Suspension assembly control system and vehicle

Abstract

The present invention discloses a control system and a vehicle of a suspension assembly, wherein the suspension assembly includes a shock absorber, an air spring, a controller and a plurality of control arms, wherein the shock absorber is connected between a vehicle body and one of the plurality of control arms, the controller is respectively connected to the shock absorber and the air spring, the air spring is installed between a vehicle body longitudinal beam and a control arm connected to the shock absorber, and the controller is configured to include: obtaining road condition information and a current height of a vehicle body; determining a vehicle body adjustment height according to the road condition information and the current height of the vehicle body; and controlling at least one of the shock absorber and the air spring according to the vehicle body adjustment height to adjust the height of the vehicle body or control the vehicle to take off. Thus, the height of the vehicle body can be adjusted by controlling at least one of the shock absorber and the air spring according to the road condition information of the vehicle being driven or about to be driven and the current height of the vehicle body, so as to meet the adjustment requirements of quickly lifting the vehicle body during the vehicle's travel, and improve the obstacle crossing capability and driving safety of the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a control system of a suspension assembly and a vehicle. Background Art

[0002] Currently, vehicles are equipped with air suspensions, and the height of the entire vehicle is adjusted by adjusting the height of the air spring. Since the height change of the air spring is achieved by the pressure in the airbag, the vehicle height cannot be adjusted quickly, resulting in low vehicle height adjustment efficiency and slow response. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a control system of a suspension assembly to improve the obstacle crossing capability of a vehicle, and the suspension assembly has high body height adjustment efficiency.

[0004] The present invention also provides a vehicle.

[0005] According to the control system of the suspension assembly of the first aspect of the present invention, the control system includes a shock absorber, an air spring, a controller and a plurality of control arms, the shock absorber is connected between the vehicle body and one of the plurality of control arms, the air spring is installed between the vehicle body longitudinal beam and the control arm connected to the shock absorber, and the controller is connected to the shock absorber and the air spring respectively; the controller is used to obtain road condition information and the current height of the vehicle body; determine the vehicle body adjustment height according to the road condition information and the current height of the vehicle body; and control at least one of the shock absorber and the air spring according to the vehicle body adjustment height to increase the ground clearance of the vehicle body so that the vehicle can safely cross obstacles.

[0006] According to the control system of the suspension assembly of the embodiment of the present invention, the height of the vehicle body can be adjusted by controlling at least one of the shock absorber and the air spring according to the road condition information on which the vehicle is traveling or about to travel and the current height of the vehicle body. The shock absorber has a fast response speed, which can meet the adjustment requirements of quickly lifting the vehicle body during the movement of the vehicle, thereby improving the vehicle's obstacle crossing capability and driving safety.

[0007] According to some embodiments of the present invention, the controller is further configured to: determine the vehicle body adjustment height according to the following formula: ΔH = H1-h. Wherein, ΔH is the vehicle body adjustment height, H1 is the height of the road obstacle, h is the current height of the vehicle body, and the road condition information includes the height of the road obstacle.

[0008] According to some embodiments of the present invention, the controller is further configured to: obtain a change in the sprung mass of the air spring when the vehicle body adjustment height is less than or equal to zero; and adjust the stiffness of the air spring according to the sprung mass change.

[0009] According to some embodiments of the present invention, the controller is further configured to: obtain a change in the sprung mass of the air spring when the vehicle body adjustment height is less than or equal to zero; and adjust the stiffness of the air spring according to the sprung mass change.

[0010] According to some embodiments of the present invention, the controller is configured to: when the driving mode of the vehicle is a first driving mode, adjust the damping of the shock absorber according to a first damping force curve; when the driving mode of the vehicle is a second driving mode, adjust the damping of the shock absorber according to a second damping force curve, wherein the first driving mode is different from the second driving mode, and the damping change rates of the first damping force curve and the second damping force curve are different.

[0011] According to some embodiments of the present invention, at least one of the shock absorber and the air spring is controlled according to the adjustable height of the vehicle body, including: when the adjustable height of the vehicle body is greater than zero and less than or equal to the adjustable height of the vehicle body, the shock absorber is controlled to lift the vehicle body, and after the vehicle body is lifted to the target height, the air spring is controlled to maintain the height.

[0012] According to some embodiments of the present invention, controlling the shock absorber and the air spring to lift the vehicle body includes: controlling the shock absorber to generate thrust to lift the vehicle body to a preset height; controlling the solenoid valve of the air spring to fix the current height of the vehicle body at the preset height, and controlling the shock absorber to stop working.

[0013] According to some embodiments of the present invention, at least one of the shock absorber and the air spring is controlled according to the adjustable height of the vehicle body, including: obtaining the maximum height of the vehicle body; determining the adjustable height of the vehicle body according to the maximum height of the vehicle body and the current height of the vehicle body; when the adjustable height of the vehicle body is greater than the adjustable height of the vehicle body, controlling the shock absorber to generate thrust to make the vehicle jump.

[0014] According to some embodiments of the present invention, at least one of the shock absorber and the air spring is controlled according to the adjustable height of the vehicle body, including: obtaining the maximum height of the vehicle body; determining the adjustable height of the vehicle body according to the maximum height of the vehicle body and the current height of the vehicle body; when the adjustable height of the vehicle body is greater than the adjustable height of the vehicle body, controlling the shock absorber and the air spring to generate thrust to make the vehicle jump.

[0015] According to some embodiments of the present invention, controlling the shock absorber and the air spring to generate thrust to enable the vehicle to jump includes: controlling the shock absorber according to a first current so that the shock absorber stores energy, and controlling the solenoid valve of the air spring so that the air spring is in a pre-compression state;

[0016] The shock absorber is controlled according to a second current so that the shock absorber and the air spring generate thrust to control the vehicle to take off, and the direction of the first current is opposite to the direction of the second current.

[0017] According to some embodiments of the present invention, after the vehicle takes off, the controller is configured to: control the shock absorber according to the first current to increase the distance between the wheels of the vehicle and the ground.

[0018] A vehicle according to an embodiment of the second aspect of the present invention comprises the control system of the above-mentioned suspension assembly.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] Figure 1 is a control flow chart of a controller of a suspension assembly according to an embodiment of the present invention Figure 1 ;

[0022] Figure 2 is a control flow chart of a controller of a suspension assembly according to an embodiment of the present invention Figure 2 ;

[0023] Figure 3 is a schematic diagram of a control system of a suspension assembly according to an embodiment of the present invention;

[0024] Figure 4 is a schematic diagram of a vehicle taking off according to an embodiment of the present invention;

[0025] Figure 5 is a schematic diagram of a road surface according to an embodiment of the present invention;

[0026] Figure 6 is a FV damping curve diagram of a shock absorber according to an embodiment of the present invention;

[0027] Figure 7 is a schematic diagram of a suspension assembly according to an embodiment of the present invention.

[0028] Reference numerals:

[0029] Suspension assembly 100;

[0030] Subframe 1; shock absorber 2; steering knuckle 3; front upper control arm 4; front lower control arm 5; rear upper control arm 6 rear lower control arm 7; toe control arm 8; stabilizer bar tie rod 9; lateral stabilizer bar 10; air spring 11. DETAILED DESCRIPTION

[0031] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0032] Reference below Figure 1-Figure 7 A control system of a suspension assembly according to an embodiment of the present invention is described.

[0033] The suspension assembly 100 according to the embodiment of the present invention includes a shock absorber 2, an air spring 11, a controller and a plurality of control arms. The shock absorber 2 is connected between the vehicle body and one of the plurality of control arms. The controller is respectively connected to the shock absorber 2 and the air spring 11. The shock absorber 2 can bear the sprung mass of the entire vehicle and can also buffer the wheel end vibration caused by road excitation, thereby improving the comfort of the entire vehicle.

[0034] In the present application, the suspension assembly 100 includes a subframe 1, a shock absorber 2, a steering knuckle 3, a front upper control arm 4, a front lower control arm 5, a rear upper control arm 6, a rear lower control arm 7, a toe control arm 8, a stabilizer bar 9, a lateral stabilizer bar 10 and an air spring 11.

[0035] Among them, the steering knuckle 3 is connected to the wheel, the inner end of the front upper control arm 4 is connected to the subframe 1 through a bushing, and the outer end of the front upper control arm 4 is connected to the steering knuckle 3 through a bushing; the inner end of the front lower control arm 5 is connected to the subframe 1 through a bushing, and the outer end of the front lower control arm 5 is connected to the steering knuckle 3 through a bushing; the inner end of the rear upper control arm 6 is connected to the subframe 1 through a bushing, and the outer end of the rear upper control arm 6 is connected to the steering knuckle 3 through a bushing; the inner end of the rear lower control arm 7 is connected to the subframe 1 through a bushing, and the outer end of the rear lower control arm 7 is connected to the steering knuckle 3 through a bushing; the inner end of the front toe control arm 8 is connected to the subframe 1 through a bushing, and the outer end of the front toe control arm 8 is connected to the steering knuckle 3 through a bushing The lower end of the stabilizer bar tie rod 9 is connected to the rear upper control arm 6 through a ball head, and the upper end of the stabilizer bar tie rod 9 is connected to the lateral stabilizer bar 10 through a ball head; the lateral stabilizer bar 10 is connected to the subframe 1 through a bushing; the lower end of the shock absorber 2 is connected to the rear lower control arm 7 through a bushing, and the upper end of the shock absorber 2 is fixedly connected to the top of the shock absorber 2 mounting tower of the vehicle body through bolts; the air spring 11 is installed between the vehicle body longitudinal beam and the rear lower control arm 7, and the upper and lower ends of the air spring 11 are limited by rubber pads, and each suspension arm (that is, the above-mentioned multiple control arms) and the connection relationship between each other constitute a suspension assembly 100, and the subframe 1 connects the suspension assembly 100 to the vehicle body through a bushing.

[0036] The suspension assembly 100 has at least the following functions: first, the suspension assembly 100 bears the mass on the spring; second, the suspension assembly 100 is used to control the wheels to move smoothly along a predetermined trajectory to ensure smooth driving of the entire vehicle; the suspension assembly 100 can also buffer the vibration caused by the excitation of the wheels by the road surface, reduce the vibration of the entire vehicle, and improve the comfort of the entire vehicle.

[0037] It is understandable that the function of the suspension assembly 100 is achieved by the joint action of multiple components constituting the suspension assembly 100, and the functions of each component are different. Among them, the front upper control arm 4, the front lower control arm 5, the rear upper control arm 6, and the rear lower control arm 7 jointly control the movement of the wheel on the XZ plane; the toe control arm 8 controls the adjustment of the toe of the wheel; the main function of the air spring 11 is to bear the mass on the spring, and the air spring 11 can also adjust the height of the vehicle body by adjusting the air pressure in the air spring 11; the main function of the shock absorber 2 is to buffer the impact caused by road excitation and improve the comfort of the whole vehicle.

[0038] The shock absorber in the present application is composed of a linear motor. According to the characteristics of the motor, the shock absorber can achieve rapid changes in thrust, so the suspension assembly also has the function of quickly adjusting the vehicle body height to achieve transient lifting of the vehicle height.

[0039] The controller of the suspension assembly according to an embodiment of the present invention is used to: obtain road condition information and the current height of the vehicle body; determine the vehicle body adjustment height according to the road condition information and the current height of the vehicle body; control at least one of the shock absorber and the air spring according to the vehicle body adjustment height to increase the ground clearance of the vehicle body so that the vehicle can safely overcome obstacles.

[0040] It should be noted that the “current height of the vehicle body” can be understood as the current height of the vehicle body from the ground, and the “adjusted vehicle body height” can be understood as the vehicle body height that needs to be adjusted based on the current height of the vehicle body to meet the road conditions ahead.

[0041] Based on the acquired road condition information and the current height of the vehicle body, the vehicle body adjustment height can be determined, and further by controlling at least one of the shock absorber and the air spring, the vehicle's obstacle crossing ability is improved by increasing the ground clearance of the vehicle body, ensuring that the vehicle can smoothly pass the road conditions ahead in the direction of travel, thereby ensuring the vehicle's passability.

[0042] Among them, the adjustment methods of the suspension assembly in this application include multiple methods, such as: adjusting the height of the vehicle body by controlling the shock absorber, adjusting the height of the vehicle body by controlling the air spring, adjusting the height of the vehicle body by controlling the shock absorber and the air spring together, etc.

[0043] It is understandable that the shock absorber can be constructed as a linear motor shock absorber, and both the shock absorber and the air spring can be used to lift the vehicle body to adjust the height of the vehicle body, and the shock absorber has a faster response speed than the air spring, and can achieve transient lifting of the vehicle body to quickly increase the height of the vehicle body in a short time. If the vehicle needs to raise the height of the vehicle body to meet the needs of passing the road ahead during the driving process, the height of the vehicle body can be adjusted by quickly lifting the shock absorber. If the vehicle is in the parking or starting stage, the height of the vehicle body can be adjusted only by the air spring to adjust the height of the vehicle body to a height that matches the vehicle driving mode.

[0044] It should be noted that the air spring adjusts the height of the vehicle body by adjusting the pressure to achieve the change of the air spring stiffness. The air spring usually adjusts the height of the vehicle body to the target height according to the driving mode. The adjustment rate is slow, so the air spring is usually used to adjust the height of the vehicle body when the vehicle is about to travel on the selected road conditions (such as highways, ordinary roads, off-road roads, etc.).

[0045] It can be further understood that during the movement of the vehicle, when there is a raised structure on the road surface, there is a risk of scratching the chassis when the vehicle passes through the section, which can easily cause damage to the vehicle and affect driving safety; when there is a recessed structure on the road surface, when the vehicle passes through the section, if the wheel sinks into the recessed structure, there is a risk of scratching the chassis of the vehicle with the edge of the recessed structure, thereby causing damage to the vehicle and affecting driving safety.

[0046] Therefore, it is necessary to improve the vehicle's obstacle crossing ability by adjusting the vehicle body height (i.e. the vehicle body ground clearance), prevent the chassis from scratching against obstacles, and improve driving safety and reliability.

[0047] According to the control system of the suspension assembly of the embodiment of the present invention, the height of the vehicle body can be adjusted by controlling at least one of the shock absorber and the air spring according to the road condition information on which the vehicle is traveling or about to travel and the current height of the vehicle body. The shock absorber has a fast response speed, which can meet the adjustment requirements of quickly lifting the vehicle body during the movement of the vehicle, thereby improving the vehicle's obstacle crossing capability and driving safety.

[0048] The obstacle may be a raised structure or a recessed structure on the road surface.

[0049] Reference Figure 5 When the obstacle is a bulge, the above “height of the road obstacle” refers to the vertical distance between the highest point of the bulge and the road surface; when the obstacle is a pit, the above “height of the road obstacle” refers to the vertical distance between the lowest point of the pit and the road surface. In other words, the road condition information refers to the absolute value of the height between the obstacle (bulge or pit) and the road surface.

[0050] It is understandable that when the height of a road obstacle is greater than the current height of the vehicle body, the vehicle will scrape against the obstacle when passing through a road section where the obstacle exists, thereby causing damage to the vehicle.

[0051] In a further embodiment of the present invention, the vehicle body adjustment height is determined according to the following formula: ΔH=H1-h, wherein ΔH is the vehicle body adjustment height, H1 is the height of the road obstacle, and h is the current height of the vehicle body.

[0052] △H is the height parameter that the vehicle body needs to be adjusted to ensure that it can pass through a road section with obstacles without scratching. When the vehicle body is adjusted upward by △H through the shock absorber, the vehicle can safely pass through the road section with obstacles.

[0053] Among them, △H is determined by H1 and h. When H1≤h, △H is a negative value. At this time, there is no need to adjust the vehicle body height to meet the vehicle's passing needs. When H1>h, △H is a positive value, and the shock absorber needs to be used to adjust the vehicle body upward to meet the vehicle's passing needs.

[0054] It should be noted that the vehicle body adjustment height △H is the difference between the height H1 of the road obstacle and the current height h of the vehicle body. In practical applications, the actual adjustment height of the vehicle body can be △H+H2, where H2 is the reserved height value (such as 20mm, 30mm, etc.), so that after the vehicle body height is adjusted, a certain gap can be reserved between the vehicle body and the obstacle, further improving the vehicle's passability.

[0055] In some embodiments of the present invention, the controller is also configured to obtain the change in the sprung mass of the air spring when the vehicle body adjustment height is less than or equal to zero, and adjust the stiffness of the air spring according to the sprung mass change to improve the driving comfort of the vehicle.

[0056] Among them, when △H≤0, the shock absorber and the air spring do not play the lifting function. The air spring can actively adjust its own stiffness according to the change of the emperor's mass to ensure that the vehicle's frequency deviation remains unchanged, maintain the smoothness and comfort of the vehicle's driving, and enhance the driving experience of the driver and passengers.

[0057] It can be further understood that when △H≤0, the vehicle body height does not need to be adjusted upwards, and the vehicle passing requirement can be met, that is, there is no need to adjust the height of the vehicle body through the shock absorber or air spring. Therefore, the damping of the shock absorber can be further adjusted according to the driving mode of the vehicle to improve the driving comfort of the vehicle.

[0058] like Figure 6 As shown, in a further embodiment of the present invention, the controller is further configured to: when the vehicle body adjustment height is less than or equal to zero, obtain the change in the sprung mass of the air spring, and obtain the driving mode of the vehicle, and adjust the stiffness of the air spring according to the sprung mass change, and adjust the damping of the shock absorber according to the driving mode.

[0059] Among them, the driving mode of the vehicle includes a first driving mode and a second driving mode, and the damping of the shock absorber is adjusted according to the driving mode of the vehicle, including: when the driving mode of the vehicle is the first driving mode, the damping of the shock absorber is adjusted according to the first damping force curve; when the driving mode of the vehicle is the second driving mode, the damping of the shock absorber is adjusted according to the second damping force curve.

[0060] Reference Figure 6 The first driving mode is different from the second driving mode, and accordingly, the damping change rates of the first damping force curve and the second damping force curve are different.

[0061] The first damping force curve and the second damping force curve are both curve graphs that relate the damping force F to the driving speed V.

[0062] Reference Figure 6In the first damping force curve and the second damping force curve, the damping of the shock absorber gradually increases with the driving speed of the vehicle. When the vehicle is in the first driving mode, the damping force of the shock absorber is adjusted according to the first damping force curve; when the vehicle is in the second driving mode, the damping force of the shock absorber is adjusted according to the second damping force curve. Among them, the first driving mode can be a sports driving mode, and the second driving mode can be a comfort driving mode. Of course, the driving mode of the vehicle is not limited to the first driving mode and the second driving mode mentioned above, and can also include a third driving mode, a fourth driving mode, etc. Accordingly, the damping of the shock absorber can be adjusted according to the FV damping curve corresponding to the driving mode.

[0063] In some embodiments of the present invention, at least one of the shock absorber and the air spring is controlled according to the adjustable height of the vehicle body, including: obtaining the maximum height of the vehicle body; determining the adjustable height of the vehicle body according to the maximum height of the vehicle body and the current height of the vehicle body; when the adjustable height of the vehicle body is greater than zero and less than or equal to the adjustable height of the vehicle body (i.e., L), controlling the shock absorber and the air spring to lift the vehicle body.

[0064] Among them, the "maximum height of the vehicle body" refers to the maximum ground clearance that can be adjusted by the shock absorber or air spring. At the same time, the adjustable height of the vehicle body is further determined according to the maximum height of the vehicle body and the current height of the vehicle body. The "adjustable height" refers to the height value that the vehicle body can be adjusted upward by the shock absorber lifting action.

[0065] Furthermore, when the above-mentioned vehicle body adjustment height 0<△H≤L, the shock absorber or air spring can be controlled to lift the vehicle body according to the vehicle body adjustment height △H, and the height of the vehicle body can be adjusted to the target height to improve the vehicle's passability.

[0066] Specifically, in the above-mentioned adjustment process, the vehicle body height can be adjusted by the cooperation of shock absorbers and air springs, such as: firstly quickly lift the vehicle body through the shock absorber, and then control the air spring to lift while the shock absorber keeps lifting the vehicle body, so as to support the vehicle body after the height adjustment through the air spring, after which the shock absorber can cancel the lifting action and only the air spring is used to maintain the vehicle body height.

[0067] Furthermore, the adjustable height of the vehicle body is determined according to the following formula: L=Hmax-h, wherein L is the adjustable height of the vehicle body, and Hmax is the maximum height of the vehicle body.

[0068] It should be noted that Hmax is a preset value, h is the current height of the vehicle body, and based on the above-mentioned maximum height Hmax of the vehicle body and the current height h of the vehicle body, the adjustable height L of the vehicle body can be further obtained. Among them, h can be a parameter obtained in real time, that is, the current height of the vehicle body after the shock absorber adjusts the height of the vehicle body once or multiple times.

[0069] In a further embodiment of the present invention, controlling the shock absorber and the air spring to lift the vehicle body includes: controlling the shock absorber to generate thrust to lift the vehicle body to a preset height; controlling the solenoid valve of the air spring to fix the current height of the vehicle body at a preset height, and controlling the shock absorber to stop working.

[0070] Here, “preset height” refers to the height of the vehicle body that can successfully pass through obstacles.

[0071] The shock absorber has a faster response speed than the air spring, and can lift the vehicle body to a preset height in a shorter time to meet the need for rapid adjustment of the vehicle body height and improve the vehicle's passability in a short time. At the same time, the air spring is controlled to perform a lifting action to fix the vehicle body at a preset height through the air spring.

[0072] It is understandable that the air spring action can be controlled while the shock absorber lifting action is controlled, or it can be controlled after the shock absorber lifting action is completed. The shock absorber is a linear motor shock absorber. In the process of lifting the vehicle body through the shock absorber, it needs to consume electricity continuously. Therefore, after the vehicle body is lifted by the shock absorber, the air spring can be controlled to lift to fix the height of the vehicle body. The shock absorber can stop working (no longer consumes electricity), saving the energy required to maintain the height of the vehicle body, which is suitable for the mode of real-time transient lifting adjustment of the vehicle.

[0073] In some embodiments of the present invention, at least one of the shock absorber and the air spring is controlled according to the adjustable height of the vehicle body, including: obtaining the maximum height of the vehicle body; determining the adjustable height of the vehicle body according to the maximum height of the vehicle body and the current height of the vehicle body; when the adjustable height of the vehicle body is greater than the adjustable height of the vehicle body, controlling the shock absorber to generate thrust to make the vehicle jump.

[0074] Among them, the "maximum height of the vehicle body" refers to the maximum ground clearance that can be adjusted by the shock absorber or air spring. At the same time, the adjustable height of the vehicle body is further determined according to the maximum height of the vehicle body and the current height of the vehicle body. The "adjustable height" refers to the height value that the vehicle body can be adjusted upward by the shock absorber lifting action.

[0075] Furthermore, when the above-mentioned vehicle body adjustment height 0<ΔH≤L, the shock absorber can be controlled to lift the vehicle body according to the vehicle body adjustment height ΔH, so as to adjust the height of the vehicle body to improve the vehicle's passability.

[0076] In some embodiments of the present invention, the adjustable height of the vehicle body is determined according to the following formula: L=Hmax-h, wherein L is the adjustable height of the vehicle body, and Hmax is the maximum height of the vehicle body.

[0077] It should be noted that Hmax is a preset value, h is the current height of the vehicle body, and based on the above-mentioned maximum height Hmax of the vehicle body and the current height h of the vehicle body, the adjustable height L of the vehicle body can be further obtained. Among them, h can be a parameter obtained in real time, that is, the current height of the vehicle body after the shock absorber adjusts the height of the vehicle body once or multiple times.

[0078] It can be understood that when the above-mentioned vehicle body adjustment height △H>L, at this time, the vehicle body is lifted only by controlling the shock absorber or air spring, and the vehicle is still in a road condition where it may be scraped by obstacles, so the shock absorber is controlled to generate thrust to make the vehicle jump, so that the vehicle body can be adjusted to a higher position off the ground compared to the lifting method, thereby meeting the needs of the vehicle to pass through obstacles.

[0079] In some embodiments of the present invention, at least one of the shock absorber and the air spring is controlled according to the adjustable height of the vehicle body, including: obtaining the maximum height of the vehicle body; determining the adjustable height of the vehicle body according to the maximum height of the vehicle body and the current height of the vehicle body; when the adjustable height of the vehicle body is greater than the adjustable height of the vehicle body, controlling the shock absorber and the air spring to generate thrust to make the vehicle jump.

[0080] In a further embodiment of the present invention, the shock absorber and the air spring are controlled to generate thrust to make the vehicle take off, including: controlling the shock absorber according to a first current so that the shock absorber stores energy, and controlling the solenoid valve of the air spring so that the air spring is in a pre-stressed state; controlling the shock absorber according to a second current so that the shock absorber and the air spring generate thrust to control the vehicle to take off, and the direction of the first current is opposite to the direction of the second current.

[0081] When the shock absorber is controlled according to the first current, the shock absorber can generate a downward pulling force, and at the same time, the air spring is placed in a pre-stressed state by controlling the solenoid valve. After the above action, the shock absorber is controlled according to the second current, and the shock absorber can instantly generate the maximum thrust on the vehicle body, and at the same time, the air spring also has an upward thrust on the vehicle body. Under the superposition of the two thrusts, the vehicle body is driven to move upward with acceleration until the wheel of the unsprung mass leaves the ground. The entire system of the sprung mass and the unsprung mass will move at a uniform deceleration of g with a speed V as the initial velocity, until the sprung mass and the unsprung mass fall to the ground until the wheel touches the ground.

[0082] In some embodiments of the present invention, after the vehicle takes off, the controller is further configured to: output current to the linear motor to provide pulling force to the wheel end of the vehicle to increase the distance between the wheels of the vehicle and the ground.

[0083] Reference Figure 4After the vehicle takes off, when the shock absorber is not controlled by current, the ground clearance of the wheel is h1. When the shock absorber is controlled by output current, the ground clearance of the wheel is further increased and can reach h2.

[0084] Specifically, after the vehicle takes off (i.e., the wheels leave the ground), the shock absorber can be further controlled by the first current. At this time, the shock absorber can drive the unsprung mass to move closer to one side of the vehicle body, thereby raising the wheel to a higher position, further increasing the ground clearance of the wheel and improving the vehicle's obstacle crossing capability.

[0085] The shock absorber is a linear motor shock absorber, including a stator and a mover, and the stator and the mover can perform relative motion along a linear direction.

[0086] Reference Figure 4 Describe the action process of controlling the shock absorber of the suspension assembly according to the embodiment of the present invention to achieve the take-off:

[0087] When the suspension assembly is in state 1, it is in normal driving or parking state;

[0088] When the suspension assembly is in state 2, the shock absorber is controlled according to the first current, the stator and the mover move toward each other, and the air spring is in a pre-stressed state at this time;

[0089] When the suspension assembly is in state 3, the shock absorber is controlled according to the second current, the stator and the mover move in opposite directions, the shock absorber applies an upward thrust to the sprung mass, and the air spring releases energy;

[0090] When the suspension assembly is in state 4, the vehicle jumps;

[0091] When the suspension assembly is in state 5, the output current controls the shock absorber, and the stator and mover move toward each other, further driving the unsprung mass to move upward and increasing the ground clearance of the wheel.

[0092] The vehicle of the embodiment of the present invention includes the control system of the suspension assembly described above, which can lift the vehicle body to adjust the height of the vehicle body, and can also generate an upward thrust after energy storage to make the vehicle jump, thereby fully improving the obstacle-crossing capability of the vehicle. At the same time, the damping of the shock absorber can also be adjusted according to the driving mode of the vehicle to improve the comfort and handling performance of the vehicle during driving.

[0093] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0094] In the description of the present invention, "first feature" or "second feature" may include one or more of the features.

[0095] In the description of the present invention, “on”, “over” and “above” a first feature from a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0096] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0097] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A control system for a suspension assembly, characterized in that: It includes: A shock absorber, an air spring, a plurality of control arms and a controller, wherein the shock absorber is connected between a vehicle body and one of the plurality of control arms, the air spring is installed between a vehicle body longitudinal beam and the control arm connected to the shock absorber, and the controller is connected to the shock absorber and the air spring respectively; the controller is used to obtain road condition information and a current height of the vehicle body; determine a vehicle body adjustment height according to the road condition information and the current height of the vehicle body; and control at least one of the shock absorber and the air spring according to the vehicle body adjustment height to increase the ground clearance of the vehicle body so that the vehicle can safely cross obstacles; The controller is also configured to: When the vehicle body adjustment height is less than or equal to zero, obtaining a change in the sprung mass of the air spring; adjusting the stiffness of the air spring according to the spring load variation; Controlling at least one of the shock absorber and the air spring according to the vehicle body adjustment height includes: When the vehicle body adjustment height is greater than the adjustable height of the vehicle body, controlling the shock absorber and the air spring to generate thrust to make the vehicle jump, wherein the adjustable height is configured to be determined according to the maximum height of the vehicle body and the current height of the vehicle body; Controlling the shock absorber and the air spring to generate thrust to enable the vehicle to jump, comprising: Controlling the shock absorber according to the first current so that the shock absorber stores energy, and controlling the solenoid valve of the air spring so that the air spring is in a pre-compression state; The shock absorber is controlled according to a second current so that the shock absorber and the air spring generate thrust to control the vehicle to take off, and the direction of the first current is opposite to the direction of the second current.

2. The control system of the suspension assembly according to claim 1, characterized in that: The controller is also configured to: The vehicle body adjustment height is determined according to the following formula: △H=H1-h Wherein, ΔH is the adjusted height of the vehicle body, H1 is the height of the road obstacle, and h is the current height of the vehicle body, wherein the road condition information includes the height of the road obstacle.

3. The control system of the suspension assembly according to claim 1, characterized in that: The controller is also configured to: When the vehicle body adjustment height is less than or equal to zero, obtaining a change in the sprung mass of the air spring and obtaining a driving mode of the vehicle; The stiffness of the air spring is adjusted according to the sprung load variation, and the damping of the shock absorber is adjusted according to the driving mode.

4. The control system of the suspension assembly according to claim 3, characterized in that: The controller is configured to: When the driving mode of the vehicle is the first driving mode, adjusting the damping of the shock absorber according to a first damping force curve; When the driving mode of the vehicle is a second driving mode, the damping of the shock absorber is adjusted according to a second damping force curve, wherein the first driving mode is different from the second driving mode, and the damping change rates of the first damping force curve and the second damping force curve are different.

5. The control system of the suspension assembly according to claim 1, characterized in that: Controlling at least one of the shock absorber and the air spring according to the vehicle body adjustment height includes: When the vehicle body adjustment height is greater than zero and less than or equal to the adjustable height of the vehicle body, the shock absorber is controlled to lift the vehicle body, and after the vehicle body is lifted to a target height, the air spring is controlled to maintain the height.

6. The control system of the suspension assembly according to claim 5, characterized in that: Controlling the shock absorber and the air spring to lift the vehicle body includes: Controlling the shock absorber to generate thrust to lift the vehicle body to a preset height; The solenoid valve of the air spring is controlled so that the current height of the vehicle body is fixed at the preset height, and the shock absorber is controlled to stop working.

7. The control system of the suspension assembly according to claim 1, characterized in that: After the vehicle takes off, the controller is further configured to: Outputting current to the linear motor to provide pulling force to the wheel end of the vehicle to increase the distance between the wheel of the vehicle and the ground.

8. A vehicle, characterized in that: It comprises a control system of a suspension assembly according to any one of claims 1-7.

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