Vehicle body height adjustment device and vehicle

Abstract

The embodiment of the application discloses a vehicle body height adjusting device and a vehicle. The device comprises: a first suspension controller, which is used for determining a first vehicle body height according to first sensor data; a second suspension controller, which is used for determining a second vehicle body height according to second sensor data; an adjusting module, which is used for determining a target vehicle body height according to the first vehicle body height, the second vehicle body height and a comfortable height range; and sending the target height to a processor of the vehicle, so that the vehicle body height of the vehicle is adjusted to the target vehicle body height by the processor.

Description

Technical Field

[0001] This application relates to the field of electronic technology, and more particularly to a vehicle height adjustment device and a vehicle. Background Technology

[0002] Currently, vehicles are typically equipped with a vehicle height controller, which usually uses a pre-set control algorithm to control the vehicle height, thereby maintaining vehicle stability during driving. However, if the target vehicle height determined by the pre-set control algorithm is too high or too low, it will affect the comfort of the driver and passengers. Summary of the Invention

[0003] This application provides a vehicle height adjustment device and a vehicle that can improve the comfort of drivers and passengers while ensuring vehicle driving stability.

[0004] The technical solution of this application is implemented as follows:

[0005] This application provides a vehicle body height adjustment device, including:

[0006] The first suspension controller is used to determine the first vehicle height based on the data from the first sensor;

[0007] The second suspension controller is used to determine the second vehicle height based on the data from the second sensor;

[0008] An adjustment module is used to determine a target vehicle height based on the first vehicle height, the second vehicle height, and a comfort height range; and to send the target height to the processor of the vehicle, through which the processor adjusts the vehicle's vehicle height to the target vehicle height.

[0009] This application provides a vehicle, including:

[0010] The aforementioned vehicle height adjustment device is used to determine the target vehicle height;

[0011] The processor is configured to determine a target control signal based on the target vehicle height, and control the vehicle suspension to inflate or deflate using the target control signal to adjust the vehicle height to the target vehicle height.

[0012] The vehicle height adjustment device and vehicle provided in this application embodiment, due to the setting of a two-level controller, can acquire two vehicle heights and determine a target vehicle height within the comfortable height range based on the two vehicle heights; it can improve the accuracy of the target vehicle height, thereby increasing the comfort of the driver and passengers while ensuring vehicle stability. Attached Figure Description

[0013] Figure 1 A schematic diagram illustrating the composition of an optional vehicle height adjustment device provided in this application embodiment;

[0014] Figure 2 A schematic diagram of an optional suspension model provided for an embodiment of this application;

[0015] Figure 3 A schematic flowchart illustrating an optional vehicle body height adjustment method provided in this application embodiment;

[0016] Figure 4 This is a schematic diagram of an optional vehicle hardware structure provided for an embodiment of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0019] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0021] To facilitate understanding of this solution, the application background of the embodiments of this application will be explained before describing the embodiments of this application.

[0022] As is well known, vehicle braking causes the vehicle to pitch forward, while starting or rapid acceleration causes it to lean backward. Poor road conditions can also affect tire grip, leading to vehicle bouncing. Related technologies often employ active suspension systems, primarily active air suspensions. Based on an idealized linear suspension model, a vehicle height control algorithm determines the target vehicle height. Adjusting the vehicle height to this target height controls roll, pitch, and sway, improving vehicle stability, especially at high speeds and during cornering. This vehicle height control algorithm is typically implemented in a controller, which determines the target vehicle height. These algorithms are often based on traditional proportional-integral-differential (PID) algorithms, fuzzy PID algorithms, or model prediction algorithms based on these principles. While the target vehicle height determined by these algorithms may vary, it can be either too high or too low, resulting in poor passenger comfort.

[0023] This application provides a vehicle height adjustment device and a vehicle that limits the target vehicle height within a comfortable range, thereby improving the comfort of drivers and passengers. The vehicle height adjustment device provided in this application can be installed on any movable and drivable or ride-on device, including various types of vehicles.

[0024] Figure 1 An optional vehicle height adjustment device 1 is shown, comprising: a first suspension controller 11 for determining a first vehicle height based on first sensor data; a second suspension controller 12 for determining a second vehicle height based on second sensor data; an adjustment module 13 for determining a target vehicle height based on the first vehicle height, the second vehicle height, and a comfort height range; sending the target height to the processor of the vehicle, and adjusting the vehicle's vehicle height to the target vehicle height via the processor.

[0025] In this embodiment, a vehicle height adjustment device is installed on the vehicle to acquire data collected by the vehicle's sensors and determine the target vehicle height based on this data. The vehicle's sensors may include an acceleration sensor and a displacement sensor. The acceleration sensor is primarily a vertical acceleration sensor, and the displacement sensor is primarily a vertical displacement sensor, i.e., a vehicle height sensor. The first sensor data is data from a first sensor, and the second sensor data is data from a second sensor; the first and second sensors can be the same sensor or different sensors, which can be configured according to the needs of the first and second suspension controllers, and this embodiment does not impose any limitations.

[0026] In this embodiment, the first suspension controller 11 uses a first vehicle height control algorithm to calculate the first vehicle body height, and the second suspension controller 12 uses a second vehicle height control algorithm to calculate the second vehicle body height. Here, the first vehicle height control algorithm and the second vehicle height control algorithm can be used to calculate a slick control quantity and adjust the vehicle body height through the slick control quantity, or they can be used to calculate the target vehicle body height through a PID algorithm; the first vehicle height control algorithm and the second vehicle height control algorithm are different vehicle height control algorithms.

[0027] In this embodiment, the comfort height range is a range used to ensure the comfort of drivers and passengers; its upper and lower limits can be set according to actual needs. In some embodiments, the comfort height range can be preset or adjusted according to factors such as actual road conditions. Here, the adjustment module 13 can determine the target vehicle height based on the first vehicle height and the second vehicle height, so that the target vehicle height is controlled within the comfort height range to ensure the comfort of drivers and passengers.

[0028] In this embodiment, the adjustment module 13 can determine whether the first vehicle height and the second vehicle height are within the comfort height range, and obtain a determination result. The target vehicle height is determined based on the determination result. In some embodiments, the adjustment module 13 can determine either one as the target vehicle height when both are within the comfort height range, or it can use the one closest to the optimal vehicle height as the target vehicle height, or it can use the average of the two as the target vehicle height; this can be set as needed, and this embodiment does not impose any limitations. In some embodiments, the adjustment module 13 can use only one of the two as the target vehicle height when only one is within the comfort height range; it can also adjust this one towards the other, which is not within the comfort height range, and use that as the target vehicle height; the adjustment method can be set as needed, and this embodiment does not impose any limitations. In some embodiments, the adjustment module 13 can use the upper or lower limit of the comfort height range closest to both as the target vehicle height when neither is within the comfort height range, or it can use the initial vehicle height as the target vehicle height. The optimal vehicle height can be preset; in some embodiments, the optimal vehicle height can be the middle value of the comfort height range. The initial vehicle height is the height when the vehicle starts; in some embodiments, the initial vehicle height can be the optimal vehicle height.

[0029] In this embodiment, after determining the target vehicle height, the adjustment module 13 sends the target vehicle height to the vehicle's processor. The processor can then determine an adjustment signal based on the target vehicle height and control the suspension via this signal. The adjustment signal controls the air compressor and air springs to inflate and deflate the suspension, thereby adjusting the vehicle height to the target height.

[0030] Understandably, by setting up a two-level controller, two vehicle heights can be obtained, and a target vehicle height within the comfortable height range can be determined based on these two vehicle heights. This can improve the accuracy of the target vehicle height, thereby increasing the comfort of passengers while ensuring vehicle stability.

[0031] In some embodiments of this application, the adjustment module 13 is further configured to, when at least one of the first vehicle height and the second vehicle height is within a comfortable height range, determine a first weight and a second weight based on the first vehicle height, the second vehicle height, and the comfortable height range; the first weight characterizes the degree of influence of the first vehicle height on the target vehicle height; the second weight characterizes the degree of influence of the second vehicle height on the target vehicle height; the sum of the first weight and the second weight is 1; and the target vehicle height is obtained by weighted summation of the first vehicle height and the second vehicle height based on the first weight and the second weight.

[0032] In this embodiment of the application, when at least one of the first vehicle height and the second vehicle height is within the comfort height range, the adjustment module 13 can determine the first weight and the second weight based on the first vehicle height, the second vehicle height and the comfort height range; then, the first vehicle height and the second vehicle height are weighted and summed to obtain the target vehicle height, as shown in formula (1).

[0033] h=λ1h one +λ2h two Formula (1)

[0034] Among them, h one h is the first vehicle body height. two Let λ1 be the second vehicle body height, λ2 be the first weight, and λ2 be the second weight. one and h two The sum of is 1.

[0035] In some embodiments of this application, the adjustment module 13 is further configured to, when only one of the first vehicle height and the second vehicle height is within the comfort height range, determine one of the first weights and the second weights corresponding to the vehicle height within the comfort height range as 1 and the other as 0.

[0036] In this embodiment of the application, only the first vehicle height is within the comfort height range (h) of the two heights. min h max If the second vehicle body height is outside the comfortable height range, the adjustment module 13 can determine that the first weight is 1 and the second weight is 0. That is, if h... min ≤h one ≤h max And h two <h min or htwo h max If λ1 is 1 and λ2 is 0, then formula (1) can be expressed by formula (2).

[0037] h = h one Formula (2)

[0038] In this embodiment, when only the second vehicle height is within the comfort height range, and the first vehicle height is not within the comfort height range, the adjustment module 13 can determine that the second weight is 1 and the first weight is 0. That is, if h min ≤h two ≤h max And h one <h min or h one h max If λ2 is 1 and λ1 is 0, then formula (1) can be expressed by formula (3).

[0039] h = h two Formula (3)

[0040] For example, if the comfort height range is (5, 15), the first vehicle height is 13, the second vehicle height is 16, then the target vehicle height is 13.

[0041] Understandably, the adjustment module 13 can directly use either the first vehicle height or the second vehicle height as the target vehicle height when either is within a comfortable height range, thereby improving the efficiency of determining the target vehicle height.

[0042] In some embodiments of this application, the adjustment module 13 is further configured to determine a first weight and a second weight based on a comparison result of a first difference between the first vehicle height and the optimal vehicle height and a second difference between the second vehicle height and the optimal vehicle height, when both the first vehicle height and the second vehicle height are within the comfort height range.

[0043] In this embodiment, when both the first vehicle height and the second vehicle height are within the comfortable height range, the adjustment module 13 can compare both heights with the optimal vehicle height and determine the first weight and the second weight based on the comparison results. Here, the closer to the optimal vehicle height, the higher the corresponding weight can be; the farther away from the optimal vehicle height, the lower the corresponding weight can be.

[0044] In this embodiment, both the first difference and the second difference are positive values. A first difference greater than the second difference indicates that the second vehicle height is closest to the optimal vehicle height; otherwise, it indicates that the first vehicle height is closest to the optimal vehicle height.

[0045] In some embodiments of this application, the adjustment module 13 is further configured to, when the comparison result indicates that the first difference and the second difference are different, determine the weight corresponding to the smaller of the first difference and the second weight as the first preset value, and the other as the second preset value; the first preset value is greater than the second preset value.

[0046] In this embodiment, if the first weight is a first preset value, then the second weight is a second preset value; if the first weight is a second preset value, then the second weight is a first preset value. If the first preset value is greater than the second preset value, and the first difference is less than the second difference, it indicates that the first vehicle height is closer to the optimal vehicle height, and the first weight is determined to be the first preset value. If the first preset value is greater than the second preset value, and the first difference is greater than the second difference, it indicates that the second vehicle height is closer to the optimal vehicle height, and the second weight is determined to be the first preset value. The first and second preset values ​​can be set as needed, and this embodiment does not impose any restrictions.

[0047] For example, the first preset value is 0.7, the second preset value is 0.3; the comfort height range is (5,15), the first vehicle height is 8, the second vehicle height is 13, the optimal vehicle height is 10, then the first difference is 2, the second difference is 3; in this way, the adjustment module 13 can determine the target vehicle height as 0.95 according to formula (1).

[0048] In some embodiments of this application, the adjustment module 13 is further configured to determine both the first weight and the second weight as 0.5 when the comparison result indicates that the first difference and the second difference are the same.

[0049] In this embodiment of the application, if the first difference and the second difference are the same, the adjustment module 13 can determine the target vehicle height as the average of the first vehicle height and the second vehicle height, that is, the optimal vehicle height.

[0050] For example, the comfort height range is (5, 15), the first vehicle height is 8, the second vehicle height is 12, and the optimal vehicle height is 10. Then the first difference is 2 and the second difference is 2. Thus, the adjustment module 13 can determine the target vehicle height as 10.

[0051] In some embodiments of this application, the adjustment module 13 is further configured to determine the target vehicle height as the initial vehicle height when both the first vehicle height and the second vehicle height are not within the comfort height range.

[0052] In this embodiment, since neither the first vehicle height nor the second vehicle height is within the comfort height range, the adjustment module 13 can determine the initial vehicle height as the target vehicle height. In other words, when the vehicle heights calculated by both controllers are outside the comfort height range, a target vehicle height that is not within the comfort height range is determined, and therefore, the target vehicle height is directly determined as the initial vehicle height.

[0053] In some embodiments of this application, the adjustment module 13 is further configured to send an adjustment function alarm message to the vehicle to which it belongs when both the first vehicle height and the second vehicle height are not within the comfort height range; the function alarm message is used to instruct the vehicle to perform the adjustment function alarm.

[0054] In this embodiment of the application, both the first vehicle height and the second vehicle height are outside the comfort height range, indicating that there is no target vehicle height within the comfort height range. At this time, the adjustment module 13 can send adjustment function alarm information to the vehicle to instruct the vehicle to activate the adjustment function alarm, such as displaying text alarm information or alarm symbols on the vehicle display screen; or illuminating a light on the instrument panel, etc.

[0055] In this embodiment, the vehicle height adjustment function malfunctions because the target vehicle height within the comfort height range cannot be determined. In this case, the user can release the comfort height range restriction. The adjustment module 13 then receives a comfort release command and, in response, can use a first vehicle height, a second vehicle height, or the average of the first and second vehicle heights as the target vehicle height. This can be set as needed, and this embodiment does not impose any limitations. Thus, the vehicle height adjustment device can be flexibly configured with adjustment functions.

[0056] In some embodiments of this application, the first sensor data includes: vertical acceleration and vehicle height; the second sensor data includes: vehicle height; the first suspension controller 11 is further configured to determine a slurry control amount based on the vertical acceleration and vehicle height; and to determine a first vehicle height based on the slurry control amount; the second suspension controller 12 is further configured to determine a second vehicle height based on changes in vehicle height.

[0057] In this embodiment, the first suspension controller 11 can be a synovial controller, and the first sensor data includes vertical acceleration and vehicle height. Figure 2 A suspension vibration model is shown. Based on this model and the data from the first sensor, the dynamic model of the suspension can be obtained, see formula (4) and formula (5).

[0058]

[0059]

[0060] Where, m s This represents the sprung mass of the air suspension in a quarter-vehicle; x s x represents the sprung mass displacement of a quarter-vehicle air suspension; u p represents the unsprung mass displacement of a quarter-vehicle air suspension; p represents the absolute air pressure of the air spring; p0 represents atmospheric pressure; m u A represents the unsprung mass of a quarter-vehicle air suspension; e Indicates the effective area of ​​the air spring; k l Indicates the stiffness of the air spring; x r This indicates the excitation displacement of the road surface.

[0061] If we consider the entire process of the air spring working as an adiabatic process, we can obtain the gas equation inside the air spring according to the first law of thermodynamics, see formula (6).

[0062] dU1+dW1+h1dm1=dQ1+h2dm2 Formula (6)

[0063] Wherein, dU1 is the change in internal energy of the gas inside the air spring; dW1 is the expansion work done by the change in volume of the gas inside the air spring; h1 is the specific enthalpy of the gas entering the atmosphere from the air spring; dm1 is the mass of the gas entering the atmosphere from the air spring; dQ1 is the heat exchanged between the gas inside the air spring and the outside world; h2 is the specific enthalpy of the gas entering the air spring from the gas storage tank; and dm2 is the mass of the gas entering the air spring from the gas storage tank.

[0064] It should be noted that the solenoid valve controls the gas exchange between the air tank and the air spring, affecting the gas changes within the air spring. Since the air spring's deflation and inflation processes are adiabatic, and the air spring will return to equilibrium when the solenoid valve is closed, the gas pressure gradient equation within the air spring can be obtained, see formula (7).

[0065]

[0066] Where, k is the adiabatic index of the gas, k = 1.35; β is the volume change rate of the air spring; R is the gas constant; T2 is the temperature inside the gas storage tank; q m V represents the gas mass flow rate when the solenoid valve is fully open; positive for charging and negative for discharging. 10 This is the initial volume of the air spring.

[0067] Five state variables are selected as shown in formula (8).

[0068]

[0069] If the output variable of the sliding controller is defined as in formula (9), then the state equation of the sliding controller can be written as formula (10)-formula (11).

[0070] y = x s -x u =x1-x2 Formula (9)

[0071]

[0072] y=h(x) Formula (11)

[0073] Where u is the input value of the solenoid valve opening, see formula (12), formula (13), formula (14) or formula (15).

[0074]

[0075]

[0076]

[0077] h(x) = [x1 - x2 0 0 0] T Formula (15)

[0078] By using Lie derivatives for linearization, and by differentiating the output variable y multiple times, a relative order of 3 can be obtained.

[0079] The linearized state variables are defined as shown in formula (16).

[0080] z = [z1 z2 z3] T Formula (16)

[0081] Where z1 = x1 - x2;

[0082] The state equation after linearization can be written as formula (17).

[0083]

[0084] Where v is the sluice control variable. Thus, the output variable can be expressed as formula (18).

[0085] Formula (18): y = z1 = x1 - x2

[0086] in,

[0087] Set the target output value z after linearization. d The error vector is given by formula (19).

[0088]

[0089] The sliding surface S(t) is established as shown in formula (20).

[0090]

[0091] According to formula (20), the synovial control quantity v can be obtained as shown in formula (21).

[0092]

[0093] Among them, v e For the equivalent control quantity, see formula (22);

[0094]

[0095] v s For switching control quantities, see formulas (23) and (24).

[0096] v s =-ksgn(s) Formula (23)

[0097]

[0098] Where k represents the coefficient of the constant velocity approach law, and k>0.

[0099] After determining the equivalent control quantity, it is equivalent to determining the opening degree of the solenoid valve. Since the power of the air pump is constant, the diaphragm controller determines the opening degree of the solenoid valve, which is equivalent to determining the amount of air to be charged or discharged, and thus the first vehicle body height can be determined.

[0100] In this embodiment, the second suspension controller 12 can be a backpropagation neural network (BP)-PID controller, and the second sensor data includes the vehicle height. The BP-PID controller can determine the vehicle height u based on the vehicle height at the previous time (k-1) and the current time k, as well as the change in vehicle height, as shown in formula (25).

[0101] u(k)=u(k-1)+K p [e(k)-e(k-1)]+K i e(k)+

[0102] K d [e(k)-2e(k-1)+e(k-2)]Formula (25)

[0103] Where e(k), e(k-1), and e(k-2) represent the system errors at the current time k, the previous time (k-1), and the previous time (k-2), respectively. p Ki and K d These represent the proportional, integral, and derivative parameters of the PID controller, respectively. By using a BP neural network to optimize the three parameters of the PID controller and obtaining the target parameter values, the current vehicle height, i.e., the second vehicle height, can be calculated according to formula (25). Here, the ability of the neural network to express arbitrary nonlinearities can be used to achieve optimal PID control through learning the system performance. Using a BP neural network, parameter K can be established. p K i K d A self-learning PID controller. It should be noted that after determining the vehicle height u, the vehicle height can be adjusted by controlling the opening of the solenoid valve to achieve u.

[0104] In this embodiment, the BP neural network comprises three layers: an input layer, hidden layers, and an output layer. The output of each layer serves as the input to the next layer. The output of the input layer utilizes the weighting function of the hidden layers, and the output of the hidden layers utilizes the weighting function of the output layer. The three output nodes of the output layer are K. p K i and K d .

[0105] In this embodiment, the activation function of the hidden layer neurons is a positive-negative symmetric sigmoid function, and the activation function of the output layer neurons is a non-negative sigmoid function. The neural network needs to search for the negative gradient direction of the weighting function based on the performance index function to correct the weighting function; therefore, an inertia term is added to obtain the weighting function learning method. Once the neural network determines the weighting function, it can determine the output of the network's output layer based on the weighting function.

[0106] It should be noted that the data features input to the network input layer can include not only vehicle height but also other data features. Here, the more types of input data features there are, the better the neural network learns, the more accurate the determined PID parameters, but the greater the computational load.

[0107] Based on the above embodiments, this application also provides a method for adjusting vehicle body height, such as... Figure 3 As shown, the method may include:

[0108] S101. The first vehicle height is determined by the first suspension controller based on the data from the first sensor.

[0109] S102. Determine the second vehicle height based on the data from the second sensor using the second suspension controller;

[0110] S103. The target vehicle height is determined by the adjustment module based on the first vehicle height, the second vehicle height, and the comfort height range; the target height is sent to the processor of the vehicle, and the processor adjusts the vehicle's vehicle height to the target vehicle height.

[0111] In some embodiments, the method further includes: using the adjustment module, when at least one of the first vehicle height and the second vehicle height is within the comfort height range, determining a first weight and a second weight based on the first vehicle height, the second vehicle height, and the comfort height range; the first weight characterizes the degree of influence of the first vehicle height on the target vehicle height; the second weight characterizes the degree of influence of the second vehicle height on the target vehicle height; the sum of the first weight and the second weight is 1; and the first vehicle height and the second vehicle height are weighted and summed based on the first weight and the second weight to obtain the target vehicle height.

[0112] In some embodiments, the method further includes: using the adjustment module, if only one of the first vehicle height and the second vehicle height is within the comfort height range, determining one of the first weights and the second weights corresponding to the vehicle height within the comfort height range as 1 and the other as 0.

[0113] In some embodiments, the method further includes: when the first vehicle height and the second vehicle height are both within the comfort height range, by means of the adjustment module, determining the first weight and the second weight based on a comparison result of a first difference between the first vehicle height and the optimal vehicle height and a second difference between the second vehicle height and the optimal vehicle height.

[0114] In some embodiments, the method further includes: through the adjustment module, when the comparison result indicates that the first difference and the second difference are different, determining the weight corresponding to the smaller of the first difference and the second difference as a first preset value, and determining the other as a second preset value; the first preset value is greater than the second preset value.

[0115] In some embodiments, the method further includes: by means of the adjustment module, when the comparison result indicates that the first difference and the second difference are the same, determining both the first weight and the second weight to be 0.5.

[0116] In some embodiments, the method further includes: using the adjustment module to determine the target vehicle height as the initial vehicle height when neither the first vehicle height nor the second vehicle height is within the comfort height range.

[0117] In some embodiments, the method further includes: sending an adjustment function alarm message to the vehicle via the adjustment module when both the first vehicle height and the second vehicle height are not within the comfort height range; the function alarm message is used to instruct the vehicle to perform an adjustment function alarm.

[0118] In some embodiments, the first sensor data includes vertical acceleration and vehicle height; the second sensor data includes vehicle height; the method further includes: determining a synovial control amount based on the vertical acceleration and the vehicle height using the first suspension controller; determining the first vehicle height based on the synovial control amount; and determining the second vehicle height using the second suspension controller based on changes in the vehicle height.

[0119] It should be noted that, in the embodiments of this application, if the above-described buffer block allocation method is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a terminal, server, etc.) to execute all or part 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, mobile hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0120] This application provides a computer program product, which includes computer-executable instructions. When these computer-executable instructions are executed, they can implement the vehicle height adjustment method provided in this application.

[0121] Based on the above embodiments, this application also provides a vehicle, such as... Figure 4 As shown, the vehicle 40 may include: the aforementioned vehicle height adjustment device 1 and processor 2; wherein, the vehicle height adjustment device 1 is used to determine a target vehicle height; the processor 2 is used to determine a target control signal based on the target vehicle height, and control the vehicle suspension to inflate or deflate via the target control signal to adjust the vehicle height to the target vehicle height.

[0122] In some embodiments, the vehicle 40 may further include: at least one communication bus 3, a communication interface 4, at least one external communication interface, and a memory 5. The communication interface 4 is configured to enable communication between these components. The communication interface 4 may include a display screen, and the external communication interface may include standard wired and wireless interfaces.

[0123] The description of the above embodiments of the vehicle and body height adjustment method is similar to the description of the above embodiments of the body height adjustment device, and has similar technical description and beneficial effects as the corresponding device embodiments. Due to space limitations, please refer to the description of the above method embodiments, and therefore will not be repeated here.

[0124] It should be understood that the phrase "an embodiment" or "one embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present application. Therefore, "in one embodiment" or "one embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of the present application, the sequence number of the above-described processes does not imply the order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The sequence numbers of the above-described embodiments are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0125] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device 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, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0126] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0127] Furthermore, in the embodiments of this application, all functional units can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units. Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0128] The above description is merely a specific implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the embodiments of this application should be included within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims.

Claims

1. A vehicle height adjustment device, characterized in that, include: A first suspension controller is used to determine a first vehicle body height based on data from a first sensor; The first sensor data includes: vertical acceleration and vehicle height; the first suspension controller is further configured to determine a susceptibility control amount based on the vertical acceleration and the vehicle height; and to determine the first vehicle height based on the susceptibility control amount; A second suspension controller is used to determine a second vehicle height based on second sensor data; the second sensor data includes: vehicle height; the second suspension controller is also used to determine the second vehicle height based on changes in the vehicle height. An adjustment module is used to determine a target vehicle height based on the first vehicle height, the second vehicle height, and a comfort height range; and to send the target vehicle height to the processor of the vehicle, through which the processor adjusts the vehicle's vehicle height to the target vehicle height.

2. The apparatus according to claim 1, characterized in that, The adjustment module is further configured to determine a first weight and a second weight based on the first vehicle height, the second vehicle height, and the comfort height range, when at least one of the first vehicle height and the second vehicle height is within the comfort height range; the first weight characterizes the degree of influence of the first vehicle height on the target vehicle height; the second weight characterizes the degree of influence of the second vehicle height on the target vehicle height; and the sum of the first weight and the second weight is 1. The target vehicle height is obtained by weighted summation of the first vehicle height and the second vehicle height based on the first weight and the second weight.

3. The apparatus according to claim 2, characterized in that, The adjustment module is further configured to, when only one of the first vehicle height and the second vehicle height is within the comfort height range, determine one of the first weights and the second weights corresponding to the vehicle height within the comfort height range as 1 and the other as 0.

4. The apparatus according to claim 2, characterized in that, The adjustment module is further configured to determine the first weight and the second weight based on a comparison result of a first difference between the first vehicle height and the optimal vehicle height and a second difference between the second vehicle height and the optimal vehicle height, when both the first vehicle height and the second vehicle height are within the comfort height range.

5. The apparatus according to claim 4, characterized in that, The adjustment module is further configured to, when the comparison result indicates that the first difference and the second difference are different, determine the weight corresponding to the smaller of the first difference and the second difference as a first preset value, and the other as a second preset value; the first preset value is greater than the second preset value.

6. The apparatus according to claim 4, characterized in that, The adjustment module is further configured to, when the comparison result indicates that the first difference and the second difference are the same, determine both the first weight and the second weight as 0.

5.

7. The apparatus according to claim 2, characterized in that, The adjustment module is further configured to determine the target vehicle height as the initial vehicle height when neither the first vehicle height nor the second vehicle height is within the comfort height range.

8. The apparatus according to claim 7, characterized in that, The adjustment module is also used to send an adjustment function alarm message to the vehicle when neither the first vehicle height nor the second vehicle height is within the comfort height range; the function alarm message is used to instruct the vehicle to perform the adjustment function alarm.

9. A vehicle, characterized in that, include: The vehicle height adjustment device as described in any one of claims 1-8 is used to determine the target vehicle height; The processor is configured to determine a target control signal based on the target vehicle height, and control the vehicle suspension to inflate or deflate using the target control signal to adjust the vehicle height to the target vehicle height.

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