Hydraulic control method, device, apparatus, and storage medium

Abstract

The present disclosure provides a hydraulic control method, device, equipment and storage medium. The hydraulic control method comprises: determining a second actual hydraulic pressure of each wheel suspension at a next time based on a desired hydraulic pressure set for each wheel suspension, a first actual hydraulic pressure at a current time, and a preset upper limit value of hydraulic pressure change; and adjusting the first actual hydraulic pressure to the second actual hydraulic pressure until the desired hydraulic pressure is reached in the case where the second actual hydraulic pressure does not reach the desired hydraulic pressure. The hydraulic control method provided by the embodiment of the present disclosure can control the suspension hydraulic pressure change amount, avoid the suspension hydraulic pressure change amount exceeding the hydraulic pressure change capacity, and further avoid the problems of suspension mechanical structure damage and working life reduction, thereby improving the reliability and working life of the suspension system.

Description

Technical Field

[0001] This disclosure relates to the field of hydraulic control technology, and in particular to a hydraulic control method, device, equipment and storage medium. Background Technology

[0002] The automotive suspension is a crucial structural component of a vehicle. Hydraulic suspensions allow for real-time control of the vehicle's attitude and other aspects through hydraulic pressure. Therefore, hydraulic suspension is an important type of automotive suspension. For specialized vehicles, a large number of hydraulic suspension components are often installed, and each component has varying hydraulic pressure adaptability. This can lead to situations where the hydraulic pressure changes exceed the vehicle's permissible range during dynamic control, resulting in suspension damage and reduced service life. Summary of the Invention

[0003] To overcome the problems existing in the related technologies, the present disclosure provides a hydraulic control method, device, equipment and storage medium that can control the hydraulic pressure change of the suspension, prevent the hydraulic pressure change of the suspension from exceeding its hydraulic pressure change capacity, thereby avoiding the problems of suspension mechanical structure damage and reduced service life, and improving the reliability and service life of the suspension system.

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

[0005] In a first aspect, embodiments of this disclosure provide a hydraulic control method, the method comprising:

[0006] Based on the desired hydraulic pressure set for each wheel suspension, the first actual hydraulic pressure at the current moment, and the preset upper limit of hydraulic pressure change, the second actual hydraulic pressure of each wheel suspension at the next moment is determined.

[0007] If the second actual hydraulic pressure does not reach the desired hydraulic pressure, the first actual hydraulic pressure is adjusted to the second actual hydraulic pressure until the desired hydraulic pressure is reached.

[0008] In some embodiments, determining the second actual hydraulic pressure of each wheel suspension at the next moment based on the desired hydraulic pressure set for each wheel suspension, the first actual hydraulic pressure at the current moment, and a preset upper limit value for hydraulic pressure change includes:

[0009] Based on the expected hydraulic pressure and the first actual hydraulic pressure, determine the hydraulic pressure deviation value at the current moment;

[0010] From the hydraulic change values ​​of each of the wheel suspensions, a target hydraulic change value is determined; wherein, the target hydraulic change value is used to indicate the limit range of hydraulic change of the entire vehicle suspension;

[0011] The second actual hydraulic pressure is determined based on the expected hydraulic pressure, the first actual hydraulic pressure, the hydraulic pressure deviation value, and the target hydraulic pressure change value.

[0012] In some embodiments, determining the hydraulic deviation value at the current moment based on the desired hydraulic pressure and the first actual hydraulic pressure includes:

[0013] Determine a first difference between the desired hydraulic pressure and the first actual hydraulic pressure;

[0014] The hydraulic deviation value is determined based on the ratio between the absolute value of the first difference and the desired hydraulic pressure.

[0015] In some embodiments, the hydraulic change value includes: a hydraulic increase value and a hydraulic decrease value; determining the target hydraulic change value from the hydraulic change values ​​of each of the wheel suspensions includes:

[0016] A first candidate hydraulic change value is determined from all the hydraulic increase values ​​of the wheel suspensions whose expected hydraulic pressure is greater than or equal to the first actual hydraulic pressure;

[0017] A second candidate hydraulic change value is determined from all wheel suspensions whose hydraulic pressure decreases when the desired hydraulic pressure is less than the first actual hydraulic pressure.

[0018] If the first candidate hydraulic change value is greater than or equal to the second candidate hydraulic change value, the second candidate hydraulic change value is determined as the target hydraulic change value;

[0019] If the first candidate hydraulic change value is less than the second candidate hydraulic change value, the first candidate hydraulic change value is determined as the target hydraulic change value.

[0020] In some embodiments, determining a first candidate hydraulic change value from all hydraulic increase values ​​of the wheel suspensions whose desired hydraulic pressure is greater than or equal to the first actual hydraulic pressure includes:

[0021] The minimum value among all the hydraulic increase values ​​of the wheel suspensions that are greater than or equal to the first actual hydraulic pressure is determined as the first candidate hydraulic pressure change value;

[0022] Determining a second candidate hydraulic change value from all the hydraulic reduction values ​​of the wheel suspensions where the expected hydraulic pressure is less than the first actual hydraulic pressure includes:

[0023] The minimum value among all the hydraulic reduction values ​​of the wheel suspensions where the expected hydraulic pressure is less than the first actual hydraulic pressure is determined as the second candidate hydraulic pressure change value.

[0024] In some embodiments, determining the second actual hydraulic pressure based on the desired hydraulic pressure, the first actual hydraulic pressure, the hydraulic pressure deviation value, and the target hydraulic pressure change value includes:

[0025] Determine a second difference between the hydraulic deviation value and the target hydraulic change value;

[0026] Based on the magnitude relationship between the desired hydraulic pressure and the first actual hydraulic pressure, the adjustment flag is determined;

[0027] The second actual hydraulic pressure is determined based on the desired hydraulic pressure, the adjustment flag, and the second difference.

[0028] In some embodiments, determining the second actual hydraulic pressure based on the desired hydraulic pressure, the adjustment flag, and the second difference includes:

[0029] Determine the first product of the desired hydraulic pressure, the adjustment flag, and the second difference;

[0030] The difference between the desired hydraulic pressure and the first product is determined as the second actual hydraulic pressure.

[0031] In some embodiments, determining the adjustment flag based on the magnitude relationship between the desired hydraulic pressure and the first actual hydraulic pressure includes:

[0032] When the desired hydraulic pressure is greater than or equal to the first actual hydraulic pressure, the first preset value is determined as the adjustment flag.

[0033] When the desired hydraulic pressure is less than the first actual hydraulic pressure, the second preset value is determined as the adjustment flag; wherein the first preset value is a positive number and the second preset value is a negative number of the first preset value.

[0034] In some embodiments, the method further includes:

[0035] From the relative values ​​of hydraulic changes of each of the aforementioned wheel suspensions, a target relative value of hydraulic change is determined; wherein, the target relative value of hydraulic change is used to indicate the limit range of hydraulic changes of the entire vehicle suspension;

[0036] The hydraulic change value of the wheel suspension is determined based on the hydraulic deviation value and the target hydraulic change relative value.

[0037] In some embodiments, determining the hydraulic change value of the wheel suspension based on the hydraulic deviation value and the target relative hydraulic change value includes:

[0038] The hydraulic change value is determined based on the product of the hydraulic deviation value and the target hydraulic change relative value.

[0039] In some embodiments, the relative value of hydraulic change includes: a relative value of hydraulic increase, and the target relative value of hydraulic change includes: a target relative value of hydraulic increase; determining the target relative value of hydraulic change from the relative values ​​of hydraulic change of each of the wheel suspensions includes:

[0040] The target hydraulic increase relative value is determined from all the relative values ​​of hydraulic increase of the wheel suspensions that are greater than or equal to the first actual hydraulic pressure;

[0041] Determining the hydraulic change value of the wheel suspension based on the hydraulic deviation value and the target relative hydraulic change value includes:

[0042] The product of the hydraulic deviation value and the relative increase in target hydraulic pressure is determined as the hydraulic pressure increase value.

[0043] In some embodiments, the relative value of hydraulic change includes: a relative value of hydraulic decrease; the target relative value of hydraulic change includes: a target relative value of hydraulic decrease; determining the target relative value of hydraulic change from the relative values ​​of hydraulic change of each of the wheel suspensions includes:

[0044] The target hydraulic pressure reduction relative value is determined from all the relative hydraulic pressure reduction values ​​of the wheel suspensions where the expected hydraulic pressure is less than the first actual hydraulic pressure;

[0045] Determining the hydraulic change value of the wheel suspension based on the hydraulic deviation value and the target relative hydraulic change value includes:

[0046] The product of the hydraulic deviation value and the target hydraulic reduction relative value is determined as the hydraulic reduction value.

[0047] In some embodiments, the method further includes:

[0048] The hydraulic pressure variation limit value is determined based on the ratio between the upper limit value of the hydraulic pressure variation and the desired hydraulic pressure.

[0049] The relative value of hydraulic change is determined based on the ratio between the hydraulic change limit value and the hydraulic deviation value.

[0050] Secondly, embodiments of this disclosure provide a hydraulic control device, the device comprising:

[0051] The determination module determines the second actual hydraulic pressure of each wheel suspension at the next moment based on the expected hydraulic pressure set for each wheel suspension, the first actual hydraulic pressure at the current moment, and the preset upper limit value of hydraulic pressure change.

[0052] The adjustment module adjusts the first actual hydraulic pressure to the second actual hydraulic pressure when the second actual hydraulic pressure does not reach the desired hydraulic pressure, until the desired hydraulic pressure is reached.

[0053] Thirdly, embodiments of this disclosure provide a hydraulic control device, including: a processor, a memory, and a program or instructions stored in the memory and running on the processor, wherein when the program or instructions are executed by the processor, the steps of the hydraulic control method described in the first aspect are implemented.

[0054] Fourthly, embodiments of this disclosure provide a storage medium storing a program or instructions that, when executed, implement the steps of the hydraulic control method described in the first aspect.

[0055] The technical solutions provided in this disclosure may have the following beneficial effects:

[0056] In the hydraulic control method proposed in this embodiment, based on the desired hydraulic pressure set for each wheel suspension, the first actual hydraulic pressure at the current moment, and a preset upper limit value for hydraulic pressure change, the second actual hydraulic pressure of each wheel suspension at the next moment is determined; if the second actual hydraulic pressure does not reach the desired hydraulic pressure, the first actual hydraulic pressure is adjusted to the second actual hydraulic pressure until the desired hydraulic pressure is reached.

[0057] In other words, the second actual hydraulic pressure that each wheel suspension can achieve can be determined based on the hydraulic pressure variation capability of each wheel suspension. Then, the hydraulic pressure of each wheel suspension is adjusted to the second actual hydraulic pressure instead of the desired hydraulic pressure of each wheel suspension. By continuously adjusting the second actual hydraulic pressure until the desired hydraulic pressure is reached, the amount of hydraulic pressure variation of the suspension can be controlled, avoiding the amount of hydraulic pressure variation of the suspension from exceeding its hydraulic pressure variation capability. This avoids the problems of suspension mechanical structure damage and reduced service life, and improves the reliability and service life of the suspension system. Attached Figure Description

[0058] Figure 1 This is a schematic flowchart of a hydraulic control method according to an exemplary embodiment;

[0059] Figure 2 This is a structural block diagram of a hydraulic control device according to an exemplary embodiment;

[0060] Figure 3 This is a schematic diagram of the structure of a hydraulic control device according to an exemplary embodiment. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this disclosure clearer, the disclosure will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this disclosure. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0062] 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.

[0063] 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 disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0064] 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 disclosure belongs. The terminology used herein is for the purpose of describing embodiments of this disclosure only and is not intended to be limiting of this disclosure.

[0065] The technical solutions provided by the various embodiments of this disclosure are described in detail below with reference to the accompanying drawings.

[0066] In related technologies, due to the large number of suspensions configured on special vehicles, and the different hydraulic change capabilities of each suspension, the hydraulic suspension is prone to hydraulic change exceeding its allowable hydraulic change capability during dynamic change control, resulting in suspension damage and reduced service life.

[0067] Based on this, the present disclosure provides a hydraulic control method. Figure 1 This is a schematic flowchart of a hydraulic control method according to an exemplary embodiment, such as... Figure 1 As shown, the hydraulic control method provided in this embodiment includes at least the following steps:

[0068] In step 101, based on the desired hydraulic pressure set for each wheel suspension, the first actual hydraulic pressure at the current moment, and the preset upper limit value of hydraulic pressure change, the second actual hydraulic pressure of each wheel suspension at the next moment is determined.

[0069] In step 102, if the second actual hydraulic pressure does not reach the desired hydraulic pressure, the first actual hydraulic pressure is adjusted to the second actual hydraulic pressure until the desired hydraulic pressure is reached.

[0070] It should be noted that this hydraulic control method can be applied to multi-wheeled vehicles equipped with hydraulic suspension. Multi-wheeled vehicles include vehicles with four or more wheels, such as sedans, trucks, buses, SUVs, vans, and special-purpose vehicles. Special-purpose vehicles may include ambulances, fire trucks, engineering vehicles, sanitation vehicles, military vehicles, aviation equipment transport vehicles, camera vehicles, and training vehicles. Engineering vehicles may include excavators, bulldozers, loaders, and concrete pump trucks; sanitation vehicles may include garbage trucks, water trucks, and road sweepers; and military vehicles may include tanks, armored vehicles, and military trucks.

[0071] In this embodiment of the disclosure, before adjusting the hydraulic pressure of each wheel suspension, the second actual hydraulic pressure of each wheel suspension at the next moment can be determined based on the expected hydraulic pressure set for each wheel suspension, the first actual hydraulic pressure at the current moment, and a preset upper limit value for hydraulic pressure change. The expected hydraulic pressure set for each wheel suspension is calculated using a relevant algorithm; that is, the target hydraulic pressure that each wheel suspension ultimately needs to be adjusted to. Taking a four-wheeled vehicle as an example, the expected hydraulic pressure of each wheel suspension can be: 12 MPa for the left front wheel, 12 MPa for the right front wheel, 13 MPa for the left rear wheel, and 12 MPa for the right rear wheel.

[0072] Specifically, the first actual hydraulic pressure at the current moment represents the target hydraulic pressure that each wheel suspension needs to achieve at the current moment. The first actual hydraulic pressure can be initialized to 0 during the initial calculation.

[0073] Specifically, the preset upper limit of hydraulic pressure variation represents the maximum limit of the increase and decrease in hydraulic pressure for each wheel suspension within the task cycle. These two values ​​are system mechanical characteristic parameters that can be obtained through bench testing. For example, the maximum increase in hydraulic pressure for the left front wheel is 4 MPa, and the maximum decrease in hydraulic pressure for the right rear wheel is 2 MPa. If the hydraulic pressure variation of each wheel suspension exceeds this value, it may lead to damage to the suspension mechanical structure and a reduction in service life. The task cycle is the time interval for cyclically calculating the second actual hydraulic pressure, which can be set according to actual needs and application scenarios, such as 2 seconds (s), 5 seconds (s), 500 milliseconds (ms), 1000 ms, etc.

[0074] Specifically, the second actual hydraulic pressure at the next moment represents the target hydraulic pressure that each wheel suspension needs to achieve at the next moment. To avoid the change in hydraulic pressure of each wheel suspension at adjacent moments exceeding its hydraulic pressure change capability, the hydraulic pressure of each wheel suspension will be adjusted to the second actual hydraulic pressure instead of the desired hydraulic pressure. Before the hydraulic pressure of each wheel suspension is adjusted to the desired hydraulic pressure, the second actual hydraulic pressure usually needs to be calculated multiple times. For example, the desired hydraulic pressure of the left front wheel is 12MPa. The first calculation yields a second actual hydraulic pressure of 8MPa, the second calculation yields a second actual hydraulic pressure of 10MPa, and the third calculation yields a second actual hydraulic pressure of 12MPa. In this example, the second actual hydraulic pressure needs to be calculated three times to adjust the hydraulic pressure of the left front wheel to the desired hydraulic pressure of 12MPa.

[0075] In some embodiments, adjacent moments can be the previous moment and the current moment, and the task period is the difference between the previous moment and the current moment; in other embodiments, adjacent moments can be the current moment and the next moment, and the task period is the difference between the current moment and the next moment.

[0076] In this embodiment of the disclosure, if the second actual hydraulic pressure does not reach the desired hydraulic pressure, the first actual hydraulic pressure needs to be adjusted to the second actual hydraulic pressure, and then the second actual hydraulic pressure needs to be recalculated until the desired hydraulic pressure is reached.

[0077] For example, the desired hydraulic pressure for the left front wheel is 12 MPa, the first actual hydraulic pressure is 8 MPa, and the second actual hydraulic pressure obtained after the first calculation is 10 MPa, which does not reach the desired hydraulic pressure. In this case, the first actual hydraulic pressure needs to be updated to the second actual hydraulic pressure of 10 MPa, and the left front wheel suspension hydraulic pressure needs to be adjusted to 10 MPa. Then, the second actual hydraulic pressure is calculated again. If the second actual hydraulic pressure reaches the desired hydraulic pressure after this calculation, the left front wheel suspension hydraulic pressure is adjusted to the desired hydraulic pressure and the calculation stops; otherwise, the left front wheel suspension hydraulic pressure is adjusted to the second actual hydraulic pressure, the first actual hydraulic pressure is updated to the second actual hydraulic pressure, and then the second actual hydraulic pressure is calculated again.

[0078] In this embodiment of the disclosure, in order to avoid the change in hydraulic pressure of each wheel suspension at adjacent moments exceeding its hydraulic pressure change capability, before adjusting the hydraulic pressure of each wheel suspension, a second actual hydraulic pressure is calculated based on the upper limit value of the hydraulic pressure change of each wheel suspension as the target hydraulic pressure for this hydraulic adjustment, instead of directly adjusting the hydraulic pressure of each wheel suspension to the desired hydraulic pressure. This can control the change in suspension hydraulic pressure, avoid the change in suspension hydraulic pressure exceeding its hydraulic pressure change capability, thereby avoiding the problems of suspension mechanical structure damage and reduced service life, and improving the reliability and service life of the suspension system.

[0079] In some embodiments, determining the second actual hydraulic pressure of each wheel suspension at the next moment based on the desired hydraulic pressure set for each wheel suspension, the first actual hydraulic pressure at the current moment, and a preset upper limit value for hydraulic pressure change includes:

[0080] Based on the expected hydraulic pressure and the first actual hydraulic pressure, determine the hydraulic pressure deviation value at the current moment;

[0081] From the hydraulic change values ​​of each of the wheel suspensions, a target hydraulic change value is determined; wherein, the target hydraulic change value is used to indicate the limit range of hydraulic change of the entire vehicle suspension;

[0082] The second actual hydraulic pressure is determined based on the expected hydraulic pressure, the first actual hydraulic pressure, the hydraulic pressure deviation value, and the target hydraulic pressure change value.

[0083] Here, the hydraulic deviation value can be used to characterize the difference between the hydraulic pressure of each wheel suspension at the current moment and the desired hydraulic pressure. In this embodiment of the disclosure, the hydraulic deviation value at the current moment can be determined based on the desired hydraulic pressure and the first actual hydraulic pressure, and then the target hydraulic pressure change value can be determined from the hydraulic pressure change values ​​of each wheel suspension. In this way, the second actual hydraulic pressure can be determined based on the desired hydraulic pressure, the first actual hydraulic pressure, the hydraulic deviation value, and the target hydraulic pressure change value.

[0084] In this embodiment of the disclosure, the second actual hydraulic pressure can be determined based on the expected hydraulic pressure, the first actual hydraulic pressure, the hydraulic pressure deviation value, and the target hydraulic pressure change value. Since the hydraulic pressure deviation value and the target hydraulic pressure change value can, to a certain extent, further limit the variation capability of the second actual hydraulic pressure, it can further ensure that the second actual hydraulic pressure does not exceed the hydraulic pressure variation capability of each wheel suspension, thereby avoiding the problems of suspension mechanical structure damage and reduced service life.

[0085] In some embodiments, determining the hydraulic deviation value at the current moment based on the desired hydraulic pressure and the first actual hydraulic pressure includes:

[0086] Determine a first difference between the desired hydraulic pressure and the first actual hydraulic pressure;

[0087] The hydraulic deviation value is determined based on the ratio between the absolute value of the first difference and the desired hydraulic pressure.

[0088] In this embodiment of the disclosure, after determining a first difference between the desired hydraulic pressure and the first actual hydraulic pressure, the hydraulic deviation value can be determined based on the ratio between the absolute value of the first difference and the desired hydraulic pressure. In some embodiments, the formula for calculating the hydraulic deviation value is as follows:

[0089]

[0090] In formula (1), P i Let P(k-1) represent the expected hydraulic pressure of the i-th wheel suspension. i Let τ(k-1) represent the first actual hydraulic pressure of the i-th wheel suspension at the current moment. iThis represents the hydraulic deviation value of the i-th wheel suspension at the current moment, where i represents the wheel suspension number, i∈[1,n], and n is the total number of wheel suspensions.

[0091] Furthermore, the following formula can be derived from formula (1):

[0092]

[0093] In some embodiments, taking the determination of the hydraulic deviation value of the left front wheel as an example, the expected hydraulic pressure of the left front wheel suspension is 12 MPa, and the first actual hydraulic pressure is 8 MPa. Then, the hydraulic deviation value of the left front wheel is (12-8) / 12 = 0.33. In other embodiments, taking the determination of the hydraulic deviation value of the right rear wheel as an example, the expected hydraulic pressure of the right rear wheel suspension is 12 MPa, and the first actual hydraulic pressure is 18 MPa. Then, the hydraulic deviation value of the right rear wheel is -(12-18) / 12 = 0.5.

[0094] In this embodiment, the ratio of the absolute value of the first difference to the desired hydraulic pressure of each wheel suspension represents the degree of deviation of the first actual hydraulic pressure from the desired hydraulic pressure, which can also be described as an error or relative error. The hydraulic deviation value can be regarded as the relative difference or relative rate of change between the first actual hydraulic pressure and the desired hydraulic pressure. The closer the hydraulic deviation value is to 0, the smaller the difference between the first actual hydraulic pressure and the desired hydraulic pressure; the closer the hydraulic deviation value is to 1, the larger the difference between the first actual hydraulic pressure and the desired hydraulic pressure. Therefore, the hydraulic deviation value can be used to assess the degree of difference or error between the first actual hydraulic pressure and the desired hydraulic pressure, which can help to further determine and control the variation range of the hydraulic pressure of each wheel suspension.

[0095] In some embodiments, the hydraulic change value includes: a hydraulic increase value and a hydraulic decrease value; determining the target hydraulic change value from the hydraulic change values ​​of each of the wheel suspensions includes:

[0096] A first candidate hydraulic change value is determined from all the hydraulic increase values ​​of the wheel suspensions whose expected hydraulic pressure is greater than or equal to the first actual hydraulic pressure;

[0097] A second candidate hydraulic change value is determined from all wheel suspensions whose hydraulic pressure decreases when the desired hydraulic pressure is less than the first actual hydraulic pressure.

[0098] If the first candidate hydraulic change value is greater than or equal to the second candidate hydraulic change value, the second candidate hydraulic change value is determined as the target hydraulic change value;

[0099] If the first candidate hydraulic change value is less than the second candidate hydraulic change value, the first candidate hydraulic change value is determined as the target hydraulic change value.

[0100] Here, the hydraulic change value can be the maximum capacity used to characterize the hydraulic change of each wheel suspension, and the target hydraulic change value can be the maximum capacity used to characterize the hydraulic change of the entire vehicle suspension. In this embodiment of the disclosure, a first candidate hydraulic change value can be determined from the hydraulic increase values ​​of all wheel suspensions whose expected hydraulic pressure is greater than or equal to the first actual hydraulic pressure, and a second candidate hydraulic change value can be determined from the hydraulic decrease values ​​of all wheel suspensions whose expected hydraulic pressure is less than the first actual hydraulic pressure. Then, based on the relationship between the first candidate hydraulic change value and the second candidate hydraulic change value, the first candidate hydraulic change value or the second candidate hydraulic change value is determined as the target hydraulic change value. In some embodiments, the calculation formula for the target hydraulic change value is as follows:

[0101]

[0102] In formula (3), τ2(k-1) updown The target hydraulic pressure change ratio is represented by τ1(i, k-1). up Let τ1(i, k-1) represent the increase in hydraulic pressure for the i-th wheel suspension. down P represents the decrease in hydraulic pressure of the i-th wheel suspension. i Let P(k-1) represent the expected hydraulic pressure of the i-th wheel suspension. i The first actual hydraulic pressure of the i-th wheel suspension at the current moment is represented by , where i represents the wheel suspension number, i∈[1,n], and n is the total number of wheel suspensions.

[0103] Furthermore, based on formula (3), the following formula can be derived:

[0104]

[0105] In some embodiments, the minimum value of the hydraulic increase for all wheel suspensions whose desired hydraulic pressure is greater than or equal to the first actual hydraulic pressure can be determined as the first candidate hydraulic change value. In other embodiments, multiple smaller values ​​among the hydraulic increase values ​​for all wheel suspensions whose desired hydraulic pressure is greater than or equal to the first actual hydraulic pressure can be determined as the first candidate hydraulic change value. For example, if the hydraulic increase values ​​for all wheel suspensions whose desired hydraulic pressure is greater than or equal to the first actual hydraulic pressure are 0.6, 0.34, 0.24, and 0.68, respectively, then the first candidate hydraulic change value can be 0.24 or (0.24, 0.34).

[0106] In some embodiments, the minimum value of the hydraulic pressure reduction of all wheel suspensions whose desired hydraulic pressure is less than the first actual hydraulic pressure can be determined as the second candidate hydraulic pressure change value; in other embodiments, multiple smaller values ​​among the hydraulic pressure reduction values ​​of all wheel suspensions whose desired hydraulic pressure is less than the first actual hydraulic pressure can be determined as the second candidate hydraulic pressure change value. For example, if the hydraulic pressure reduction values ​​of all wheel suspensions whose desired hydraulic pressure is less than the first actual hydraulic pressure are 0.4, 0.34, 0.24, and 0.16, respectively, then the second candidate hydraulic pressure change value can be 0.16 or (0.16, 0.24, 0.34).

[0107] In some embodiments, if the first candidate hydraulic change value is 0.32 and the second candidate hydraulic change value is 0.45, the target hydraulic change value can be determined as 0.32; in other embodiments, if the first candidate hydraulic change value is (0.24, 0.34) and the second candidate hydraulic change value is (0.16, 0.24, 0.34), the target hydraulic change value can be determined as 0.16.

[0108] In this embodiment, a first candidate hydraulic change value can be determined from the hydraulic increase value, and a second candidate hydraulic change value can be determined from the hydraulic decrease value. The minimum value between the first and second candidate hydraulic change values ​​is then determined as the target hydraulic change value. Since the hydraulic change value represents the maximum capacity of hydraulic change in each wheel suspension, and the target hydraulic change value represents the maximum capacity of hydraulic change in the entire vehicle suspension, it can be ensured that the calculated second actual hydraulic pressure will not exceed the hydraulic change capacity of each wheel suspension, thus avoiding damage to the suspension mechanical structure and reduced service life.

[0109] In some embodiments, determining the second actual hydraulic pressure based on the desired hydraulic pressure, the first actual hydraulic pressure, the hydraulic pressure deviation value, and the target hydraulic pressure change value includes:

[0110] Determine a second difference between the hydraulic deviation value and the target hydraulic change value;

[0111] Based on the magnitude relationship between the desired hydraulic pressure and the first actual hydraulic pressure, the adjustment flag is determined;

[0112] The second actual hydraulic pressure is determined based on the desired hydraulic pressure, the adjustment flag, and the second difference.

[0113] In this embodiment of the disclosure, a second difference between the hydraulic deviation value and the target hydraulic change value can be determined, and an adjustment flag is determined based on the magnitude relationship between the desired hydraulic pressure and the first actual hydraulic pressure. Furthermore, the second actual hydraulic pressure is determined based on the desired hydraulic pressure, the adjustment flag, and the second difference. In some embodiments, the formula for calculating the second difference is as follows:

[0114] dif = τ(k-1) i -τ2(k-1) updown (5);

[0115] In formula (5), dif represents the second difference of the i-th wheel suspension, τ2(k-1) updown τ(k-1) represents the target hydraulic pressure change ratio. i This represents the hydraulic deviation value of the i-th wheel suspension at the current moment, where i represents the wheel suspension number, i∈[1,n], and n is the total number of wheel suspensions.

[0116] In some embodiments, determining the second actual hydraulic pressure based on the desired hydraulic pressure, the adjustment flag, and the second difference includes:

[0117] Determine the first product of the desired hydraulic pressure, the adjustment flag, and the second difference;

[0118] The difference between the desired hydraulic pressure and the first product is determined as the second actual hydraulic pressure.

[0119] In this embodiment of the disclosure, a first product of the desired hydraulic pressure, the adjustment flag, and the second difference can be determined. Thus, the difference between the desired hydraulic pressure and the first product can be determined as the second actual hydraulic pressure. In some embodiments, the formula for calculating the second actual hydraulic pressure is as follows:

[0120] P(k) i =P i -P i *s i *dif (6);

[0121] In formula (6), P(k) i P represents the second actual hydraulic pressure of the i-th wheel suspension, dif represents the second difference of the i-th wheel suspension, and P represents the second actual hydraulic pressure of the i-th wheel suspension. i Let s represent the expected hydraulic pressure of the i-th wheel suspension. i This indicates the adjustment flag of the i-th wheel suspension, where i represents the wheel suspension number, i∈[1,n], and n is the total number of wheel suspensions.

[0122] In some embodiments, the product of the desired hydraulic pressure, the adjustment flag, and the second difference can be directly determined as the first product; in other embodiments, the product of the desired hydraulic pressure, the adjustment flag, and the second difference can be weighted and the result of the weighting can be determined as the first product, etc.

[0123] In this embodiment, the second actual hydraulic pressure can be determined based on the hydraulic deviation value, the target hydraulic pressure change value, the adjustment flag, and the desired hydraulic pressure. Since both the hydraulic deviation value and the target hydraulic pressure change value are calculated based on the hydraulic pressure change capability of each wheel suspension, and the adjustment flag can further control the range of change of the second actual hydraulic pressure—that is, control the increase or decrease of the second actual hydraulic pressure—it is possible to avoid the second actual hydraulic pressure exceeding the hydraulic pressure change capability of each wheel suspension. This prevents damage to the suspension mechanical structure and reduced service life, thereby improving the reliability and service life of the suspension system.

[0124] In some embodiments, determining the adjustment flag based on the magnitude relationship between the desired hydraulic pressure and the first actual hydraulic pressure includes:

[0125] When the desired hydraulic pressure is greater than or equal to the first actual hydraulic pressure, the first preset value is determined as the adjustment flag.

[0126] When the desired hydraulic pressure is less than the first actual hydraulic pressure, the second preset value is determined as the adjustment flag; wherein the first preset value is a positive number and the second preset value is a negative number of the first preset value.

[0127] In this embodiment of the disclosure, when the desired hydraulic pressure is greater than or equal to the first actual hydraulic pressure, a first preset value is determined as an adjustment flag; when the desired hydraulic pressure is less than the first actual hydraulic pressure, a second preset value is determined as the adjustment flag. The first preset value is a positive number, and the second preset value is a negative number of the first preset value. In some embodiments, the first preset value can be set to 1, and the calculation formula for the adjustment flag is as follows:

[0128]

[0129] In formula (7), s i P represents the adjustment flag position of the i-th wheel suspension. i Let P(k-1) represent the expected hydraulic pressure of the i-th wheel suspension. i The first actual hydraulic pressure of the i-th wheel suspension at the current moment is represented by , where i represents the wheel suspension number, i∈[1,n], and n is the total number of wheel suspensions.

[0130] In some embodiments, the first preset value and the first preset value can be set as needed, for example, they can be set based on experience or based on historical data, etc., without specific limitations here.

[0131] In this embodiment of the disclosure, the adjustment flag can be determined based on the magnitude relationship between the desired hydraulic pressure and the first actual hydraulic pressure, which can make the calculation of the second actual hydraulic pressure more accurate and avoid the second actual hydraulic pressure exceeding the variation capacity of the hydraulic pressure of each wheel suspension.

[0132] In some embodiments, the method further includes:

[0133] From the relative values ​​of hydraulic changes of each of the aforementioned wheel suspensions, a target relative value of hydraulic change is determined; wherein, the target relative value of hydraulic change is used to indicate the limit range of hydraulic changes of the entire vehicle suspension;

[0134] The hydraulic change value of the wheel suspension is determined based on the hydraulic deviation value and the target hydraulic change relative value.

[0135] Here, the target relative value of hydraulic pressure change can be used to characterize the maximum change capability of the vehicle suspension hydraulic pressure. In this embodiment of the disclosure, the target relative value of hydraulic pressure change can be determined from the relative values ​​of hydraulic pressure change of each wheel suspension, and then the hydraulic pressure change value of the wheel suspension can be determined based on the hydraulic deviation value and the target relative value of hydraulic pressure change.

[0136] In some embodiments, determining the hydraulic change value of the wheel suspension based on the hydraulic deviation value and the target relative hydraulic change value includes:

[0137] The hydraulic change value is determined based on the product of the hydraulic deviation value and the target hydraulic change relative value.

[0138] In this embodiment of the disclosure, the hydraulic change value can be determined based on the product of the hydraulic deviation value and the target relative hydraulic change value. Specifically, the hydraulic change value can be determined directly by multiplying the hydraulic deviation value and the target relative hydraulic change value, or a weighted average can be applied to the product of the hydraulic deviation value and the target relative hydraulic change value, and the result of the weighted average can be determined as the hydraulic change value.

[0139] In some embodiments, the relative value of hydraulic change includes: a relative value of hydraulic increase, and the target relative value of hydraulic change includes: a target relative value of hydraulic increase; determining the target relative value of hydraulic change from the relative values ​​of hydraulic change of each of the wheel suspensions includes:

[0140] The target hydraulic increase relative value is determined from all the relative values ​​of hydraulic increase of the wheel suspensions that are greater than or equal to the first actual hydraulic pressure;

[0141] Determining the hydraulic change value of the wheel suspension based on the hydraulic deviation value and the target relative hydraulic change value includes:

[0142] The product of the hydraulic deviation value and the relative increase in target hydraulic pressure is determined as the hydraulic pressure increase value.

[0143] In this embodiment of the disclosure, a target relative increase in hydraulic pressure can be determined from the relative increases in hydraulic pressure of all wheel suspensions where the desired hydraulic pressure is greater than or equal to the first actual hydraulic pressure. The product of the hydraulic deviation value and the target relative increase in hydraulic pressure is then determined as the hydraulic pressure increase value. In some embodiments, the formula for calculating the hydraulic pressure increase value is as follows:

[0144] τ1(i, k-1) up =τ(k-1) i *γ(k-1) upmin (8);

[0145] In formula (8), τ1(i, k-1) up Let γ(k-1) represent the increase in hydraulic pressure for the i-th wheel suspension. upmin The relative increase in target hydraulic pressure is represented by τ(k-1). i This represents the hydraulic deviation value of the i-th wheel suspension at the current moment, where i represents the wheel suspension number, i∈[1,n], and n is the total number of wheel suspensions.

[0146] In some embodiments, the formula for calculating the relative increase in target hydraulic pressure is as follows:

[0147]

[0148] In formula (9), γ(k-1) upmin The target hydraulic pressure increase is represented by γ(i, k-1). up P represents the relative increase in hydraulic pressure of the i-th wheel suspension. i Let P(k-1) represent the expected hydraulic pressure of the i-th wheel suspension. i The first actual hydraulic pressure of the i-th wheel suspension at the current moment is represented by , where i represents the wheel suspension number, i∈[1,n], and n is the total number of wheel suspensions.

[0149] In some embodiments, the minimum relative increase in hydraulic pressure for all wheel suspensions can be determined as the target relative increase in hydraulic pressure; in other embodiments, multiple smaller values ​​among the relative increases in hydraulic pressure for all wheel suspensions can be determined as the target relative increase in hydraulic pressure. For example, if the relative increases in hydraulic pressure for all wheel suspensions are 0.21, 0.16, 0.23, and 0.18, the target relative increase in hydraulic pressure can be 0.16 or (0.16, 0.18, 0.21).

[0150] In this embodiment, a target relative increase in hydraulic pressure can be determined from the relative increases in hydraulic pressure of all wheel suspensions where the desired hydraulic pressure is greater than or equal to the first actual hydraulic pressure. The product of the hydraulic deviation value and the target relative increase in hydraulic pressure is then determined as the hydraulic increase value. The hydraulic increase value characterizes the maximum hydraulic increase capability of each wheel suspension and can be used to limit the range of hydraulic increase for each wheel suspension to not exceed the hydraulic increase value, thereby avoiding damage to the suspension's mechanical structure and reduced service life, and improving the reliability and service life of the suspension system.

[0151] In some embodiments, the relative value of hydraulic change includes: a relative value of hydraulic decrease; the target relative value of hydraulic change includes: a target relative value of hydraulic decrease; determining the target relative value of hydraulic change from the relative values ​​of hydraulic change of each of the wheel suspensions includes:

[0152] The target hydraulic pressure reduction relative value is determined from all the relative hydraulic pressure reduction values ​​of the wheel suspensions where the expected hydraulic pressure is less than the first actual hydraulic pressure;

[0153] Determining the hydraulic change value of the wheel suspension based on the hydraulic deviation value and the target relative hydraulic change value includes:

[0154] The product of the hydraulic deviation value and the target hydraulic reduction relative value is determined as the hydraulic reduction value.

[0155] In this embodiment of the disclosure, a target relative hydraulic pressure reduction value can be determined from the relative hydraulic pressure reduction values ​​of all wheel suspensions where the expected hydraulic pressure is less than the first actual hydraulic pressure. The product of the hydraulic pressure deviation value and the target relative hydraulic pressure reduction value is then determined as the hydraulic pressure reduction value. In some embodiments, the formula for calculating the hydraulic pressure reduction value is:

[0156] τ1(i, k-1) down =τ(k-1) i *γ(k-1) downmin (10);

[0157] In formula (10), τ1(i, k-1) down Let γ(k-1) represent the decrease in hydraulic pressure of the i-th wheel suspension. downmin The relative value of the decrease in target hydraulic pressure is represented by τ(k-1). i This represents the hydraulic deviation value of the i-th wheel suspension at the current moment, where i represents the wheel suspension number, i∈[1,n], and n is the total number of wheel suspensions.

[0158] In some embodiments, the formula for calculating the relative value of the target hydraulic pressure reduction is as follows:

[0159]

[0160] In formula (11), γ(k-1) downmin The relative value of the decrease in target hydraulic pressure is represented by γ(i, k-1). down P represents the relative decrease in hydraulic pressure of the i-th wheel suspension. i Let P(k-1) represent the expected hydraulic pressure of the i-th wheel suspension. i The first actual hydraulic pressure of the i-th wheel suspension at the current moment is represented by , where i represents the wheel suspension number, i∈[1,n], and n is the total number of wheel suspensions.

[0161] Furthermore, based on formulas (9) and (11), the following formula can be derived:

[0162]

[0163] Furthermore, based on formulas (8), (10), and (12), the following formula can be derived:

[0164]

[0165] In some embodiments, the minimum value of the relative reduction in hydraulic pressure of all wheel suspensions can be determined as the target relative reduction in hydraulic pressure; in other embodiments, multiple smaller values ​​among the relative reductions in hydraulic pressure of all wheel suspensions can also be determined as the target relative reduction in hydraulic pressure. For example, if the relative reductions in hydraulic pressure of all wheel suspensions are 0.08, 0.12, 0.23, and 0.18, the target relative reduction in hydraulic pressure can be 0.08 or (0.08, 0.12, 0.18).

[0166] In this embodiment, a target hydraulic reduction relative value can be determined from the hydraulic reduction relative values ​​of all wheel suspensions where the expected hydraulic pressure is less than the first actual hydraulic pressure. The product of the hydraulic deviation value and the target hydraulic reduction relative value is then determined as the hydraulic reduction value. The hydraulic reduction value characterizes the maximum hydraulic reduction capability of each wheel suspension and can be used to limit the hydraulic reduction range of each wheel suspension from exceeding the hydraulic reduction value, thereby avoiding damage to the suspension mechanical structure and reduced service life, and improving the reliability and service life of the suspension system.

[0167] In some embodiments, the method further includes:

[0168] The hydraulic pressure variation limit value is determined based on the ratio between the upper limit value of the hydraulic pressure variation and the desired hydraulic pressure.

[0169] The relative value of hydraulic change is determined based on the ratio between the hydraulic change limit value and the hydraulic deviation value.

[0170] Here, the hydraulic change limit values ​​include hydraulic increase limit values ​​and hydraulic decrease limit values, which can be used to characterize the maximum change capability of the hydraulic pressure of each wheel suspension relative to the desired hydraulic pressure. The relative hydraulic change value can be used to characterize the maximum change capability of the hydraulic pressure of each wheel suspension relative to the difference between the desired hydraulic pressure and the first actual hydraulic pressure. In this embodiment of the disclosure, the hydraulic change limit value can be determined based on the ratio between the upper limit value of hydraulic change and the desired hydraulic pressure, and then the relative hydraulic change value can be determined based on the ratio between the hydraulic change limit value and the hydraulic deviation value. In some embodiments, the formula for calculating the relative hydraulic change value is as follows:

[0171]

[0172] In formula (14), γ(i, k-1) up Let γ(i, k-1) represent the relative increase in hydraulic pressure on the i-th wheel suspension. down Let Δτ(i) represent the relative decrease in hydraulic pressure of the i-th wheel suspension. upmax Let Δτ(i) represent the limit value of the hydraulic pressure increase for the i-th wheel suspension. downmax Let τ(k-1) represent the limit value of hydraulic reduction for the i-th wheel suspension. i This represents the hydraulic deviation value of the i-th wheel suspension at the current moment, where i represents the wheel suspension number, i∈[1,n], and n is the total number of wheel suspensions.

[0173] Furthermore, based on formula (14), the following formula can be derived:

[0174]

[0175] The hydraulic pressure variation limit can be determined based on the ratio between the upper limit of hydraulic pressure variation and the desired hydraulic pressure. In some embodiments, the formula for calculating the hydraulic pressure variation limit is as follows:

[0176]

[0177] In formula (16), Δτ(i) upmax Let Δτ(i) represent the limit value of the hydraulic pressure increase for the i-th wheel suspension. downmax Let ΔP(i) represent the limit value of hydraulic reduction in the suspension of the i-th wheel. upmax Let ΔP(i) represent the upper limit of the hydraulic pressure increase for the i-th wheel suspension within the task cycle. downmax P represents the upper limit of the hydraulic reduction of the i-th wheel suspension within the task cycle. i Let represent the expected hydraulic pressure of the i-th wheel suspension, where i represents the wheel suspension number, i∈[1,n], and n is the total number of wheel suspensions.

[0178] Furthermore, based on formula (16), the following formula can be derived:

[0179]

[0180] In this embodiment of the disclosure, the hydraulic change limit value can be determined based on the ratio between the upper limit value of hydraulic change and the desired hydraulic pressure, and then the relative value of hydraulic change can be determined based on the ratio between the hydraulic change limit value and the hydraulic deviation value. The hydraulic change limit value and the relative value of hydraulic change are similar, both characterizing the maximum change capability of the suspension hydraulic pressure of each wheel in different aspects. This can provide a more accurate constraint for determining the second actual hydraulic pressure, avoiding the second actual hydraulic pressure from exceeding the maximum change capability of the suspension hydraulic pressure of each wheel.

[0181] In this embodiment of the disclosure, the change in hydraulic pressure of each wheel suspension at adjacent time points is equal to the absolute value of the difference between the first actual hydraulic pressure of each wheel suspension at the current time and the second actual hydraulic pressure at the next time point. In some embodiments, the formula for calculating the change in hydraulic pressure of each wheel suspension at adjacent time points is as follows:

[0182] ΔP(k) i =|P(k) i -P(k-1) i | (18);

[0183] In formula (18), ΔP(k) i Let P(k) represent the change in hydraulic pressure of the i-th wheel suspension at adjacent time points. i Let P(k-1) represent the second actual hydraulic pressure of the i-th wheel suspension at the next moment. i The first actual hydraulic pressure of the i-th wheel suspension at the current moment is represented by , where i represents the wheel suspension number, i∈[1,n], and n is the total number of wheel suspensions.

[0184] Furthermore, based on formula (18), the following formula can be derived:

[0185]

[0186] Furthermore, based on formulas (7) and (19), the following formula can be derived:

[0187]

[0188] Furthermore, based on formulas (2) and (20), the following formula can be derived:

[0189]

[0190] Furthermore, formula (21) can be simplified to:

[0191]

[0192] Furthermore, based on formulas (4), (13), and (15), the following formula can be derived:

[0193]

[0194] Furthermore, based on formula (17), the following formula can be derived:

[0195]

[0196] In this embodiment of the disclosure, the following conclusions can be drawn from formula (24): the increase in the first actual hydraulic pressure of each wheel suspension at the current moment is all less than or equal to the upper limit of the increase in hydraulic pressure of each wheel suspension at adjacent moments; the decrease in the first actual hydraulic pressure of each wheel suspension at the current moment is all less than or equal to the upper limit of the decrease in hydraulic pressure of each wheel suspension at adjacent moments, thus avoiding the change in hydraulic pressure of each wheel suspension at adjacent moments exceeding its suspension hydraulic pressure change capability, thereby avoiding the problem of suspension mechanical structure damage and reduced service life, and improving the reliability and service life of the suspension system.

[0197] In the hydraulic control method proposed in this disclosure, based on the desired hydraulic pressure set for each wheel suspension, the first actual hydraulic pressure at the current moment, and a preset upper limit value for hydraulic pressure change, a second actual hydraulic pressure for each wheel suspension at the next moment is determined. If the second actual hydraulic pressure does not reach the desired hydraulic pressure, the first actual hydraulic pressure is adjusted to the second actual hydraulic pressure until the desired hydraulic pressure is reached. In other words, the second actual hydraulic pressure achievable by each wheel suspension can be determined based on its hydraulic pressure change capability. Then, the hydraulic pressure of each wheel suspension is adjusted to the second actual hydraulic pressure instead of the desired hydraulic pressure. By continuously adjusting the second actual hydraulic pressure until the desired hydraulic pressure is reached, the amount of hydraulic pressure change in the suspension is controlled, preventing the amount of hydraulic pressure change from exceeding its hydraulic pressure change capability. This avoids damage to the suspension mechanical structure and reduced service life, thereby improving the reliability and service life of the suspension system.

[0198] Figure 2 This is a schematic diagram of a hydraulic control device provided in an embodiment of this disclosure. See also... Figure 2 The hydraulic control device 200 provided in this embodiment may include: a determining module 201 and an adjusting module 202.

[0199] Among them, the determining module 201 determines the second actual hydraulic pressure of each wheel suspension at the next moment based on the expected hydraulic pressure set for each wheel suspension, the first actual hydraulic pressure at the current moment, and the preset upper limit value of hydraulic pressure change.

[0200] The adjustment module 202 adjusts the first actual hydraulic pressure to the second actual hydraulic pressure when the second actual hydraulic pressure does not reach the desired hydraulic pressure, until the desired hydraulic pressure is reached.

[0201] The hydraulic control device provided in this disclosure determines the second actual hydraulic pressure of each wheel suspension at the next moment based on the desired hydraulic pressure set for each wheel suspension, the first actual hydraulic pressure at the current moment, and a preset upper limit value for hydraulic pressure change. If the second actual hydraulic pressure does not reach the desired hydraulic pressure, the first actual hydraulic pressure is adjusted to the second actual hydraulic pressure until the desired hydraulic pressure is reached. In other words, the second actual hydraulic pressure that each wheel suspension can achieve can be determined based on the hydraulic pressure change capability of each wheel suspension. Then, the hydraulic pressure of each wheel suspension is adjusted to the second actual hydraulic pressure instead of the desired hydraulic pressure. By continuously adjusting the second actual hydraulic pressure until the desired hydraulic pressure is reached, the amount of hydraulic pressure change of the suspension is controlled, avoiding the amount of hydraulic pressure change of the suspension exceeding its hydraulic pressure change capability. This avoids problems such as damage to the suspension mechanical structure and reduced service life, thereby improving the reliability and service life of the suspension system.

[0202] In one possible implementation, the determining module 201 may be specifically configured to: determine the hydraulic deviation value at the current moment based on the desired hydraulic pressure and the first actual hydraulic pressure; determine the target hydraulic pressure change value from the hydraulic pressure change values ​​of each of the wheel suspensions; wherein the target hydraulic pressure change value is used to indicate the limit range of the hydraulic pressure change of the entire vehicle suspension; and determine the second actual hydraulic pressure based on the desired hydraulic pressure, the first actual hydraulic pressure, the hydraulic deviation value, and the target hydraulic pressure change value.

[0203] In one possible implementation, the determining module 201 may be specifically configured to: determine a first difference between the desired hydraulic pressure and the first actual hydraulic pressure; and determine the hydraulic deviation value based on the ratio between the absolute value of the first difference and the desired hydraulic pressure.

[0204] In one possible implementation, the determining module 201 may be specifically configured to: determine a first candidate hydraulic change value from all hydraulic increase values ​​of the wheel suspensions whose expected hydraulic pressure is greater than or equal to the first actual hydraulic pressure; determine a second candidate hydraulic change value from all hydraulic decrease values ​​of the wheel suspensions whose expected hydraulic pressure is less than the first actual hydraulic pressure; determine the second candidate hydraulic change value as the target hydraulic change value if the first candidate hydraulic change value is greater than or equal to the second candidate hydraulic change value; and determine the first candidate hydraulic change value as the target hydraulic change value if the first candidate hydraulic change value is less than the second candidate hydraulic change value.

[0205] In one possible implementation, the determining module 201 may be specifically configured to: determine the minimum value among all the hydraulic increases of the wheel suspensions where the expected hydraulic pressure is greater than or equal to the first actual hydraulic pressure as the first candidate hydraulic pressure change value; and determine the minimum value among all the hydraulic decreases of the wheel suspensions where the expected hydraulic pressure is less than the first actual hydraulic pressure as the second candidate hydraulic pressure change value.

[0206] In one possible implementation, the determining module 201 may be specifically configured to: determine a second difference between the hydraulic deviation value and the target hydraulic change value; determine an adjustment flag based on the magnitude relationship between the expected hydraulic pressure and the first actual hydraulic pressure; and determine the second actual hydraulic pressure based on the expected hydraulic pressure, the adjustment flag, and the second difference.

[0207] In one possible implementation, the determining module 201 may be specifically configured to: determine the first product of the desired hydraulic pressure, the adjustment flag, and the second difference; and determine the difference between the desired hydraulic pressure and the first product as the second actual hydraulic pressure.

[0208] In one possible implementation, the determining module 201 can be specifically configured to: when the expected hydraulic pressure is greater than or equal to the first actual hydraulic pressure, determine a first preset value as the adjustment flag bit; when the expected hydraulic pressure is less than the first actual hydraulic pressure, determine a second preset value as the adjustment flag bit; wherein, the first preset value is a positive number, and the second preset value is a negative number of the first preset value.

[0209] In one possible implementation, the determining module 201 may be specifically configured to: determine a target relative value of hydraulic change from the relative values ​​of hydraulic change of each of the wheel suspensions; wherein the target relative value of hydraulic change is used to indicate the limit range of hydraulic change of the whole vehicle suspension; and determine the hydraulic change value of the wheel suspension based on the hydraulic deviation value and the target relative value of hydraulic change.

[0210] In one possible implementation, the determining module 201 can be specifically configured to: determine the hydraulic change value based on the product of the hydraulic deviation value and the target hydraulic change relative value.

[0211] In one possible implementation, the determining module 201 may be specifically configured to: determine the target hydraulic increase relative value from all the relative values ​​of hydraulic increase of the wheel suspensions whose expected hydraulic pressure is greater than or equal to the first actual hydraulic pressure; the determination of the hydraulic change value of the wheel suspension based on the hydraulic deviation value and the target hydraulic change relative value includes: determining the hydraulic increase value by multiplying the hydraulic deviation value and the target hydraulic increase relative value.

[0212] In one possible implementation, the determining module 201 may be specifically configured to: determine the target hydraulic reduction relative value from all the hydraulic reduction relative values ​​of the wheel suspensions whose expected hydraulic pressure is less than the first actual hydraulic pressure; the determination of the hydraulic change value of the wheel suspension based on the hydraulic deviation value and the target hydraulic change relative value includes: determining the hydraulic reduction value as the product of the hydraulic deviation value and the target hydraulic reduction relative value.

[0213] In one possible implementation, the determining module 201 may be specifically configured to: determine the hydraulic change limit value based on the ratio between the upper limit value of hydraulic change and the desired hydraulic pressure; and determine the relative value of hydraulic change based on the ratio between the hydraulic change limit value and the hydraulic deviation value.

[0214] It should be noted that the hydraulic control device provided in this embodiment corresponds to the hydraulic control method mentioned above. Related details can be found in the description of the hydraulic control method above, and will not be repeated here.

[0215] Figure 3 This is a schematic diagram of the structure of a hydraulic control device provided in an embodiment of this disclosure. See also... Figure 3 The hydraulic control device 300 provided in this embodiment may include: a processor 301, a communication interface 302, and a memory 303.

[0216] The processor 301 typically controls the overall operation of the router.

[0217] Communication interface 302 enables electronic devices to communicate with other terminals or servers via a network.

[0218] The memory 303 is configured to store instructions and applications executable by the processor 301, and can also cache data to be processed or already processed by the processor 301 and various modules in the router. It can be implemented by flash memory or random access memory (RAM).

[0219] A storage medium, when instructions in the storage medium are executed by a processor of a hydraulic control device, enables the hydraulic control device to execute a hydraulic control method, the hydraulic control method comprising: determining a second actual hydraulic pressure for each wheel suspension at a next moment based on a desired hydraulic pressure set for each wheel suspension, a first actual hydraulic pressure at the current moment, and a preset upper limit value for hydraulic pressure variation; and adjusting the first actual hydraulic pressure to the second actual hydraulic pressure if the second actual hydraulic pressure does not reach the desired hydraulic pressure, until the desired hydraulic pressure is reached.

[0220] In other words, the second actual hydraulic pressure that each wheel suspension can achieve can be determined based on the hydraulic pressure variation capability of each wheel suspension. Then, the hydraulic pressure of each wheel suspension is adjusted to the second actual hydraulic pressure instead of the desired hydraulic pressure of each wheel suspension. By continuously adjusting the second actual hydraulic pressure until the desired hydraulic pressure is reached, the amount of hydraulic pressure variation of the suspension can be controlled, avoiding the amount of hydraulic pressure variation of the suspension from exceeding its hydraulic pressure variation capability. This avoids the problems of suspension mechanical structure damage and reduced service life, and improves the reliability and service life of the suspension system.

[0221] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0222] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0223] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0224] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0225] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0226] Memory may include non-persistent storage in computer storage media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer storage media.

[0227] Computer storage media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer storage media does not include transient media, such as modulated data signals and carrier waves.

[0228] It should also be noted that 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 limitation, 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 said element.

[0229] The above description is merely an embodiment of this disclosure and is not intended to limit the scope of protection of this disclosure. Any modifications, equivalent substitutions, and improvements made within the spirit and scope of this disclosure are included within the scope of protection of this disclosure.

Claims

1. A hydraulic control method, characterized in that, include: Determine the first difference between the desired hydraulic pressure and the first actual hydraulic pressure; The hydraulic deviation value is determined based on the ratio between the absolute value of the first difference and the desired hydraulic pressure. From the hydraulic change values ​​of each wheel suspension, a target hydraulic change value is determined; wherein, the target hydraulic change value is used to indicate the limit range of hydraulic change of the entire vehicle suspension; Determine a second difference between the hydraulic deviation value and the target hydraulic change value; Based on the magnitude relationship between the desired hydraulic pressure and the first actual hydraulic pressure, the adjustment flag is determined; Determine the first product of the desired hydraulic pressure, the adjustment flag, and the second difference; The difference between the desired hydraulic pressure and the first product is determined as the second actual hydraulic pressure; If the second actual hydraulic pressure does not reach the desired hydraulic pressure, the first actual hydraulic pressure is adjusted to the second actual hydraulic pressure until the desired hydraulic pressure is reached.

2. The method according to claim 1, characterized in that, The hydraulic change value includes: hydraulic increase value and hydraulic decrease value; determining the target hydraulic change value from the hydraulic change values ​​of each of the wheel suspensions includes: A first candidate hydraulic change value is determined from all the hydraulic increase values ​​of the wheel suspensions whose expected hydraulic pressure is greater than or equal to the first actual hydraulic pressure; A second candidate hydraulic change value is determined from all wheel suspensions whose hydraulic pressure decreases when the desired hydraulic pressure is less than the first actual hydraulic pressure. If the first candidate hydraulic change value is greater than or equal to the second candidate hydraulic change value, the second candidate hydraulic change value is determined as the target hydraulic change value; If the first candidate hydraulic change value is less than the second candidate hydraulic change value, the first candidate hydraulic change value is determined as the target hydraulic change value.

3. The method according to claim 2, characterized in that, Determining the first candidate hydraulic change value from all the hydraulic increase values ​​of the wheel suspensions whose expected hydraulic pressure is greater than or equal to the first actual hydraulic pressure includes: The minimum value among all the hydraulic increase values ​​of the wheel suspensions that are greater than or equal to the first actual hydraulic pressure is determined as the first candidate hydraulic pressure change value; Determining a second candidate hydraulic change value from all the hydraulic reduction values ​​of the wheel suspensions where the expected hydraulic pressure is less than the first actual hydraulic pressure includes: The minimum value among all the hydraulic reduction values ​​of the wheel suspensions where the expected hydraulic pressure is less than the first actual hydraulic pressure is determined as the second candidate hydraulic pressure change value.

4. The method according to claim 1, characterized in that, The step of determining the adjustment flag based on the magnitude relationship between the desired hydraulic pressure and the first actual hydraulic pressure includes: When the desired hydraulic pressure is greater than or equal to the first actual hydraulic pressure, the first preset value is determined as the adjustment flag. When the desired hydraulic pressure is less than the first actual hydraulic pressure, the second preset value is determined as the adjustment flag; wherein the first preset value is a positive number and the second preset value is a negative number of the first preset value.

5. The method according to claim 1, characterized in that, The method further includes: From the relative values ​​of hydraulic changes of each of the aforementioned wheel suspensions, a target relative value of hydraulic change is determined; wherein, the target relative value of hydraulic change is used to indicate the limit range of hydraulic changes of the entire vehicle suspension; The hydraulic change value of the wheel suspension is determined based on the hydraulic deviation value and the target hydraulic change relative value.

6. The method according to claim 5, wherein determining the hydraulic change value of the wheel suspension based on the hydraulic deviation value and the target relative hydraulic change value comprises: The hydraulic change value is determined based on the product of the hydraulic deviation value and the target hydraulic change relative value.

7. The method according to claim 5, characterized in that, The relative value of hydraulic change includes: a relative value of hydraulic increase; the target relative value of hydraulic change includes: a target relative value of hydraulic increase; determining the target relative value of hydraulic change from the relative values ​​of hydraulic change of each of the wheel suspensions includes: The target hydraulic increase relative value is determined from all the relative values ​​of hydraulic increase of the wheel suspensions that are greater than or equal to the first actual hydraulic pressure; Determining the hydraulic change value of the wheel suspension based on the hydraulic deviation value and the target relative hydraulic change value includes: The product of the hydraulic deviation value and the relative increase in target hydraulic pressure is determined as the hydraulic pressure increase value.

8. The method according to claim 5, characterized in that, The relative value of hydraulic change includes: a relative value of hydraulic decrease; the target relative value of hydraulic change includes: a target relative value of hydraulic decrease; determining the target relative value of hydraulic change from the relative values ​​of hydraulic change of each of the wheel suspensions includes: The target hydraulic pressure reduction relative value is determined from all the relative hydraulic pressure reduction values ​​of the wheel suspensions where the expected hydraulic pressure is less than the first actual hydraulic pressure; Determining the hydraulic change value of the wheel suspension based on the hydraulic deviation value and the target relative hydraulic change value includes: The product of the hydraulic deviation value and the target hydraulic reduction relative value is determined as the hydraulic reduction value.

9. The method according to claim 5, characterized in that, The method further includes: The hydraulic pressure variation limit value is determined based on the ratio between the upper limit value of the hydraulic pressure variation and the desired hydraulic pressure. The relative value of hydraulic change is determined based on the ratio between the hydraulic change limit value and the hydraulic deviation value.

10. A hydraulic control device, characterized in that, include: The module is configured to determine a first difference between the desired hydraulic pressure and the first actual hydraulic pressure. Based on the ratio between the absolute value of the first difference and the desired hydraulic pressure, a hydraulic deviation value is determined; from the hydraulic pressure change values ​​of each wheel suspension, a target hydraulic pressure change value is determined; wherein, the target hydraulic pressure change value is used to indicate the limit range of hydraulic pressure change of the entire vehicle suspension; a second difference is determined between the hydraulic deviation value and the target hydraulic pressure change value; based on the magnitude relationship between the desired hydraulic pressure and the first actual hydraulic pressure, an adjustment flag is determined; a first product of the desired hydraulic pressure, the adjustment flag, and the second difference is determined; the difference between the desired hydraulic pressure and the first product is determined as the second actual hydraulic pressure. The adjustment module is configured to adjust the first actual hydraulic pressure to the second actual hydraulic pressure when the second actual hydraulic pressure fails to reach the desired hydraulic pressure, until the desired hydraulic pressure is reached.

11. A hydraulic control device, characterized in that, include: A processor, a memory, and a program or instructions stored in the memory and running on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the hydraulic control method as described in any one of claims 1 to 9.

12. A storage medium, characterized in that, The storage medium stores a program or instructions that, when executed, perform the steps of the hydraulic control method according to any one of claims 1 to 9.

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