to be controlled has exited the target operating state.

[0036] Furthermore, the current switching driver determines the initial drive current based on the operating condition information, including:

[0037] The current switching driver in the semi-active suspension of the vehicle under control indicates whether the vehicle under control has entered the target operating state based on the operating condition information, and determines the initial drive current.

[0038] If so, the current switching driver determines that the initial drive current is a high-level drive current;

[0039] If not, the current switching driver determines that the initial drive current is a low-level drive current.

[0040] This application embodiment also provides a control device for a vehicle semi-active suspension, the control device comprising:

[0041] A timer is used to acquire the operating condition information of the vehicle to be controlled; and based on the operating condition information, the vehicle travel time of the vehicle to be controlled is collected.

[0042] An enable marker is used to analyze the vehicle's driving time and determine the enable marker state of the smooth drive current used to drive the shock absorber by determining the target timer for collecting the vehicle's driving time; wherein, the enable marker state is used to reflect the transition state of the smooth drive current.

[0043] A smoothing current calculator is used to determine the smoothing drive current for driving the vibration damper according to the enabled flag state, using the initial drive current, a preset smoothing coefficient, and a preset time series.

[0044] A current synthesizer is used to acquire the initial drive current for driving the shock absorbers installed in the semi-active suspension of the vehicle to be controlled; and to determine the target drive current for driving the shock absorbers from the initial drive current and the smoothed drive current according to the enable flag state.

[0045] Furthermore, the timers built into the smoothing regulator include an upward timer and a downward timer; the timers built into the smoothing regulator collect the vehicle travel time of the vehicle to be controlled based on the operating condition information, and the timers are used for:

[0046] When the operating condition information indicates that the vehicle to be controlled has entered the target operating state, the rising timer is used to collect the vehicle's travel time; wherein, the target operating state indicates that the vehicle to be controlled has traveled to a special abnormal road condition.

[0047] When the operating condition information indicates that the vehicle to be controlled has exited the target operating state, the vehicle travel time of the vehicle to be controlled is collected using the descent timer.

[0048] Furthermore, the timer is also used for:

[0049] When the vehicle travel time collected by the target timer reaches a preset threshold, the target timer is reset.

[0050] Furthermore, the target timer includes an ascending timer and a descending timer; the enable flag in the smoothing regulator determines the enable flag state for the smoothing drive current used to drive the shock absorber by determining the target timer that collects the vehicle's travel time, and the enable flag is used for:

[0051] When the target timer is a rising timer, the enable flag state is determined to be a rising smooth state; the rising smooth state is used to indicate that the smooth drive current is in the rising smooth period.

[0052] When the target timer is a falling timer, the enable flag state is determined to be a falling smooth state; the falling smooth state is used to indicate that the smooth drive current is in the falling smooth period;

[0053] When neither the rise timer nor the fall timer is in operation, the enable flag state is determined to be non-smooth; the non-smooth state is used to indicate that the smooth drive current is in a non-smooth period.

[0054] Furthermore, the smoothing current calculator in the smoothing regulator, according to the enabled flag state, uses the initial drive current, the preset smoothing coefficient, and the preset time series to determine the smoothing drive current used to drive the vibration damper. The smoothing current calculator is used for:

[0055] When the enable flag state is the rising smooth state, the rising smooth drive current used to drive the vibration damper is determined using the initial drive current, the preset smoothing coefficient, and the preset time series.

[0056] When the enable flag state is in the downward smoothing state, the downward smoothing drive current used to drive the vibration damper is determined using the initial drive current, the preset smoothing coefficient, and the preset time series.

[0057] Furthermore, the smoothing drive current includes a rising smoothing drive current and a falling smoothing drive current; the current synthesizer in the smoothing regulator determines a target drive current for driving the damper from the initial drive current and the smoothing drive current according to the enable flag state, and the current synthesizer is used for:

[0058] When the enable flag state is a non-smooth state, the current synthesizer determines the initial drive current as the target drive current for driving the vibration damper;

[0059] When the enable flag state is in the rising smooth state, the current synthesizer determines the rising smooth drive current as the target drive current for driving the vibration damper.

[0060] When the enable flag state is in the drooping smoothing state, the current synthesizer determines the drooping smoothing drive current as the target drive current for driving the vibration damper.

[0061] This application provides a control method, system, and device for a semi-active vehicle suspension. The control method includes: acquiring an initial drive current for driving a shock absorber installed in the semi-active suspension of a vehicle under control and the operating condition information of the vehicle under control; a timer built into a smoothing regulator collects the vehicle travel time of the vehicle under control based on the operating condition information; an enable marker in the smoothing regulator analyzes the vehicle travel time and determines an enable marker state for the smoothing drive current used to drive the shock absorber by determining a target timer for collecting the vehicle travel time; wherein the enable marker state is used to reflect the transition state of the smoothing drive current; a smoothing current calculator in the smoothing regulator determines the smoothing drive current used to drive the shock absorber according to the enable marker state, using the initial drive current, a preset smoothing coefficient, and a preset time series; and a current synthesizer in the smoothing regulator determines a target drive current used to drive the shock absorber from the initial drive current and the smoothing drive current according to the enable marker state.

[0062] Compared to the existing technology that directly uses the switching drive current in open-loop control to drive the damping adjustable shock absorber in the semi-active suspension, this method improves upon the traditional method of directly outputting the switching drive current by the current switching driver, based on the vehicle's semi-active suspension system detecting sudden special road conditions during driving. A smoothing regulator is added to the semi-active suspension control system to improve the smoothness of the drive current switching. The smooth current provided will directly drive the damping adjustable shock absorber, which can improve the chassis performance of the vehicle when driving under special conditions, thereby improving the driving experience of the occupants.

[0063] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0064] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0065] Figure 1 A flowchart illustrating a control method for a semi-active vehicle suspension provided in this application embodiment;

[0066] Figure 2 This is a system structure diagram of a semi-active vehicle suspension provided in an embodiment of this application;

[0067] Figure 3 This is an example diagram showing the current variation curve of a shock absorber in a semi-active suspension of a driving vehicle, provided in an embodiment of this application.

[0068] Figure 4 This is a schematic diagram of the structure of a vehicle semi-active suspension control system provided in an embodiment of this application;

[0069] Figure 5 This is a schematic diagram of the structure of a vehicle semi-active suspension control device provided in an embodiment of this application. Detailed Implementation

[0070] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0071] Research has found that the damping characteristics of shock absorbers installed in semi-active suspensions of vehicles under open-loop control often undergo abrupt and non-smooth changes, manifested in jumps in the shock absorber drive current. These jumps can cause vibrations in the sprung or unsprung sections, affecting the passenger's riding experience and the driver's driving experience.

[0072] Based on this, this application provides a control method for a semi-active vehicle suspension. According to the semi-active vehicle suspension system, when a sudden special road condition occurs during vehicle operation, the method of switching drive current directly output by the traditional current switching driver is improved. A smoothing regulator is added to the semi-active suspension control system to improve the smoothness of drive current switching. The smooth current provided will directly drive the damping adjustable shock absorber, which can improve the chassis performance of the vehicle when driving under special conditions, thereby improving the driving experience of the occupants.

[0073] Please see Figure 1 , Figure 1 This is a flowchart illustrating a control method for a semi-active vehicle suspension provided in an embodiment of this application. Figure 1 As shown in the illustration, the vehicle semi-active suspension control method provided in this application embodiment is applied to a smooth adjuster and includes:

[0074] S101. Obtain the initial drive current for driving the shock absorbers installed in the semi-active suspension of the vehicle to be controlled and the operating condition information of the vehicle to be controlled.

[0075] It should be noted that the semi-active suspension of the vehicle under control is a controllable suspension system that uses adjustable damping shock absorbers combined with sensors to sense road conditions and vehicle posture, thereby achieving real-time online adjustment of suspension performance and improving vehicle ride comfort and stability. The initial drive current used to drive the shock absorbers installed in the semi-active suspension of the vehicle under control is the current of the adjustable damping shock absorbers output in a conventional form in the open-loop control strategy of the semi-active suspension. The initial drive current includes a low-level drive current and a high-level drive current, which correspond to the drive currents output by the shock absorbers for normal road conditions and special abnormal road conditions, respectively.

[0076] Here, the operating condition information of the vehicle to be controlled refers to the road condition information of the vehicle on uneven roads during its driving process. The operating condition information represents the operating condition of the vehicle as reflected in the road condition, including normal operating conditions and special operating conditions. The special operating conditions include special uneven road conditions such as large undulations, bumpy roads or potholes.

[0077] For a detailed description of the semi-active suspension system structure in the vehicle to be controlled, please refer to [link / reference needed]. Figure 2 , Figure 2 This is a system structure diagram of a semi-active vehicle suspension provided in an embodiment of this application. Figure 2 As shown, a vehicle 10 equipped with a damping adjustable semi-active suspension electronic control system is traveling on an uneven road and is about to pass over a large undulation bump road surface 101 or a pothole road surface 102. The damping adjustable semi-active suspension electronic control system is connected to the vehicle body equivalent mass block 20 (also known as sprung mass) and the wheel equivalent mass block 30 (also known as unsprung mass) by a spring 40 and a damping adjustable shock absorber 60. The vertical stiffness of the tire can be equivalent to a spring 50. Acceleration sensors 70 and 80, which monitor the vertical vibration of the vehicle, are respectively installed on the vehicle body equivalent mass block and the wheel equivalent mass block. The information monitored by the sensors is transmitted to the semi-active suspension control system 90, and the smoothing adjuster in the semi-active suspension control system outputs different drive currents to the damping adjustable shock absorber according to the system calculation results.

[0078] In this step, the smoothing adjuster installed in the semi-active suspension of the vehicle under control obtains information about the operating conditions of the vehicle under control from the semi-active suspension control system. The semi-active suspension control system determines the initial drive current for driving the shock absorbers installed in the semi-active suspension of the vehicle under control based on the information about the operating conditions of the vehicle under control, and sends it to the smoothing adjuster.

[0079] Specifically, the operating condition state A1, represented by the information on the operating conditions of the vehicle to be controlled obtained from the semi-active suspension control system, includes normal operating conditions and special operating conditions, and is expressed in the following form:

[0080] A1 = 1;

[0081] A1 = 0.

[0082] Where A1 is 1, it means that the operating condition information of the vehicle to be controlled is a special operating condition; when A1 is 0, it means that the operating condition information of the vehicle to be controlled is a normal operating condition.

[0083] S102. The timer built into the smoothing regulator collects the vehicle travel time of the vehicle to be controlled based on the operating condition information.

[0084] In this step, the timer in the smoothing regulator is used to record the time the vehicle under control travels under operating conditions, that is, the operating cycle time of the semi-active suspension control system of the vehicle under control. This is used to provide a basis for judging the changes in the smoothing current jump that change with time. The timer includes an ascending timer and a descending timer, which respectively represent the monotonically increasing and monotonically decreasing characteristics reflected by the smoothing current jump in the form of a function.

[0085] In one embodiment of this application, step S102 may include:

[0086] S1021. When the operating condition information indicates that the vehicle to be controlled has entered the target operating state, the vehicle travel time of the vehicle to be controlled is collected using the rising timer; wherein, the target operating state indicates that the vehicle to be controlled has traveled to a special abnormal road condition.

[0087] In this step, during the driving process of the vehicle to be controlled, the acquired operating condition information is analyzed in real time. When the operating condition information indicates that the vehicle to be controlled has changed from the normal operating condition state to the target operating condition state, the rise timer responds to the vehicle to be controlled changing from the normal operating state to the target operating state and starts timing to collect the vehicle driving time of the vehicle to be controlled.

[0088] Here, the target operating state indicates that the vehicle to be controlled has traveled to a special abnormal road condition; that is, when the vehicle to be controlled travels to a special abnormal road condition, it can be indicated that the vehicle to be controlled has entered the target operating state.

[0089] Specifically, when the operating condition information indicates that the vehicle to be controlled has entered the target operating state, that is, when the operating condition state changes from a normal operating state to a special operating state, it is indicated by the operating condition state A1 changing from 0 to 1, and the rising timer T1 starts working, that is, the timing operation is performed according to the following expression:

[0090] T1(k+1)=T1(k)+T Sample if A1(k) = 0 and A1(k+1) = 1.

[0091] Where k is the current operating cycle; k+1 is the next operating cycle; T1(k) represents the vehicle travel time of the current operating cycle collected by the rising timer; T1(k+1) represents the vehicle travel time of the next operating cycle collected by the rising timer; T Sample This indicates the preset switching time of the operating condition state. The switching time of the operating condition state is determined by the performance of the shock absorber set in the semi-active suspension of the vehicle. The common shock absorber response time to the switching of the operating condition state is between 1ms and 5ms. The better the performance of the shock absorber, the less time is required to respond to the switching of the state.

[0092] S1022. When the operating condition information indicates that the vehicle to be controlled has exited the target operating state, the vehicle travel time of the vehicle to be controlled is collected using the descent timer.

[0093] In this step, during the driving process of the vehicle to be controlled, the acquired operating condition information is analyzed in real time. When the operating condition information indicates that the vehicle to be controlled has exited the target operating condition state and entered the normal operating condition state, the timer starts timing in response to the vehicle to be controlled exiting the target operating condition state and entering the normal operating condition state, so as to collect the vehicle driving time of the vehicle to be controlled.

[0094] Specifically, when the operating condition information indicates that the vehicle to be controlled has exited the target operating state, that is, when the operating condition state changes from a special operating condition to a normal operating condition, it is indicated by the operating condition state A1 changing from 1 to 0. The rising timer T2 starts working, that is, it performs the following timing operation:

[0095] T2(k+1)=T2(k)+T Sample if A1(k) = 0 and A1(k+1) = 1.

[0096] Where T2(k) represents the vehicle travel time of the current operating cycle collected by the descent timer; T2(k+1) represents the vehicle travel time of the next operating cycle collected by the descent timer.

[0097] Optionally, in addition to the vehicle braking control method including steps S101 to S102, step S106 is also included. Specifically, step S106 is used to explain the control method for resetting the timer according to the collected vehicle driving time. After the timer built into the smoothing regulator collects the vehicle driving time of the vehicle to be controlled according to the operating condition information, a timer reset strategy is designed to make the timer stop counting and reset the time to zero.

[0098] Here, the specific steps of steps S101 to S102 are as described above, and will not be repeated here.

[0099] S106. When the vehicle travel time collected by the target timer reaches the preset threshold, the target timer is reset.

[0100] In this step, the currently running rising or falling timer is designated as the target timer. The preset threshold value is the maximum travel time of the vehicle under specific operating conditions, preset based on the shock absorber's operation. In practical applications, the preset threshold value is determined based on factors such as the vehicle's actual road conditions and the performance of the vehicle's shock absorbers, combined with the vehicle's experimental test results. When the vehicle travel time collected by the currently running rising or falling timer reaches the preset threshold value, the currently running rising or falling timer is reset to zero.

[0101] Specifically, when the vehicle travel time collected by the rising timer for the current operating cycle reaches a preset rising timer threshold, the rising timer will be reset to zero so that the vehicle travel time in the next operating cycle will be zero. Similarly, when the vehicle travel time collected by the falling timer for the current operating cycle reaches a preset falling timer threshold, the falling timer will be reset to zero so that the vehicle travel time in the next operating cycle will be zero. The timer reset expression is as follows:

[0102] T1(k+1)=0 ifT1(k)=T 1_Thd ;

[0103] T2(k+1)=0 ifT2(k)=T 2_Thd .

[0104] Among them, T 1_Thd T is the threshold value for the rising timer. 2_Thd This is the threshold value for the drop timer.

[0105] Here, since the target timer is determined based on the switching of the vehicle to be controlled entering and exiting the target operating state as indicated by the operating condition information, and the target timer will be reset when the vehicle travel time collected by the target timer reaches the preset threshold, the target timers in this scheme, including the rising timer and the falling timer, will not start at the same time.

[0106] S103. The enable marker in the smoothing regulator analyzes the vehicle driving time and determines the enable marker state of the smoothing drive current used to drive the shock absorber by determining the target timer for collecting the vehicle driving time; wherein, the enable marker state is used to reflect the jump state of the smoothing drive current.

[0107] It should be noted that, among the rising and falling timers, the timer that is currently running and has not been reset is selected as the target timer. Based on the low-order and high-order drive currents included in the initial drive current, the smoothing drive current can be determined to be the current that smoothly transitions between the low and high orders of the drive current. When the transition of the smoothing drive current from the low to the high order is a rising transition, the corresponding enable flag indicates that the smoothing drive current is in the rising smoothing period; when the transition of the smoothing drive current from the high to the low order is a falling transition, the corresponding enable flag indicates that the smoothing drive current is in the falling smoothing period.

[0108] In this step, firstly, the enable marker in the smoothing regulator analyzes the vehicle travel time collected by the timer to determine whether the target timer for collecting the vehicle travel time is an ascending timer or a descending timer; then, the enable marker state for the smoothing drive current used to drive the shock absorber is determined by judging whether the collection time result of the target timer is reset to zero.

[0109] In one embodiment of this application, step S103 may include:

[0110] S1031. When the target timer is a rising timer, the enable flag state is determined to be a rising smooth state; the rising smooth state is used to indicate that the smooth drive current is in the rising smooth period.

[0111] In this step, firstly, when the timer that is running and has not been reset is the rising timer, the rising timer is determined to be the target timer. Then, based on the vehicle travel time collected by the rising timer, the enable flag state is determined to be the rising smooth state. The rising smooth state is used to indicate that the smooth drive current is in the rising smooth period.

[0112] Specifically, when the vehicle travel time T1 collected by the rising timer is not 0 and the vehicle travel time T2 collected by the falling timer has been reset to zero, the enable flag A2 is marked as 1 to indicate that the enable flag state is the rising smooth state, that is, the smooth drive current is in the rising smooth period. The specific expression is as follows:

[0113] A2 = 1 if T1 ≠ 0 and T2 = 0.

[0114] S1032. When the target timer is a falling timer, the enable flag state is determined to be a falling smooth state; the falling smooth state is used to indicate that the smooth drive current is in the falling smooth period.

[0115] In this step, firstly, when the timer that is running and has not been reset is a falling timer, the falling timer is determined to be the target timer; then, based on the vehicle travel time collected by the falling timer, the enable flag state is determined to be a falling smooth state, which is used to indicate that the smooth drive current is in the falling smooth period.

[0116] Specifically, when the vehicle travel time T2 collected by the falling timer is not 0 and the vehicle travel time T1 collected by the rising timer has been reset to zero, the enable flag A2 is marked as 2, indicating that the enable flag state is the falling smooth state, that is, the smooth drive current is in the rising smooth period. The specific expression is as follows:

[0117] A2 = 2if T1 = 0 and T2 ≠ 0.

[0118] S1033. When neither the rising timer nor the falling timer is in operation, the enable flag state is determined to be a non-smooth state; the non-smooth state is used to indicate that the smooth drive current is in a non-smooth period.

[0119] In this step, firstly, it is determined that there are no running timers or that all timers have been reset to zero; then, based on the vehicle travel time collected by the rising timer being 0, the enable flag state is determined to be non-smooth, and the non-smooth state is used to indicate that the smooth drive current is in a non-smooth period.

[0120] Specifically, when the vehicle travel time T1 collected by the rising timer is 0 and the vehicle travel time T2 collected by the falling timer is also 0, the enable flag A2 is marked as 0 to indicate that the enable flag state is non-smooth, that is, the smooth drive current is in the non-smooth period. The specific expression is as follows:

[0121] A2=0 if T1=0 and T2=0.

[0122] S104. The smoothing current calculator in the smoothing regulator determines the smoothing drive current used to drive the vibration damper according to the enable flag state, using the initial drive current, the preset smoothing coefficient, and the preset time series.

[0123] It should be noted that the smoothing current calculator performs smoothing processing based on the low-level and high-level drive currents in the initial drive current to present a smooth and monotonic current value during the enable flag state period. The preset smoothing coefficient is determined according to the vehicle speed to be controlled. In practical applications, the smoothness of the drive current increases as the vehicle speed decreases. Similarly, the higher the vehicle speed, the less smoothing processing is applied to the initial drive circuit. Therefore, the smoothing coefficient is adjusted according to the vehicle speed to achieve the above effect; that is, as the speed increases, the smoothing coefficient is adjusted to a smaller value; as the speed decreases, the smoothing coefficient is adjusted to a larger value. The preset time series is the period series of the vehicle's operating conditions determined by the maximum number of operating condition cycles of the time series determined by the preset threshold value of the timer and the preset switching time of the operating condition state.

[0124] In this step, the smoothing current calculator in the smoothing regulator determines the calculation formula of the smoothing current corresponding to the enable mark state based on the rising smoothing period and falling smoothing period represented by the enable mark state. Here, the calculation formula of the smoothing current is a function expression corresponding to the time series set to achieve the smooth performance of the current. Using the initial drive current, the preset smoothing coefficient and the preset time series, the smoothing drive current used to drive the vibration damper is determined by the calculation formula of the smoothing current corresponding to the enable mark state.

[0125] In one embodiment of this application, step S104 may include:

[0126] S1041. When the enable flag state is the rising smooth state, the rising smooth drive current used to drive the vibration damper is determined by using the initial drive current, the preset smoothing coefficient and the preset time series.

[0127] In this step, when the rising timer starts, i.e., the vehicle travel time T1 collected by the rising timer is not equal to 0, the smoothing current calculator will start to calculate according to the following formula and give the rising smoothing current value I1(n) that varies with the preset time series:

[0128] I1(n)=I l +(I h -I l )·(1-e -x(n) / μ1(v) ).

[0129] Among them, I hThis refers to the high-order drive current value in the initial drive current; I l This represents the low-order drive current value in the initial drive current; n is the moment in the vehicle's operating cycle after triggering the start-up. Based on the preset threshold value T of the rise timer. 1_Thd The switching time T between the preset operating conditions and the preset operating state Sample The maximum number of operating cycles N in the time series during the rising smoothing period, the range of values ​​for n, and the maximum number of operating cycles N can be obtained by the following formula:

[0130] n = {1, 2, 3, ..., N}, N = T 1_Thd / T Sample .

[0131] Based on the time n during the vehicle's operating cycle, the preset time sequence x(n) is determined as follows:

[0132]

[0133] In practical implementation, μ1(v) in the formula for calculating the smoothing current is a preset smoothing coefficient. Here, the vehicle speed threshold that determines the smoothing coefficient is determined in actual application based on the characteristics of the shock absorber and experimental measurements. When the vehicle speed threshold is limited to 30km / h, the relationship between the smoothing coefficient μ1 and the vehicle speed v is shown in the following expression:

[0134] μ1=0.2ifv≤30km / h;

[0135] μ1 = 0.1ifv > 30km / h.

[0136] S1042. When the enable flag state is in the descending smoothing state, the descending smoothing drive current used to drive the vibration damper is determined by using the initial drive current, the preset smoothing coefficient, and the preset time series.

[0137] In this step, when the descent timer starts (i.e., the vehicle travel time T2≠0 collected by the descent timer), the smoothing current calculator will start calculating according to the following formula and give the descent smoothing current value I2(n) that varies with the preset time series:

[0138]

[0139] Among them, I h I l The definition of x(n) is the same as in step S1041, based on the preset threshold value T of the falling timer. 2_Thd The switching time T between the preset operating conditions and the preset operating state SampleThe maximum number of operating cycles N in the time series during the descent smoothing period, the range of values ​​for n, and the maximum number of operating cycles N can be obtained by the following formula:

[0140] n = {1, 2, 3, ..., N}, N = T 2_Thd / T Sample .

[0141] In practical implementation, μ2(v) in the formula for calculating the smoothing current is a preset descent smoothing coefficient. Here, the vehicle speed threshold that determines the descent smoothing coefficient is determined in actual applications based on the characteristics of the shock absorber and experimental measurements. When the vehicle speed threshold is limited to 30km / h, the relationship between the descent smoothing coefficient μ2 and the vehicle speed v is shown in the following expression:

[0142] μ2=0.3ifv≤30km / h;

[0143] μ2=0.15ifv>30km / h.

[0144] S105. The current synthesizer in the smoothing regulator determines the target drive current for driving the vibration damper from the initial drive current and the smoothing drive current according to the enable flag state.

[0145] In this step, the current synthesizer in the smoothing regulator determines the target drive current I3 for driving the damper based on the initial drive current I0, the rising smooth drive current I1, the falling smooth drive current I2, and the enable flag state result given by the enable flag A2.

[0146] In one embodiment of this application, step S105 may include:

[0147] S1051. When the enable flag state is a non-smooth state, the current synthesizer determines the initial drive current as the target drive current for driving the vibration damper.

[0148] In this step, when the enable flag state A2 is 0, indicating a non-smooth state, the current synthesizer I3 determines the initial drive current I0 as the target drive current for driving the damper, as specifically expressed below:

[0149] I3 = I0 if A2 = 0.

[0150] S1052. When the enable flag state is the rising smooth state, the current synthesizer determines the rising smooth drive current as the target drive current for driving the vibration damper.

[0151] In this step, when the enable flag state A2 is 1, indicating a rising smoothing state, the current synthesizer I3 determines the rising smoothing drive current I1 as the target drive current for driving the damper. The specific relationship is as follows:

[0152] I3 = I1 if A2 = 1.

[0153] S1053. When the enable flag state is in the falling smooth state, the current synthesizer determines the falling smooth drive current as the target drive current for driving the vibration damper.

[0154] In this step, when the enable flag state A2 is 2, indicating a descent smoothing state, the current synthesizer I3 determines the descent smoothing drive current I2 as the target drive current for driving the damper, as specifically expressed below:

[0155] I3 = I2ifA2 = 2.

[0156] Specifically, one embodiment tests the effect of current on shock absorbers used in a semi-active suspension of a vehicle; see [link to relevant documentation]. Figure 3 , Figure 3 This is an example diagram showing the current variation curve of a shock absorber in a semi-active suspension of a driving vehicle, provided as an embodiment of this application. Figure 3 As shown in the figure, the solid line representing the current is the comparative example, i.e., the initial drive current I0 without smoothing. Figure 3 The dashed and dotted lines in the diagram represent the drive current after smoothing at low vehicle speeds and the drive current after smoothing at high vehicle speeds, respectively. Figure 3 The horizontal axis represents the vehicle travel time, and the vertical axis represents the target drive current amplitude used to drive the shock absorber. From Figure 3 It can be seen that the initial drive current switching between high and low drive current values ​​is simple and direct. This sudden change in current is a poor performance in the time control application of semi-active suspension. After being processed by the smoothing mechanism of this solution, the change in current between high and low values ​​becomes smoother.

[0157] This application provides a control method for a semi-active vehicle suspension. The method involves acquiring the initial drive current for driving a shock absorber installed within the semi-active suspension of a vehicle under control, and the operating condition information of the vehicle. A timer built into the smoothing regulator collects the vehicle's travel time based on the operating condition information. An enable flag in the smoothing regulator analyzes the vehicle's travel time and determines the enable flag state of the smoothing drive current for driving the shock absorber by determining a target timer for collecting the vehicle's travel time. The enable flag state reflects the transition state of the smoothing drive current. A smoothing current calculator in the smoothing regulator determines the smoothing drive current for driving the shock absorber based on the enable flag state, using the initial drive current, a preset smoothing coefficient, and a preset time series. A current synthesizer in the smoothing regulator determines the target drive current for driving the shock absorber from the initial drive current and the smoothing drive current based on the enable flag state. In this way, based on the vehicle's semi-active suspension system detecting sudden special road conditions during driving, the traditional method of directly outputting switching drive current by the current switching driver is improved. A smoothing regulator is added to the semi-active suspension control system to improve the smoothness of drive current switching. The smooth current provided will directly drive the damping adjustable shock absorber, which can improve the chassis performance of the vehicle when driving under special conditions, thereby improving the driving experience of the people in the vehicle.

[0158] Please see Figure 4 , Figure 4 This is a schematic diagram of a semi-active vehicle suspension control system provided in an embodiment of this application. Figure 4 As shown, the semi-active suspension control system 90 includes a special operating condition identifier 930, a current switching driver 920, and a smoothing regulator 910:

[0159] The special operating condition identifier 930 processes the received first vibration acceleration and second vibration acceleration to determine the operating condition information, and sends the determined operating condition information to the current switching driver 920 and the smoothing regulator 910.

[0160] The current switching driver 920 determines the initial drive current based on the operating condition information and sends the determined initial drive current to the smoothing regulator 910;

[0161] The smoothing regulator 910 determines the target drive current for driving the vibration damper 60 based on the operating condition information and the initial drive current.

[0162] Furthermore, the step of processing the received first vibration acceleration and second vibration acceleration by the special working condition identifier 930 to determine the operating condition information includes:

[0163] The special condition identifier 930 in the semi-active suspension of the vehicle under control receives the first vibration acceleration of the sprung mass in the vertical direction and the second vibration acceleration of the unsprung mass in the vertical direction in the semi-active suspension of the vehicle under control.

[0164] The first vibration acceleration and the second vibration acceleration are numerically integrated to determine the operating condition parameters, and it is determined whether the operating condition parameters are greater than the preset operating condition threshold.

[0165] If so, confirming the operating condition information indicates that the vehicle to be controlled has entered the target operating state;

[0166] If not, the confirmed operating condition information indicates that the vehicle to be controlled has exited the target operating state.

[0167] Specifically, the special operating condition identifier 930 determines the operating condition status based on the first vertical vibration acceleration of the sprung mass and the second vertical vibration acceleration of the unsprung mass in the semi-active suspension of the vehicle under control, in the following manner:

[0168]

[0169]

[0170] Where A1 is 1, it indicates that the target operating state has been entered; A1 is 0, it indicates that the target operating state has been exited, i.e., the normal operating condition has been entered. s and a u These represent the first vertical acceleration of the sprung mass and the second vertical acceleration of the unsprung mass, respectively, where t is time and z is the velocity. thd The threshold for judging the target operating condition status.

[0171] Furthermore, the step of determining the initial drive current by the current switching driver 920 based on the operating condition information includes:

[0172] The current switching driver 920 in the semi-active suspension of the vehicle to be controlled indicates whether the vehicle to be controlled has entered the target operating state based on the operating condition information, and determines the initial drive current.

[0173] If so, the current switching driver 920 determines that the initial drive current is a high-level drive current;

[0174] If not, the current switching driver 920 determines that the initial drive current is a low-level drive current.

[0175] Specifically, based on the calculation results of the special operating condition identifier 930, the current switching driver 920 will provide the initial drive current in the following manner:

[0176] I0 = I h ifA1=1

[0177] I0 = I l ifA1=0

[0178] Where A1 represents the aforementioned enable flag state; I0 is the initial drive current output by the current switching driver 920; I h For high-level drive current; I l For low-level drive current, I h and I l The specific value is generally determined by experimental testing of the vibration damper and in combination with the specific characteristics of the vibration damper.

[0179] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a vehicle semi-active suspension control device provided in an embodiment of this application. Figure 5 As shown, the control device 910 includes:

[0180] Timer 911 is used to acquire the operating condition information of the vehicle to be controlled; and to collect the vehicle travel time of the vehicle to be controlled based on the operating condition information.

[0181] Enable marker 912 is used to analyze the vehicle driving time and determine the enable marker state of the smooth drive current used to drive the shock absorber by determining the target timer for collecting the vehicle driving time; wherein, the enable marker state is used to reflect the jump state of the smooth drive current.

[0182] Smoothing current calculator 913 is used to determine the smooth driving current for driving the vibration damper according to the enabled flag state, using the initial driving current, the preset smoothing coefficient and the preset time series;

[0183] The current synthesizer 914 is used to acquire the initial drive current for driving the shock absorber installed in the semi-active suspension of the vehicle to be controlled; and to determine the target drive current for driving the shock absorber from the initial drive current and the smoothed drive current according to the enable flag state.

[0184] Furthermore, the timer 911 built into the smoothing regulator includes an upward timer and a downward timer; the timer 911 built into the smoothing regulator collects the vehicle travel time of the vehicle to be controlled according to the operating condition information, and the timer 911 is used for:

[0185] When the operating condition information indicates that the vehicle to be controlled has entered the target operating state, the rising timer is used to collect the vehicle's travel time; wherein, the target operating state indicates that the vehicle to be controlled has traveled to a special abnormal road condition.

[0186] When the operating condition information indicates that the vehicle to be controlled has exited the target operating state, the vehicle travel time of the vehicle to be controlled is collected using the descent timer.

[0187] Furthermore, the timer 911 is also used for:

[0188] When the vehicle travel time collected by the target timer 911 reaches a preset threshold, the target timer 911 is reset.

[0189] Furthermore, the target timer 911 includes an ascending timer and a descending timer; the enable marker 912 in the smoothing regulator determines the enable marker state for the smoothing drive current used to drive the shock absorber by determining the target timer that collects the vehicle's travel time, and the enable marker 912 is used for:

[0190] When the target timer 911 is a rising timer, the enable flag state is determined to be a rising smooth state; the rising smooth state is used to indicate that the smooth drive current is in the rising smooth period.

[0191] When the target timer 911 is a falling timer, the enable flag state is determined to be a falling smooth state; the falling smooth state is used to indicate that the smooth drive current is in the falling smooth period;

[0192] When neither the rise timer nor the fall timer is in operation, the enable flag state is determined to be non-smooth; the non-smooth state is used to indicate that the smooth drive current is in a non-smooth period.

[0193] Furthermore, the smoothing current calculator 913 in the smoothing regulator, according to the enabled flag state, uses the initial drive current, the preset smoothing coefficient, and the preset time series to determine the smoothing drive current used to drive the vibration damper. The smoothing current calculator 913 is used for:

[0194] When the enable flag state is the rising smooth state, the rising smooth drive current used to drive the vibration damper is determined using the initial drive current, the preset smoothing coefficient, and the preset time series.

[0195] When the enable flag state is in the downward smoothing state, the downward smoothing drive current used to drive the vibration damper is determined using the initial drive current, the preset smoothing coefficient, and the preset time series.

[0196] Furthermore, the smoothing drive current includes a rising smoothing drive current and a falling smoothing drive current; the current synthesizer 914 in the smoothing regulator determines a target drive current for driving the damper from the initial drive current and the smoothing drive current according to the enable flag state, and the current synthesizer 914 is used for:

[0197] When the enable flag state is a non-smooth state, the current synthesizer 914 determines the initial drive current as the target drive current for driving the vibration damper.

[0198] When the enable flag state is in the rising smooth state, the current synthesizer 914 determines the rising smooth drive current as the target drive current for driving the damper.

[0199] When the enable flag state is in the drooping smoothing state, the current synthesizer 914 determines the drooping smoothing drive current as the target drive current for driving the damper.

[0200] The vehicle semi-active suspension control device provided in this application embodiment acquires the initial drive current for driving the shock absorbers installed in the semi-active suspension of the vehicle to be controlled and the operating condition information of the vehicle to be controlled; the timer built into the smoothing regulator collects the vehicle travel time of the vehicle to be controlled according to the operating condition information; the enable marker in the smoothing regulator analyzes the vehicle travel time and determines the enable marker state of the smoothing drive current for driving the shock absorbers by determining the target timer for collecting the vehicle travel time; wherein, the enable marker state is used to reflect the jump state of the smoothing drive current; the smoothing current calculator in the smoothing regulator determines the smoothing drive current for driving the shock absorbers according to the enable marker state, using the initial drive current, a preset smoothing coefficient, and a preset time series; the current synthesizer in the smoothing regulator determines the target drive current for driving the shock absorbers from the initial drive current and the smoothing drive current according to the enable marker state. In this way, based on the vehicle's semi-active suspension system detecting sudden special road conditions during driving, the traditional method of directly outputting switching drive current by the current switching driver is improved. A smoothing regulator is added to the semi-active suspension control system to improve the smoothness of drive current switching. The smooth current provided will directly drive the damping adjustable shock absorber, which can improve the chassis performance of the vehicle when driving under special conditions, thereby improving the driving experience of the people in the vehicle.

[0201] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0202] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0203] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0204] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0205] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0206] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for a vehicle semi-active suspension, characterized in that, The control method, applied to a smooth regulator, includes: Acquire the initial drive current for driving the shock absorbers installed in the semi-active suspension of the vehicle under control and the operating condition information of the vehicle under control; The timer built into the smoothing regulator collects the vehicle travel time of the vehicle to be controlled based on the operating condition information. The enable marker in the smoothing regulator analyzes the vehicle's travel time and determines the enable marker state of the smoothing drive current used to drive the shock absorber by determining the target timer for collecting the vehicle's travel time; wherein, the enable marker state is used to reflect the transition state of the smoothing drive current; the enable marker state includes rising smoothing state, falling smoothing state, and non-smooth state. The smoothing current calculator in the smoothing regulator determines the smoothing drive current used to drive the shock absorber according to the enable flag state, using the initial drive current, the preset smoothing coefficient, and the preset time series; the preset time series is the maximum number of operating cycle periods of the time series determined based on the preset threshold value of the timer and the preset switching time of the operating condition state, and is thus determined as the cycle series of the operating condition of the vehicle to be controlled. The current synthesizer in the smoothing regulator determines the target drive current for driving the damper from the initial drive current and the smoothing drive current based on the enable flag state.

2. The method according to claim 1, characterized in that, The smoothing regulator has built-in timers including an upward timer and a downward timer; the timers built into the smoothing regulator collect the vehicle travel time of the vehicle to be controlled based on the operating condition information, including: When the operating condition information indicates that the vehicle to be controlled has entered the target operating state, the rising timer is used to collect the vehicle's travel time; wherein, the target operating state indicates that the vehicle has entered a special abnormal road condition. When the operating condition information indicates that the vehicle to be controlled has exited the target operating state, the vehicle travel time of the vehicle to be controlled is collected using the descent timer.

3. The method according to claim 1, characterized in that, The control method further includes: When the vehicle travel time collected by the target timer reaches a preset threshold, the target timer is reset.

4. The method according to claim 1, characterized in that, The target timer includes an ascending timer and a descending timer; the enable flag in the smoothing regulator determines the enable flag state for the smoothing drive current used to drive the shock absorber by determining the target timer that collects the vehicle's travel time, including: When the target timer is a rising timer, the enable flag state is determined to be a rising smooth state; the rising smooth state is used to indicate that the smooth drive current is in the rising smooth period. When the target timer is a falling timer, the enable flag state is determined to be a falling smooth state; the falling smooth state is used to indicate that the smooth drive current is in the falling smooth period; When neither the rise timer nor the fall timer is in operation, the enable flag state is determined to be non-smooth; the non-smooth state is used to indicate that the smooth drive current is in a non-smooth period.

5. The method according to claim 1, characterized in that, The smoothing current calculator in the smoothing regulator determines the smoothing drive current used to drive the vibration damper according to the enabled flag state, using the initial drive current, the preset smoothing coefficient, and the preset time series, including: When the enable flag state is the rising smooth state, the rising smooth drive current used to drive the vibration damper is determined using the initial drive current, the preset smoothing coefficient, and the preset time series. When the enable flag state is in the descent smoothing state, the descent smoothing drive current used to drive the vibration damper is determined using the initial drive current, the preset smoothing coefficient, and the preset time series.

6. The method according to claim 1, characterized in that, The smoothing drive current includes an increasing smoothing drive current and a decreasing smoothing drive current; the current synthesizer in the smoothing regulator determines a target drive current for driving the damper from the initial drive current and the smoothing drive current based on the enable flag state, including: When the enable flag state is a non-smooth state, the current synthesizer determines the initial drive current as the target drive current for driving the vibration damper; When the enable flag state is in the rising smooth state, the current synthesizer determines the rising smooth drive current as the target drive current for driving the vibration damper. When the enable flag state is in the drooping smoothing state, the current synthesizer determines the drooping smoothing drive current as the target drive current for driving the vibration damper.

7. A control system for a semi-active vehicle suspension, characterized in that, The control system includes a special operating condition identifier and a current switching driver; the control system is used to implement the control method as described in any one of claims 1 to 6; The special operating condition identifier processes the received first vibration acceleration and second vibration acceleration to determine the operating condition information, and sends the determined operating condition information to the current switching driver and the smoothing regulator. The current switching driver determines the initial drive current based on the operating condition information and sends the determined initial drive current to the smoothing regulator; The smoothing regulator determines the target drive current for driving the vibration damper based on the operating condition information and the initial drive current.

8. The control system according to claim 7, characterized in that, The special operating condition identifier processes the received first and second vibration accelerations to determine the operating condition information, including: The special condition identifier in the semi-active suspension of the vehicle under control receives the first vibration acceleration of the sprung mass in the vertical direction and the second vibration acceleration of the unsprung mass in the vertical direction in the semi-active suspension of the vehicle under control. The first vibration acceleration and the second vibration acceleration are numerically integrated to determine the operating condition parameters, and it is determined whether the operating condition parameters are greater than the preset operating condition threshold. If so, confirming the operating condition information indicates that the vehicle to be controlled has entered the target operating state; If not, the confirmed operating condition information indicates that the vehicle to be controlled has exited the target operating state.

9. The control system according to claim 7, characterized in that, The current switching driver determines the initial drive current based on the operating condition information, including: The current switching driver in the semi-active suspension of the vehicle under control indicates whether the vehicle under control has entered the target operating state based on the operating condition information, and determines the initial drive current. If so, the current switching driver determines that the initial drive current is a high-level drive current; If not, the current switching driver determines that the initial drive current is a low-level drive current.

10. A control device for a vehicle semi-active suspension, characterized in that, The control device is used to perform the control method as described in any one of claims 1 to 6; the control device includes: A timer is used to acquire the operating condition information of the vehicle to be controlled; based on the operating condition information, the vehicle travel time of the vehicle to be controlled is collected. An enable marker is used to analyze the vehicle's driving time and determine the enable marker state of the smooth drive current used to drive the shock absorber by determining the target timer for collecting the vehicle's driving time; wherein, the enable marker state is used to reflect the transition state of the smooth drive current. A smoothing current calculator is used to determine the smoothing drive current for driving the vibration damper according to the enabled flag state, using the initial drive current, a preset smoothing coefficient, and a preset time series. A current synthesizer is used to acquire the initial drive current for driving the shock absorbers installed in the semi-active suspension of the vehicle to be controlled; and to determine the target drive current for driving the shock absorbers from the initial drive current and the smoothed drive current according to the enable flag state.

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