A method and device for adjusting the lifting stiffness of a vehicle frame

Abstract

This invention provides a method and apparatus for adjusting the lifting stiffness of a vehicle frame, comprising: determining the remaining number of lifting steps required based on the previously executed desired lifting stiffness, maximum allowable variation capacity, and desired lifting execution stiffness; determining the remaining reference number of four-wheel synchronization steps based on the remaining lifting steps required for all wheels; determining a lifting stiffness synchronization control coefficient based on the previously executed desired lifting stiffness and desired lifting execution stiffness; determining the desired lifting stiffness to be executed at the current moment based on the lifting stiffness synchronization control coefficient, the remaining reference steps for four-wheel synchronization, the previously executed desired lifting stiffness, and the desired lifting execution stiffness; and determining that the four-wheel frame adjustment of the vehicle is complete when the currently executed desired lifting stiffness is equal to the corresponding desired lifting execution stiffness. This invention achieves the purpose of controlling the adjustment process of each wheel, making the vehicle's posture more stable.

Description

Technical Field

[0001] This invention relates to the field of vehicle frame lifting stiffness adjustment technology, specifically to a method and device for adjusting vehicle frame lifting stiffness. Background Technology

[0002] With the development and innovation of automotive chassis technology, methods for adjusting the four-wheel frame of a vehicle include hydraulic frame adjustment and air frame adjustment. The important function of these frame adjustments is to adjust the vehicle's ground clearance, improving off-road capability and handling stability. This includes both height adjustment during driving and height adjustment when stationary. During frame height adjustment, problems can easily arise such as the frame lifting too much, leading to suspension damage, and uneven wheel height changes causing abnormal and unstable vehicle posture. For example, some wheels may lift too quickly while others lift too slowly, resulting in unstable vehicle posture and abnormal postures with significant differences in wheel height.

[0003] Therefore, there is an urgent need to propose a method and device for adjusting the lifting stiffness of the vehicle frame, in order to solve the technical problem in the existing technology that the adjustment process of the four wheels cannot be controlled during the adjustment of the four-wheel frame, resulting in unstable changes in the vehicle's posture. Summary of the Invention

[0004] In view of this, it is necessary to provide a method and device for adjusting the lifting stiffness of a vehicle frame, so as to solve the technical problem in the prior art that the adjustment process of the four wheels cannot be controlled during the adjustment of the four-wheel frame, resulting in unstable changes in the vehicle's posture.

[0005] On one hand, the present invention provides a method for adjusting the lifting stiffness of a vehicle frame, comprising:

[0006] When a vehicle receives a command to adjust the lifting stiffness of its four-wheel frame, the maximum allowable change capacity for each wheel, the desired lifting stiffness of the frame that was executed at the previous moment, and the desired lifting execution stiffness are determined.

[0007] Based on the frame lifting expectation stiffness, the maximum allowable change capability, and the lifting expectation execution stiffness corresponding to each wheel at the previous moment, the remaining number of execution steps required for lifting of each wheel is determined, and based on the remaining number of execution steps required for lifting of all wheels, the remaining number of reference steps for four-wheel synchronization of the four-wheel frame is determined.

[0008] Based on the desired stiffness of the frame lifting that was executed at the previous moment and the desired lifting execution stiffness, the lifting stiffness synchronization control coefficient of the four-wheel frame is determined.

[0009] Based on the lifting stiffness synchronization control coefficient, the remaining reference steps of the four-wheel synchronization, the frame lifting expected stiffness executed at the previous moment, and the lifting expected execution stiffness, the frame lifting expected stiffness executed at the current moment for each wheel is determined respectively.

[0010] When the desired frame lifting stiffness of each wheel at the current moment is equal to the corresponding desired lifting stiffness, the four-wheel frame adjustment of the vehicle is determined to be complete.

[0011] In some possible implementations, determining the remaining number of execution steps required for the lifting of each wheel based on the previously executed frame lifting expectation stiffness, the maximum permissible change capability, and the lifting expectation execution stiffness for each wheel includes:

[0012] Based on the frame lifting expectation stiffness and the maximum allowable change capability of each wheel at the previous moment, determine the number of lifting stiffness steps completed for each wheel at the current moment.

[0013] Based on the maximum permissible change capability and the expected lifting stiffness of each wheel, the expected lifting execution steps for each wheel are determined respectively;

[0014] Based on the number of steps already completed for the lifting stiffness of each wheel and the expected number of lifting steps, determine the remaining number of lifting steps required for each wheel.

[0015] In some possible implementations, determining the lifting stiffness synchronization control coefficient of the four-wheel frame based on the previously executed frame lifting desired stiffness and the lifting desired execution stiffness includes:

[0016] Based on the frame lifting expectation stiffness and the lifting expectation execution stiffness of each wheel at the previous moment, determine the absolute difference in lifting stiffness corresponding to each wheel;

[0017] The lifting stiffness synchronization control coefficient of the four-wheel frame is determined based on the absolute difference of the lifting stiffness of all wheels.

[0018] In some possible implementations, determining the current frame lifting expectation stiffness for each wheel based on the lifting stiffness synchronization control coefficient, the remaining reference steps for four-wheel synchronization, the previously executed frame lifting expectation stiffness, and the lifting expectation execution stiffness includes:

[0019] Based on the lifting stiffness synchronization control coefficient of the four-wheel frame, the remaining reference steps of the four-wheel synchronization, and the absolute difference of the lifting stiffness of each wheel, the change amount corresponding to each wheel at the current moment is determined respectively.

[0020] Based on the change in each wheel, the desired frame lifting stiffness executed at the previous moment, and the desired lifting stiffness, the desired frame lifting stiffness executed at the current moment for each wheel is determined.

[0021] In some possible implementations, determining the change in the stiffness of each wheel at the current moment based on the synchronous control coefficient of the lifting stiffness of the four-wheel frame, the remaining reference steps of the four-wheel synchronization, and the absolute difference in the lifting stiffness of each wheel includes:

[0022] Based on the lifting stiffness synchronization control coefficient of the four-wheel frame and the remaining reference steps for four-wheel synchronization, the actual remaining lifting execution steps for each wheel are determined respectively.

[0023] Based on the actual remaining number of lifting and lowering steps for each wheel and the absolute difference in lifting and lowering stiffness, the change amount corresponding to each wheel at the current moment is determined.

[0024] In some possible implementations, the method further includes:

[0025] When the desired frame lifting stiffness of each wheel at the current moment is not equal to the corresponding desired lifting stiffness,

[0026] The desired frame lifting stiffness executed at the current moment is determined as the desired frame lifting stiffness executed at the previous moment. Based on the desired frame lifting stiffness executed at the previous moment for each wheel, the maximum allowable change capability, and the desired lifting stiffness, the desired frame lifting stiffness executed at the current moment is determined.

[0027] In some possible implementations, the amount of change for each wheel is less than or equal to the corresponding maximum permissible change capability.

[0028] In some possible implementations, determining that the four-wheel frame adjustment of the vehicle is complete when the desired frame lifting stiffness at the current moment for each wheel is equal to the corresponding desired lifting stiffness includes:

[0029] Based on the desired stiffness of the frame lifting at the current moment for each wheel, determine the adjustment time required for each wheel;

[0030] When the desired frame lifting stiffness of each wheel at the current moment is equal to the corresponding desired lifting stiffness, the adjustment time required for each wheel is determined to be equal based on the actual remaining number of lifting steps for each wheel. Thus, when the adjustment time is reached, the lifting stiffness adjustment of each wheel is determined to be complete.

[0031] In some possible implementations, the formula for calculating the number of steps the lifting stiffness of each wheel has completed at the current moment is:

[0032]

[0033] In the formula, G(k-1) fl Let G(k-1) be the desired frame lifting stiffness of the left front wheel at the previous moment; fr G(k-1) represents the desired frame lifting stiffness of the right front wheel at the previous moment; rl G(k-1) represents the desired frame lifting stiffness of the left rear wheel at the previous moment; rr G represents the desired frame lifting stiffness of the right rear wheel at the previous moment; flmax The maximum permissible variation capacity of the left front wheel; G frmax The maximum permissible variation capacity of the right front wheel; G rlmax The maximum permissible variation capacity of the left rear wheel; G rrmax X(k) represents the maximum permissible variation capacity of the right rear wheel. fl X(k) represents the number of steps that the lifting stiffness of the left front wheel has completed at the current moment. fr X(k) represents the number of steps that the right front wheel's lift stiffness has completed at the current moment. rl X(k) represents the number of steps the left rear wheel's lifting stiffness has completed at the current moment. rr The number of steps that the lifting stiffness of the right rear wheel has completed at the current moment.

[0034] On the other hand, the present invention also provides a vehicle frame lifting stiffness adjustment device, comprising:

[0035] The instruction receiving module is used to determine the maximum allowable change capacity of each wheel, the desired frame lifting stiffness and the desired lifting execution stiffness of the previous moment when it receives an instruction from the vehicle to adjust the lifting stiffness of the four-wheel frame.

[0036] The step determination module is used to determine the remaining number of execution steps required for the lifting of each wheel based on the frame lifting expectation stiffness executed at the previous moment, the maximum allowable change capability, and the lifting expectation execution stiffness corresponding to each wheel, and to determine the remaining reference number of four-wheel synchronization of the four-wheel frame based on the remaining number of execution steps required for the lifting of all wheels.

[0037] The coefficient determination module is used to determine the lifting stiffness synchronization control coefficient of the four-wheel frame based on the frame lifting expected stiffness executed at the previous moment and the lifting expected execution stiffness.

[0038] The stiffness determination module is used to determine the current frame lifting expectation stiffness of each wheel based on the lifting stiffness synchronization control coefficient, the remaining reference steps of the four-wheel synchronization, the frame lifting expectation stiffness executed at the previous moment, and the lifting expectation execution stiffness.

[0039] The adjustment completion module is used to determine that the adjustment of the four-wheel frame of the vehicle is complete when the desired frame lifting stiffness executed at the current moment for each wheel is equal to the corresponding desired lifting stiffness.

[0040] The beneficial effects of the above embodiments are as follows: The frame lifting stiffness adjustment method provided by the present invention sets the maximum allowable change capacity corresponding to each wheel on the four-wheel frame, the frame lifting expected stiffness and lifting expected execution stiffness executed at the previous moment, and then calculates the remaining number of execution steps required for lifting each wheel based on the maximum allowable change capacity, the frame lifting expected stiffness executed at the previous moment, and the lifting expected execution stiffness. This allows for the calculation of the remaining reference steps for four-wheel synchronization of the four-wheel frame, and then the calculation of the frame lifting expected stiffness and lifting expected execution stiffness executed at the previous moment for each wheel based on the remaining reference steps for four-wheel synchronization. The lifting stiffness synchronization control coefficient of the four-wheel frame is calculated. Then, based on the lifting stiffness synchronization control coefficient, the remaining reference steps of the four-wheel synchronization, the lifting stiffness of the frame executed at the previous moment, and the lifting stiffness of the expected stiffness, the current lifting stiffness of each wheel is calculated. When the lifting stiffness of the frame executed at the current moment of each wheel is equal to the corresponding lifting stiffness, it can be determined that the adjustment of the four-wheel frame of the vehicle is complete. This invention achieves the purpose of controlling the adjustment process of each wheel so that the adjustment process of each wheel is consistent with the adjustment process of other wheels, thereby making the vehicle posture more stable. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 A schematic flowchart of an embodiment of the vehicle frame lifting stiffness adjustment method provided by the present invention;

[0043] Figure 2A schematic diagram of an embodiment of the vehicle frame lifting stiffness adjustment device provided by the present invention;

[0044] Figure 3 A schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0046] Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor systems and / or microcontroller systems.

[0047] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0048] This invention provides a method and apparatus for adjusting the lifting stiffness of a vehicle frame, which will be described below.

[0049] Figure 1 This is a schematic flowchart of an embodiment of the vehicle frame lifting stiffness adjustment method provided by the present invention, as shown below. Figure 1 As shown, the methods for adjusting the frame lifting stiffness include:

[0050] S101. When a vehicle receives a command to adjust the lifting stiffness of its four-wheel frame, determine the maximum allowable change capacity for each wheel, the desired lifting stiffness of the frame that was executed at the previous moment, and the desired lifting execution stiffness.

[0051] S102. Based on the frame lifting expectation stiffness, maximum allowable change capacity and lifting expectation execution stiffness of each wheel at the previous moment, determine the remaining number of execution steps required for lifting of each wheel, and determine the remaining reference number of four-wheel synchronization of the four-wheel frame based on the remaining number of execution steps required for lifting of all wheels.

[0052] S103. Based on the desired stiffness of the frame lifting and the desired lifting execution stiffness that were executed at the previous moment, determine the synchronous control coefficient of the lifting stiffness of the four-wheel frame.

[0053] S104. Based on the lifting stiffness synchronization control coefficient, the remaining reference steps of four-wheel synchronization, the frame lifting expected stiffness and lifting expected execution stiffness executed at the previous moment, determine the frame lifting expected stiffness executed at the current moment for each wheel.

[0054] S105. When the desired stiffness of the frame lifting at the current moment for each wheel is equal to the corresponding desired stiffness of the lifting, the four-wheel frame adjustment of the vehicle is determined to be complete.

[0055] Compared with the prior art, the frame lifting stiffness adjustment method provided in this invention sets the maximum allowable change capacity for each wheel on the four-wheel frame, the previously executed frame lifting desired stiffness, and the lifting desired execution stiffness. Then, based on the maximum allowable change capacity, the previously executed frame lifting desired stiffness, and the lifting desired execution stiffness, the remaining number of execution steps required for lifting each wheel can be calculated. This allows for the calculation of the remaining reference steps for four-wheel synchronization of the four-wheel frame. Furthermore, based on the remaining reference steps for four-wheel synchronization, the previously executed frame lifting desired stiffness and lifting desired execution stiffness of each wheel can be calculated to... The four-wheel frame lifting stiffness synchronization control coefficient is used. Then, based on the lifting stiffness synchronization control coefficient, the remaining reference steps of four-wheel synchronization, the frame lifting expected stiffness executed at the previous moment, and the lifting expected execution stiffness, the current frame lifting expected stiffness of each wheel can be calculated. When the current frame lifting expected stiffness of each wheel is equal to the corresponding lifting expected execution stiffness, it can be determined that the four-wheel frame adjustment of the vehicle is complete. This invention achieves the purpose of controlling the adjustment process of each wheel so that the adjustment process of each wheel is consistent with the adjustment process of other wheels, thereby making the vehicle posture more stable.

[0056] It should be understood that the lifting stiffness adjustment command obtained in step S101 can be a command generated by the vehicle based on the driver's operation. When the lifting stiffness adjustment command is received, the vehicle's four-wheel frame adjustment mode can be activated, thereby adjusting the vehicle's four-wheel frame. The process of adjusting the four-wheel frame is also the process of controlling each wheel of the four-wheel frame.

[0057] In a specific embodiment of the present invention, after receiving the lifting stiffness adjustment command, the adjustment of each wheel of the four-wheel frame can be calculated and controlled based on the maximum allowable change capability corresponding to each wheel, the previously executed frame lifting desired stiffness corresponding to each wheel, and the lifting desired execution stiffness corresponding to each wheel. Specifically, when the lifting stiffness adjustment command is received, since no wheel adjustment was performed in the previous moment, the previously executed frame lifting desired stiffness corresponding to each wheel can be zero. The maximum allowable change capability corresponding to each wheel and the lifting desired execution stiffness corresponding to each wheel can be set according to actual conditions, and this embodiment of the present invention does not impose any limitations on them.

[0058] It should be noted that, in order to calculate the number of steps completed for the lifting stiffness of each wheel at the current moment, in some embodiments of the present invention, step S102 includes:

[0059] Based on the desired frame lifting stiffness and maximum allowable change capacity of each wheel at the previous moment, determine the number of lifting stiffness steps completed for each wheel at the current moment.

[0060] Based on the maximum allowable change capacity and the expected lifting stiffness of each wheel, determine the expected lifting execution steps for each wheel.

[0061] Based on the number of steps already completed for each wheel's lifting stiffness and the expected number of lifting steps, determine the remaining number of lifting steps required for each wheel.

[0062] In a specific embodiment of the present invention, the number of steps that the lifting stiffness of each wheel has completed at the current moment can be calculated based on the previous time-based desired frame lifting stiffness corresponding to each wheel on the four-wheel frame and the maximum allowable change capability corresponding to each wheel, as shown in formula (1):

[0063]

[0064] In the formula, G(k-1) fl Let G(k-1) be the desired frame lifting stiffness of the left front wheel at the previous moment; fr G(k-1) represents the desired frame lifting stiffness of the right front wheel at the previous moment; rl G(k-1) represents the desired frame lifting stiffness of the left rear wheel at the previous moment; rr G represents the desired frame lifting stiffness of the right rear wheel at the previous moment; flmax The maximum permissible variation capacity of the left front wheel; G frmax The maximum permissible variation capacity of the right front wheel; G rlmax The maximum permissible variation capacity of the left rear wheel; Grrmax X(k) represents the maximum permissible variation capacity of the right rear wheel. fl X(k) represents the number of steps that the lifting stiffness of the left front wheel has completed at the current moment. fr X(k) represents the number of steps that the right front wheel's lift stiffness has completed at the current moment. rl X(k) represents the number of steps the left rear wheel's lifting stiffness has completed at the current moment. rr This represents the number of steps that the right rear wheel's lifting stiffness has completed at the current moment. Where G... flmax G fmax G rlmax G rrmax It represents the maximum allowable stiffness value of each wheel per unit time based on vehicle comfort requirements. If this value is exceeded, the change is drastic, resulting in extremely poor overall vehicle comfort.

[0065] Furthermore, based on the maximum allowable change capacity of each wheel and the expected lifting stiffness of each wheel, the expected lifting step number for each wheel can be calculated, as shown in formula (2):

[0066]

[0067] In the formula, G fl G represents the desired lifting stiffness of the left front wheel frame; fr G represents the desired lifting stiffness of the right front wheel frame; rl The desired operating stiffness for lifting the left rear wheel frame; G rr X represents the desired lifting stiffness of the right rear wheel frame; fl X is the desired number of steps to lift / lower the left front wheel. fr X is the expected number of steps to lift / lower the right front wheel. rl The desired number of steps for raising and lowering the left rear wheel; X rr The desired number of steps to raise and lower the right rear wheel.

[0068] Furthermore, based on the number of steps already completed for the lifting stiffness of each wheel and the expected number of lifting steps for each wheel, the remaining number of lifting steps required for each wheel can be calculated, as shown in formula (3):

[0069]

[0070] In the formula, ΔX(k) fl ΔX(k) represents the remaining number of steps required to raise and lower the left front wheel frame. fr ΔX(k) represents the remaining number of steps required to raise and lower the right front wheel frame. rl ΔX(k) represents the remaining number of steps required to raise and lower the left rear wheel frame. rrThe remaining number of steps required to raise and lower the right rear wheel frame.

[0071] Furthermore, based on the remaining number of lifting steps required for each wheel, the remaining reference number of four-wheel synchronization steps of the four-wheel frame can be calculated, as shown in formula (4):

[0072] ΔY = max(1, ΔX(k)) fl , ΔX(k) fr , ΔX(k) rl , ΔX(k) rr (4)

[0073] In the formula, ΔY is the remaining reference number of four-wheel synchronization steps of the four-wheel frame.

[0074] In some embodiments of the present invention, step S103 includes:

[0075] Based on the frame lifting expectation stiffness and lifting expectation execution stiffness of each wheel at the previous moment, determine the absolute difference in lifting stiffness for each wheel.

[0076] The lifting stiffness synchronization control coefficient of the four-wheel frame is determined based on the absolute difference of the lifting stiffness of all wheels.

[0077] In a specific embodiment of the present invention, the absolute difference in lifting stiffness for each wheel can be calculated based on the desired lifting stiffness of the frame at the previous moment and the desired lifting stiffness of each wheel, as shown in formula (5):

[0078]

[0079] In the formula, ΔG(k-1) fl ΔG(k-1) represents the absolute difference in the lifting stiffness of the left front wheel frame. fr ΔG(k-1) represents the absolute difference in the lifting stiffness of the right front wheel frame. rl ΔG(k-1) represents the absolute difference in the lifting stiffness of the left rear wheel frame. rr This represents the absolute difference in lifting stiffness of the right rear wheel frame.

[0080] Furthermore, the lifting stiffness synchronization control coefficient of the four-wheel frame can be determined based on the absolute difference of the lifting stiffness of all wheels in the four-wheel frame, as shown in formula (6):

[0081]

[0082] In the formula, β(k-1) is the synchronous control coefficient of the lifting stiffness of the four-wheel frame, where β(k-1)≥1.

[0083] In some embodiments of the present invention, step S104 includes:

[0084] Based on the lifting stiffness synchronization control coefficient of the four-wheel frame, the remaining reference steps of the four-wheel synchronization, and the absolute difference in lifting stiffness of each wheel, the change amount corresponding to each wheel at the current moment is determined respectively.

[0085] Based on the change in each wheel, the desired frame lifting stiffness executed at the previous moment, and the desired lifting execution stiffness, determine the desired frame lifting stiffness executed at the current moment for each wheel.

[0086] In some embodiments of the present invention, the change in the stiffness of each wheel at the current moment is determined based on the synchronous control coefficient of the lifting stiffness of the four-wheel frame, the remaining reference steps of the four-wheel synchronization, and the absolute difference in the lifting stiffness of each wheel, including:

[0087] Based on the lifting stiffness synchronization control coefficient of the four-wheel frame and the remaining reference steps for four-wheel synchronization, the actual remaining lifting steps for each wheel are determined.

[0088] Based on the actual remaining number of lifting and lowering steps for each wheel and the absolute difference in lifting stiffness, determine the change amount corresponding to each wheel at the current moment.

[0089] In a specific embodiment of the present invention, the actual remaining number of lifting steps for each wheel can be calculated based on the lifting stiffness synchronization control coefficient of the four-wheel frame and the remaining reference steps of the four-wheel synchronization of the four-wheel frame, as shown in formula (7):

[0090]

[0091] In the formula, ΔX1(k) fl ΔX1(k) represents the actual remaining number of steps for raising and lowering the left front wheel frame. fr ΔX1(k) represents the actual remaining number of steps for raising and lowering the right front wheel frame. rl ΔX1(k) represents the actual remaining number of steps for raising and lowering the left rear wheel frame. rr This represents the actual remaining number of steps for raising and lowering the right rear wheel frame; it can be seen that ΔX1(k) fl =ΔX1(k) fr =ΔX1(k) rl =ΔX1(k) rr .

[0092] Further, as shown in formula (8):

[0093]

[0094] Based on formulas (4) and (8), it can be seen as shown in formula (9):

[0095]

[0096] Furthermore, the change in each wheel can be calculated based on the actual remaining number of lifting steps for each wheel and the absolute difference in lifting stiffness for each wheel, as shown in formula (10):

[0097]

[0098] In the formula, ΔG1(k-1) fl ΔG1(k-1) represents the change in the stiffness of the left front wheel frame at the current moment. fr ΔG1(k-1) represents the change in the stiffness of the right front wheel frame at the current moment. rl ΔG1(k-1) represents the change in the stiffness of the left rear wheel frame at the current moment. rr This represents the change in the stiffness of the right rear wheel frame at the current moment.

[0099] Furthermore, according to formula (10), it can be seen as shown in formula (11):

[0100]

[0101] The larger the value of the denominator, the smaller the value of the fraction obtained. According to formula (9), it can be seen as shown in formula (12):

[0102]

[0103] Based on formulas (3) and (12), we can obtain the result shown in formula (13):

[0104]

[0105] Based on formulas (2), (2), and (13), we can obtain the result shown in formula (14):

[0106]

[0107] Simplifying formula (14), we can obtain formula (15), which is shown below:

[0108]

[0109] Based on formulas (5) and (15), we can obtain formula (16), which is shown below:

[0110]

[0111] In some embodiments of the present invention, the amount of change of each wheel is less than or equal to the corresponding maximum permissible change capacity.

[0112] In a specific embodiment of the present invention, according to the above formula, it can be concluded that the change in the lifting stiffness of the four-wheel frame at the current moment is all less than or equal to the maximum allowable change capability of the lifting stiffness comfort of the four-wheel frame, thus preventing the problem of poor vehicle comfort caused by drastic changes in vehicle stiffness.

[0113] Furthermore, based on the change in the value of each wheel of the four-wheel frame, the expected stiffness of frame lifting and lowering executed at the previous moment for each wheel, and the expected stiffness of lifting and lowering executed at the current moment for each wheel, the expected stiffness of frame lifting and lowering executed at the current moment for each wheel can be calculated. If the expected stiffness of lifting and lowering executed at the current moment for each wheel is greater than or equal to the expected stiffness of frame lifting and lowering executed at the previous moment for each wheel, then the expected stiffness of frame lifting and lowering executed at the current moment for each of the four wheels is equal to the expected stiffness of frame lifting and lowering executed at the previous moment plus the change in the stiffness of frame lifting and lowering at the current moment for each of the four wheels. If the expected stiffness of lifting and lowering executed at the current moment for each of the four wheels is less than the expected stiffness of frame lifting and lowering executed at the previous moment for each wheel, then the expected stiffness of frame lifting and lowering executed at the current moment for each of the four wheels is equal to the expected stiffness of frame lifting and lowering executed at the previous moment minus the change in the stiffness of frame lifting and lowering at the current moment for each of the four wheels. The calculation is shown in formula (17).

[0114]

[0115] In the formula, G(k) fl G(k) represents the desired frame stiffness during the current moment of the left front wheel's lifting action. fr G(k) represents the desired frame stiffness during the current moment of the right front wheel's lifting action. rl G(k) represents the desired frame stiffness during the current moment of the left rear wheel's lifting action. rr This represents the desired stiffness of the frame during the current moment of the right rear wheel's lifting action.

[0116] Furthermore, the desired stiffness of the frame lifting at each time should be equal to the desired stiffness of the frame lifting at the previous moment, which can be obtained as shown in formula (18):

[0117]

[0118] In some embodiments of the present invention, the method further includes:

[0119] When the desired frame lifting stiffness of each wheel at the current moment is not equal to the corresponding desired lifting stiffness,

[0120] The desired frame lifting stiffness at the current moment is determined as the desired frame lifting stiffness at the previous moment. Based on the desired frame lifting stiffness at the previous moment, the maximum allowable change capacity, and the desired lifting stiffness for each wheel, the desired frame lifting stiffness at the current moment is determined.

[0121] In a specific embodiment of the present invention, it can be determined whether the desired lifting stiffness of the chassis at the current moment for each wheel is equal to the desired lifting stiffness corresponding to each wheel. If so, it indicates that the four-wheel chassis of the vehicle has been raised to the desired lifting stiffness, and there is no need to adjust the four-wheel chassis again. At this time, it can be determined that the adjustment of the four-wheel chassis is complete, and the vehicle can be controlled to stop or continue driving. The subsequent process is not limited in the present invention. If they are not equal, it indicates that the adjustment of the four-wheel chassis is not yet complete. It is necessary to determine the desired lifting stiffness of the chassis at the current moment as the desired lifting stiffness of the chassis at the previous moment, and then return to step S102 to loop the entire method until the determination result is "the desired lifting stiffness of the chassis at the current moment for each wheel is equal to the desired lifting stiffness corresponding to each wheel", and the process ends.

[0122] In some embodiments of the present invention, step S105 includes:

[0123] Based on the desired stiffness of the frame lifting at the current moment for each wheel, determine the adjustment time required for each wheel;

[0124] When the desired frame lifting stiffness of each wheel at the current moment is equal to the corresponding desired lifting stiffness, the adjustment time required for each wheel is determined to be equal based on the actual remaining number of lifting steps for each wheel. Thus, when the required adjustment time is reached, the lifting stiffness adjustment of each wheel is determined to be complete.

[0125] In a specific embodiment of the present invention, in order to more clearly determine the time required for adjusting the four-wheel frame to the desired lifting stiffness, it can be done according to formula (19):

[0126]

[0127] In the formula, Δt(k) fl Let Δt(k) be the time required for the left front wheel to adjust its desired frame lifting stiffness at the current moment, equal to the time required for the four-wheel frame lifting desired stiffness to adjust. fr Let Δt(k) be the time required for the right front wheel to adjust its desired frame stiffness to be equal to the desired stiffness of all four wheels at the current moment; rl Let Δt(k) be the time required for the left rear wheel to adjust its desired frame lifting stiffness to be equal to the desired lifting stiffness of all four wheels at the current moment. rrThe time required for the right rear wheel to adjust its desired frame lifting stiffness at the current moment to be equal to the desired lifting stiffness of all four wheels is given.

[0128] Furthermore, based on formulas (11) and (19), formula (20) can be obtained, as shown below:

[0129]

[0130] Wherein, according to ΔX1(k) fl =ΔX1(k) fr =ΔX1(k) rl =ΔX1(k) rr We can obtain t(k). fl =Δt(k) fr =Δt(k) rl Δt(k) rr Therefore, it can be seen that the current time of the desired stiffness of the frame lifting is equal to the time required for the desired stiffness of the four-wheel frame lifting. The desired stiffness of the four-wheel frame lifting is reached at the same time, which can avoid the problem of the frame lifting stiffness of the four wheels not changing synchronously, which would lead to huge differences in the stiffness of the four-wheel frame lifting, and thus cause the vehicle body posture to shake or be abnormal.

[0131] To better implement the frame lifting stiffness adjustment method in this embodiment of the invention, correspondingly, this embodiment of the invention also provides a frame lifting stiffness adjustment device, such as... Figure 2 As shown, the frame lifting stiffness adjustment device includes:

[0132] The instruction receiving module 201 is used to determine the maximum allowable change capacity of each wheel, the desired frame lifting stiffness and the desired lifting execution stiffness that have been executed at the previous moment when it receives an instruction from the vehicle to adjust the lifting stiffness of the four-wheel frame.

[0133] The step determination module 202 is used to determine the remaining number of steps required for lifting each wheel based on the frame lifting expectation stiffness, maximum allowable change capacity and lifting expectation execution stiffness executed at the previous moment for each wheel, and to determine the remaining reference number of four-wheel synchronization steps for the four-wheel frame based on the remaining number of steps required for lifting of all wheels.

[0134] The coefficient determination module 203 is used to determine the lifting stiffness synchronization control coefficient of the four-wheel frame based on the frame lifting expected stiffness and lifting expected execution stiffness executed in the previous moment.

[0135] The stiffness determination module 204 is used to determine the current frame lifting stiffness of each wheel based on the lifting stiffness synchronization control coefficient, the remaining reference steps of four-wheel synchronization, the frame lifting expected stiffness executed in the previous moment, and the lifting expected execution stiffness.

[0136] The adjustment completion module 205 is used to determine that the four-wheel frame adjustment of the vehicle is complete when the desired frame lifting stiffness of each wheel at the current moment is equal to the corresponding desired lifting stiffness.

[0137] The frame lifting stiffness adjustment device provided in the above embodiments can realize the technical solutions described in the above embodiments of the frame lifting stiffness adjustment method. The specific implementation principles of each module or unit can be found in the corresponding content in the above embodiments of the frame lifting stiffness adjustment method, which will not be repeated here.

[0138] like Figure 3 As shown, the present invention also provides an electronic device 300. The electronic device 300 includes a processor 301, a memory 302, and a display 303. Figure 3 Only some components of the electronic device 300 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0139] In some embodiments, memory 302 may be an internal storage unit of electronic device 300, such as a hard disk or memory of electronic device 300. In other embodiments, memory 302 may also be an external storage device of electronic device 300, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 300.

[0140] Furthermore, the memory 302 may include both internal storage units of the electronic device 300 and external storage devices. The memory 302 is used to store application software and various types of data installed on the electronic device 300.

[0141] In some embodiments, processor 301 may be a central processing unit (CPU), microprocessor or other data processing chip, used to run program code stored in memory 302 or process data, such as the frame lifting stiffness adjustment method of the present invention.

[0142] In some embodiments, display 303 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 303 is used to display information from electronic device 300 and to display a visual user interface. Components 301-303 of electronic device 300 communicate with each other via a system bus.

[0143] In some embodiments of the present invention, when the processor 301 executes the frame lifting stiffness adjustment program in the memory 302, the following steps can be implemented:

[0144] When a vehicle receives a command to adjust the lifting stiffness of its four-wheel frame, the maximum allowable change capacity for each wheel, the desired lifting stiffness of the frame that was executed at the previous moment, and the desired lifting execution stiffness are determined.

[0145] Based on the frame lifting expectation stiffness, maximum allowable change capacity, and lifting expectation execution stiffness of each wheel at the previous moment, determine the remaining number of execution steps required for lifting each wheel, and determine the remaining reference number of four-wheel synchronization steps of the four-wheel frame based on the remaining number of execution steps required for lifting of all wheels.

[0146] Based on the desired stiffness of the frame lifting and the desired lifting and execution stiffness that were executed at the previous moment, determine the synchronous control coefficient of the lifting stiffness of the four-wheel frame.

[0147] Based on the lifting stiffness synchronization control coefficient, the remaining reference steps of four-wheel synchronization, the frame lifting expected stiffness executed in the previous moment, and the lifting expected execution stiffness, the frame lifting expected stiffness executed in the current moment for each wheel is determined.

[0148] When the desired frame lifting stiffness of each wheel at the current moment is equal to the corresponding desired lifting stiffness, the four-wheel frame adjustment of the vehicle is considered complete.

[0149] It should be understood that when the processor 301 executes the frame lifting stiffness adjustment program in the memory 302, in addition to the functions mentioned above, it can also perform other functions, as can be found in the description of the corresponding method embodiments above.

[0150] Furthermore, this embodiment of the invention does not specifically limit the type of electronic device 300 mentioned. Electronic device 300 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the invention, electronic device 300 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0151] Accordingly, this application also provides a computer-readable storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions of the frame lifting stiffness adjustment method provided in the above-described method embodiments.

[0152] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0153] The above provides a detailed description of the vehicle frame lifting stiffness adjustment method and device provided by the present invention. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for adjusting the lifting stiffness of a vehicle frame, characterized in that, include: When a vehicle receives a command to adjust the lifting stiffness of its four-wheel frame, the maximum allowable change capacity for each wheel, the desired lifting stiffness of the frame that was executed at the previous moment, and the desired lifting execution stiffness are determined. Based on the frame lifting expectation stiffness, the maximum allowable change capability, and the lifting expectation execution stiffness corresponding to each wheel at the previous moment, the remaining number of execution steps required for lifting of each wheel is determined, and based on the remaining number of execution steps required for lifting of all wheels, the remaining number of reference steps for four-wheel synchronization of the four-wheel frame is determined. Based on the desired stiffness of the frame lifting that was executed at the previous moment and the desired lifting execution stiffness, the lifting stiffness synchronization control coefficient of the four-wheel frame is determined. Based on the lifting stiffness synchronization control coefficient, the remaining reference steps of the four-wheel synchronization, the frame lifting expected stiffness executed at the previous moment, and the lifting expected execution stiffness, the frame lifting expected stiffness executed at the current moment for each wheel is determined respectively. When the desired frame lifting stiffness of each wheel at the current moment is equal to the corresponding desired lifting stiffness, the four-wheel frame adjustment of the vehicle is determined to be complete. The formula for calculating the number of steps that the lifting stiffness of each wheel has completed at the current moment is: In the formula, The desired stiffness of the frame lifting that the left front wheel has performed at the previous moment; The desired stiffness of the frame lifting that the right front wheel has performed at the previous moment; The desired stiffness of the frame lifting that the left rear wheel has performed at the previous moment; The desired stiffness of the frame lifting that the right rear wheel has performed at the previous moment; The maximum permissible variation capability of the left front wheel; The maximum permissible variation capability of the right front wheel; The maximum permissible variation capability of the left rear wheel; The maximum permissible variation capability of the right rear wheel; The number of steps that the lifting stiffness of the left front wheel has completed at the current moment; The number of steps that the lifting stiffness of the right front wheel has completed at the current moment; The number of steps that the lifting stiffness of the left rear wheel has completed at the current moment; The number of steps that the lifting stiffness of the right rear wheel has completed at the current moment.

2. The method for adjusting the lifting stiffness of the vehicle frame according to claim 1, characterized in that, The step of determining the remaining number of execution steps required for the lifting of each wheel based on the previously executed frame lifting expectation stiffness, the maximum permissible change capability, and the lifting expectation execution stiffness for each wheel includes: Based on the frame lifting expectation stiffness and the maximum allowable change capability of each wheel at the previous moment, determine the number of lifting stiffness steps completed for each wheel at the current moment. Based on the maximum permissible change capability and the expected lifting stiffness of each wheel, the expected lifting execution steps for each wheel are determined respectively. Based on the number of steps already completed for the lifting stiffness of each wheel and the expected number of lifting steps, determine the remaining number of lifting steps required for each wheel.

3. The method for adjusting the lifting stiffness of the vehicle frame according to claim 1, characterized in that, The step of determining the lifting stiffness synchronization control coefficient of the four-wheel frame based on the previously executed frame lifting desired stiffness and the lifting desired execution stiffness includes: Based on the frame lifting expectation stiffness and the lifting expectation execution stiffness of each wheel at the previous moment, determine the absolute difference in lifting stiffness corresponding to each wheel; The lifting stiffness synchronization control coefficient of the four-wheel frame is determined based on the absolute difference of the lifting stiffness of all wheels.

4. The method for adjusting the lifting stiffness of the vehicle frame according to claim 3, characterized in that, The step of determining the desired frame lifting stiffness for each wheel at the current moment based on the lifting stiffness synchronization control coefficient, the remaining reference steps for four-wheel synchronization, the desired frame lifting stiffness executed at the previous moment, and the desired lifting execution stiffness includes: Based on the lifting stiffness synchronization control coefficient of the four-wheel frame, the remaining reference steps of the four-wheel synchronization, and the absolute difference of the lifting stiffness of each wheel, the change amount corresponding to each wheel at the current moment is determined respectively. Based on the change in each wheel, the desired frame lifting stiffness executed at the previous moment, and the desired lifting stiffness, the desired frame lifting stiffness executed at the current moment for each wheel is determined.

5. The method for adjusting the lifting stiffness of the vehicle frame according to claim 4, characterized in that, The step of determining the change in the stiffness of each wheel at the current moment based on the synchronous control coefficient of the lifting stiffness of the four-wheel frame, the remaining reference steps of the four-wheel synchronization, and the absolute difference in the lifting stiffness of each wheel includes: Based on the lifting stiffness synchronization control coefficient of the four-wheel frame and the remaining reference steps for four-wheel synchronization, the actual remaining lifting execution steps for each wheel are determined respectively. Based on the actual remaining number of lifting and lowering steps for each wheel and the absolute difference in lifting and lowering stiffness, the change amount corresponding to each wheel at the current moment is determined.

6. The method for adjusting the lifting stiffness of the vehicle frame according to claim 1, characterized in that, The method further includes: When the desired frame lifting stiffness of each wheel at the current moment is not equal to the corresponding desired lifting stiffness, The desired frame lifting stiffness executed at the current moment is determined as the desired frame lifting stiffness executed at the previous moment. Based on the desired frame lifting stiffness executed at the previous moment for each wheel, the maximum allowable change capability, and the desired lifting stiffness, the desired frame lifting stiffness executed at the current moment is determined.

7. The method for adjusting the lifting stiffness of the vehicle frame according to claim 4, characterized in that, The amount of change for each wheel is less than or equal to the corresponding maximum permissible change capability.

8. The method for adjusting the lifting stiffness of the vehicle frame according to claim 5, characterized in that, The step of determining that the four-wheel frame adjustment of the vehicle is complete when the desired frame lifting stiffness of each wheel at the current moment is equal to the corresponding desired lifting stiffness includes: Based on the desired stiffness of the frame lifting at the current moment for each wheel, determine the adjustment time required for each wheel; When the desired frame lifting stiffness of each wheel at the current moment is equal to the corresponding desired lifting stiffness, the adjustment time required for each wheel is determined to be equal based on the actual remaining number of lifting steps for each wheel. Thus, when the adjustment time is reached, the lifting stiffness adjustment of each wheel is determined to be complete.

9. A vehicle frame lifting stiffness adjustment device, characterized in that, include: The instruction receiving module is used to determine the maximum allowable change capacity of each wheel, the desired frame lifting stiffness and the desired lifting execution stiffness of the previous moment when it receives an instruction from the vehicle to adjust the lifting stiffness of the four-wheel frame. The step determination module is used to determine the remaining number of execution steps required for the lifting of each wheel based on the frame lifting expectation stiffness executed at the previous moment, the maximum allowable change capability, and the lifting expectation execution stiffness corresponding to each wheel, and to determine the remaining reference number of four-wheel synchronization of the four-wheel frame based on the remaining number of execution steps required for the lifting of all wheels. The coefficient determination module is used to determine the lifting stiffness synchronization control coefficient of the four-wheel frame based on the frame lifting expected stiffness executed at the previous moment and the lifting expected execution stiffness. The stiffness determination module is used to determine the current frame lifting expectation stiffness of each wheel based on the lifting stiffness synchronization control coefficient, the remaining reference steps of the four-wheel synchronization, the frame lifting expectation stiffness executed at the previous moment, and the lifting expectation execution stiffness. The adjustment completion module is used to determine that the adjustment of the four-wheel frame of the vehicle is complete when the desired frame lifting stiffness executed at the current moment for each wheel is equal to the corresponding desired lifting stiffness. The formula for calculating the number of steps that the lifting stiffness of each wheel has completed at the current moment is: In the formula, The desired stiffness of the frame lifting that the left front wheel has performed at the previous moment; The desired stiffness of the frame lifting that the right front wheel has performed at the previous moment; The desired stiffness of the frame lifting that the left rear wheel has performed at the previous moment; The desired stiffness of the frame lifting that the right rear wheel has performed at the previous moment; The maximum permissible variation capability of the left front wheel; The maximum permissible variation capability of the right front wheel; The maximum permissible variation capability of the left rear wheel; The maximum permissible variation capability of the right rear wheel; The number of steps that the lifting stiffness of the left front wheel has completed at the current moment; The number of steps that the lifting stiffness of the right front wheel has completed at the current moment; The number of steps that the lifting stiffness of the left rear wheel has completed at the current moment; The number of steps that the lifting stiffness of the right rear wheel has completed at the current moment.

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