Mode control method and device of vehicle electric control suspension and vehicle

Abstract

The application provides a mode control method and device of a vehicle electric control suspension and a vehicle, the vehicle is equipped with an electric control suspension; wherein the electric control suspension is provided with multiple suspension modes, the mode control method comprises: in response to a suspension mode control event of the vehicle electric control suspension, obtaining driving parameters and working condition parameters of the vehicle in a current driving control period; based on the driving parameters, determining a driving state of the vehicle in the current driving control period by analyzing and evaluating the driving parameters; in a suspension mode corresponding to a previous driving control period of the vehicle, judging whether the driving state and the working condition parameters meet corresponding mode switching conditions in the suspension mode; if yes, controlling the vehicle electric control suspension to switch the suspension mode according to a mode switching strategy corresponding to the met mode switching conditions. Through the above method, the switching control efficiency of the vehicle suspension mode is improved, thereby bringing a good driving experience to the driver and passenger.

Description

Technical Field

[0001] This application relates to the field of vehicle suspension control technology, and in particular to a mode control method, device and vehicle for an electronically controlled vehicle suspension. Background Technology

[0002] When a vehicle's suspension uses passive dampers, the suspension can only be calibrated to one mode based on the hardware, making it impossible to select multiple suspension performance modes for a vehicle with passive dampers. However, the use of semi-active electronically controlled dampers in vehicle suspensions provides users with a variety of driving modes, allowing the vehicle to meet the performance needs of different road surfaces, greatly improving the vehicle's suspension comfort and handling performance.

[0003] Currently, the selection of multiple suspension modes on vehicles equipped with electronically controlled suspension systems is mainly accomplished by the user manually selecting them on the vehicle's suspension mode interface. This requires the driver to perceive the vehicle's performance and operate the suspension mode control interface when switching suspension modes. This method is not only cumbersome but also causes difficulties for the driver in making selections, reducing the efficiency of vehicle suspension mode switching and thus weakening the driving experience for passengers. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a mode control method, device and vehicle for electronically controlled suspension of a vehicle. By triggering an intelligent mode for controlling the electronically controlled suspension of the vehicle, the driving state of the vehicle is evaluated based on the vehicle's driving parameters, and then the mode switching conditions that the vehicle meets in the current suspension mode are determined in combination with the vehicle's operating parameters. Based on the met mode switching conditions, the suspension mode is switched according to the corresponding mode switching strategy to switch to a suspension mode that meets the current driving conditions, thereby improving the efficiency of vehicle suspension mode switching control and bringing a good driving experience to the driver and passengers.

[0005] This application provides a mode control method for an electronically controlled suspension system in a vehicle, wherein the vehicle is equipped with an electronically controlled suspension system; wherein the electronically controlled suspension system has multiple suspension modes, and the mode control method includes:

[0006] In response to suspension mode control events of the vehicle's electronically controlled suspension, obtain the vehicle's driving parameters and operating parameters during the current driving control cycle;

[0007] Based on the driving parameters, the driving state of the vehicle in the current driving control cycle is determined by analyzing and evaluating the driving parameters.

[0008] In the suspension mode corresponding to the previous driving control cycle of the vehicle, determine whether the driving state and the operating parameters meet the mode switching conditions corresponding to the suspension mode.

[0009] If the conditions are met, the vehicle's electronically controlled suspension will switch suspension modes according to the mode switching strategy corresponding to the mode switching conditions met.

[0010] Furthermore, the mode control method also includes:

[0011] If the conditions are not met, the vehicle's electronically controlled suspension will continue to operate in the current driving control cycle according to the suspension mode corresponding to the previous driving control cycle.

[0012] Furthermore, the step of determining the vehicle's driving state in the current driving control cycle based on the driving parameters, through analysis and evaluation of the driving parameters, includes:

[0013] The average value of the vehicle body acceleration parameters included in the driving parameters is calculated, and the vehicle body state in the current driving control cycle is determined by numerical range analysis.

[0014] The average value of the wheel vertical acceleration parameters included in the driving parameters is calculated, and the wheel state of the vehicle in the current driving control cycle is determined by numerical range analysis.

[0015] Based on the vehicle body condition and the wheel condition, the driving state of the vehicle within the current driving control cycle is determined according to a preset state evaluation mechanism.

[0016] Furthermore, the step of calculating the average value of the vehicle body acceleration parameters included in the driving parameters and determining the vehicle body state within the current driving control cycle through numerical range analysis includes:

[0017] Based on the left front vehicle acceleration, right front vehicle acceleration, and rear vehicle acceleration included in the vehicle acceleration parameters, the average vehicle acceleration value corresponding to the current driving control cycle is determined by a preset average vehicle acceleration formula.

[0018] Determine the vehicle state range to which the average vehicle acceleration belongs;

[0019] When the average vehicle acceleration value belongs to the first vehicle state interval, the vehicle's vehicle state in the current driving control cycle is determined to be a weakened motion state.

[0020] When the average vehicle acceleration value belongs to the second vehicle state interval, the vehicle's vehicle state in the current driving control cycle is determined to be a strong motion state.

[0021] Furthermore, the step of calculating the average value of the wheel vertical acceleration parameters included in the driving parameters, and determining the wheel state of the vehicle within the current driving control cycle through numerical range analysis, includes:

[0022] Based on the vertical acceleration parameters of the left front wheel, right front wheel, left rear wheel, and right rear wheel, the average vertical acceleration of the vehicle in the current driving control cycle is determined by using a preset formula for the average vertical acceleration of the vehicle.

[0023] Determine the wheel state interval to which the mean vertical acceleration of the wheel belongs;

[0024] When the wheel state interval to which the average vertical acceleration of the wheel belongs is the first wheel state interval, the wheel state of the vehicle in the current driving control cycle is determined to be a weakened motion state.

[0025] When the wheel state interval to which the average vertical acceleration of the wheel belongs is the second wheel state interval, the wheel state of the vehicle in the current driving control cycle is determined to be a strong motion state.

[0026] Furthermore, determining the vehicle's driving state within the current driving control cycle based on the vehicle body state and the wheel state, according to a preset state evaluation mechanism, includes:

[0027] When the vehicle body state is in a weakened motion state and the wheel state is in a weakened motion state, the vehicle's driving state in the current driving control cycle is determined to be the first driving state.

[0028] When the vehicle body is in a weakened motion state and the wheel is in a strong motion state, the vehicle's driving state in the current driving control cycle is determined to be the second driving state.

[0029] When the vehicle body is in a strong motion state and the wheel is in a weak motion state or a strong motion state, the vehicle's driving state in the current driving control cycle is determined to be the third driving state.

[0030] Furthermore, determining whether the driving state and the operating parameters meet the mode switching conditions corresponding to the previous driving control cycle of the vehicle, under the current suspension mode, includes:

[0031] When the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, determine whether the driving state and the operating parameters meet the first mode switching condition or the second mode switching condition corresponding to the suspension mode.

[0032] When the suspension mode corresponding to the previous driving control cycle of the vehicle is the sport mode, determine whether the driving state and the operating parameters meet the third mode switching conditions corresponding to the suspension mode.

[0033] When the suspension mode corresponding to the previous driving control cycle of the vehicle is off-road mode, determine whether the driving state and the operating parameters meet the fourth mode switching conditions corresponding to that suspension mode.

[0034] Furthermore, the operating parameters include at least one of the following: vehicle speed, number of times the roof control is triggered, number of times the handling control is triggered, number of times the stability system is triggered, and number of times the suspension limit is triggered.

[0035] Furthermore, the first mode switching conditions include: when the driving state is the first driving state or the second driving state, the vehicle driving speed is greater than the calibrated driving speed and the number of times the roof control is triggered is less than the calibrated number of times the roof control is triggered, or the number of times the handling and stability control is triggered is greater than the calibrated number of times the handling and stability is triggered, or the number of times the stability system is triggered is greater than the calibrated number of times the stability is triggered.

[0036] The second mode switching conditions include: when the driving state is the second driving state or the third driving state, the vehicle driving speed is less than the calibrated driving speed and the number of times the canopy control is triggered is greater than the calibrated number of times the canopy is triggered, or the number of times the suspension limit is triggered is greater than the calibrated number of times the limit is triggered.

[0037] The conditions for switching to the third mode include: when the driving state is the second driving state or the third driving state, the vehicle speed is less than the calibrated driving speed, or the number of times the canopy control is triggered is greater than the calibrated number of times.

[0038] The conditions for switching to the fourth mode include: when the driving state is the first driving state or the second driving state, the vehicle driving speed is less than the calibrated driving speed and the number of times the canopy control is triggered is greater than the number of times the canopy is calibrated, or the vehicle driving speed is greater than the calibrated driving speed.

[0039] Furthermore, the control of the vehicle's electronically controlled suspension to switch suspension modes according to the mode switching strategy corresponding to the satisfied mode switching conditions includes:

[0040] When the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, and the driving state and the operating parameters meet the first mode switching conditions, the vehicle's electronic suspension is controlled to switch to sport mode.

[0041] When the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, and the driving state and the operating parameters meet the second mode switching conditions, the vehicle's electronic suspension is controlled to switch to off-road mode.

[0042] When the suspension mode corresponding to the previous driving control cycle of the vehicle is sport mode, and the driving state and the operating parameters meet the third mode switching conditions, the vehicle's electronically controlled suspension is switched to comfort mode.

[0043] When the suspension mode corresponding to the previous driving control cycle of the vehicle is off-road mode, and the driving state and the operating parameters meet the fourth mode switching conditions, the vehicle's electronically controlled suspension is switched to comfort mode.

[0044] This application embodiment also provides a mode control device for a vehicle electronically controlled suspension, the mode control device comprising:

[0045] The parameter acquisition module is used to acquire the vehicle's driving parameters and operating parameters in the current driving control cycle in response to the suspension mode control event of the vehicle's electronically controlled suspension.

[0046] The status assessment module is used to determine the driving status of the vehicle in the current driving control cycle by analyzing and evaluating the driving parameters.

[0047] The switching judgment module determines whether the driving state and the operating parameters meet the mode switching conditions corresponding to the previous driving control cycle of the vehicle.

[0048] The mode control module is used to control the vehicle's electronically controlled suspension to switch the suspension mode according to the mode switching strategy corresponding to the satisfied mode switching conditions if the driving state and the operating condition parameters meet the mode switching conditions corresponding to the suspension mode.

[0049] Furthermore, the mode control device also includes a mode holding module, which is used for:

[0050] If the driving state and the operating parameters do not meet the mode switching conditions corresponding to the suspension mode, the vehicle's electronically controlled suspension will continue driving in the current driving control cycle according to the suspension mode corresponding to the previous driving control cycle.

[0051] Furthermore, when the state evaluation module determines the vehicle's driving state in the current driving control cycle based on the driving parameters through analysis and evaluation, the state evaluation module is used to:

[0052] The average value of the vehicle body acceleration parameters included in the driving parameters is calculated, and the vehicle body state in the current driving control cycle is determined by numerical range analysis.

[0053] The average value of the wheel vertical acceleration parameters included in the driving parameters is calculated, and the wheel state of the vehicle in the current driving control cycle is determined by numerical range analysis.

[0054] Based on the vehicle body condition and the wheel condition, the driving state of the vehicle within the current driving control cycle is determined according to a preset state evaluation mechanism.

[0055] Furthermore, when the state evaluation module calculates the average value of the vehicle body acceleration parameters included in the driving parameters and determines the vehicle body state within the current driving control cycle through numerical range analysis, the state evaluation module is used to:

[0056] Based on the left front vehicle acceleration, right front vehicle acceleration, and rear vehicle acceleration included in the vehicle acceleration parameters, the average vehicle acceleration value corresponding to the current driving control cycle is determined by a preset average vehicle acceleration formula.

[0057] Determine the vehicle state range to which the average vehicle acceleration belongs;

[0058] When the average vehicle acceleration value belongs to the first vehicle state interval, the vehicle's vehicle state in the current driving control cycle is determined to be a weakened motion state.

[0059] When the average vehicle acceleration value belongs to the second vehicle state interval, the vehicle's vehicle state in the current driving control cycle is determined to be a strong motion state.

[0060] Furthermore, when the state evaluation module calculates the average value of the wheel vertical acceleration parameters included in the driving parameters and determines the wheel state of the vehicle within the current driving control cycle through numerical range analysis, the state evaluation module is used to:

[0061] Based on the vertical acceleration parameters of the left front wheel, right front wheel, left rear wheel, and right rear wheel, the average vertical acceleration of the vehicle in the current driving control cycle is determined by using a preset formula for the average vertical acceleration of the vehicle.

[0062] Determine the wheel state interval to which the mean vertical acceleration of the wheel belongs;

[0063] When the wheel state interval to which the average vertical acceleration of the wheel belongs is the first wheel state interval, the wheel state of the vehicle in the current driving control cycle is determined to be a weakened motion state.

[0064] When the wheel state interval to which the average vertical acceleration of the wheel belongs is the second wheel state interval, the wheel state of the vehicle in the current driving control cycle is determined to be a strong motion state.

[0065] Furthermore, when the state evaluation module determines the vehicle's driving state within the current driving control cycle based on the vehicle body state and the wheel state according to a preset state evaluation mechanism, the state evaluation module is used to:

[0066] When the vehicle body state is in a weakened motion state and the wheel state is in a weakened motion state, the vehicle's driving state in the current driving control cycle is determined to be the first driving state.

[0067] When the vehicle body is in a weakened motion state and the wheel is in a strong motion state, the vehicle's driving state in the current driving control cycle is determined to be the second driving state.

[0068] When the vehicle body is in a strong motion state and the wheel is in a weak motion state or a strong motion state, the vehicle's driving state in the current driving control cycle is determined to be the third driving state.

[0069] Furthermore, when the switching judgment module determines whether the driving state and the operating parameters meet the mode switching conditions corresponding to the suspension mode in the previous driving control cycle of the vehicle, the switching judgment module is used to:

[0070] When the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, determine whether the driving state and the operating parameters meet the first mode switching condition or the second mode switching condition corresponding to the suspension mode.

[0071] When the suspension mode corresponding to the previous driving control cycle of the vehicle is the sport mode, determine whether the driving state and the operating parameters meet the third mode switching conditions corresponding to the suspension mode.

[0072] When the suspension mode corresponding to the previous driving control cycle of the vehicle is off-road mode, determine whether the driving state and the operating parameters meet the fourth mode switching conditions corresponding to that suspension mode.

[0073] Furthermore, when the mode control module controls the vehicle's electronically controlled suspension to switch suspension modes according to the mode switching strategy corresponding to the satisfied mode switching conditions, the mode control module is used to:

[0074] When the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, and the driving state and the operating parameters meet the first mode switching conditions, the vehicle's electronic suspension is controlled to switch to sport mode.

[0075] When the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, and the driving state and the operating parameters meet the second mode switching conditions, the vehicle's electronic suspension is controlled to switch to off-road mode.

[0076] When the suspension mode corresponding to the previous driving control cycle of the vehicle is sport mode, and the driving state and the operating parameters meet the third mode switching conditions, the vehicle's electronically controlled suspension is switched to comfort mode.

[0077] When the suspension mode corresponding to the previous driving control cycle of the vehicle is off-road mode, and the driving state and the operating parameters meet the fourth mode switching conditions, the vehicle's electronically controlled suspension is switched to comfort mode.

[0078] This application also provides a vehicle that applies the above-described mode control method for vehicle electronic suspension.

[0079] This application also provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of the mode control method for vehicle electronic suspension described above are performed.

[0080] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the mode control method for a vehicle electronically controlled suspension as described above.

[0081] This application provides a vehicle electronically controlled suspension mode control method, device, and vehicle, wherein the vehicle is equipped with an electronically controlled suspension; wherein the electronically controlled suspension is provided with multiple suspension modes, and the mode control method includes: responding to a suspension mode control event of the vehicle electronically controlled suspension, acquiring the vehicle's driving parameters and operating parameters in the current driving control cycle; based on the driving parameters, determining the vehicle's driving state corresponding to the current driving control cycle through analysis and evaluation of the driving parameters; in the suspension mode corresponding to the previous driving control cycle in which the vehicle is located, determining whether the driving state and the operating parameters meet the mode switching conditions corresponding to the suspension mode; if they meet, controlling the vehicle electronically controlled suspension to switch the suspension mode according to the mode switching strategy corresponding to the met mode switching conditions.

[0082] Compared to existing technologies where the driver perceives vehicle performance and manually selects the suspension mode via a control interface, this new method triggers an intelligent mode for the electronically controlled suspension. It assesses the vehicle's driving status based on its driving parameters and then determines the mode-switching conditions required for the current suspension mode by combining these parameters with the vehicle's operating conditions. Based on these conditions, the suspension mode is switched according to the corresponding strategy to match the current driving conditions. This improves the efficiency of suspension mode switching control and provides a better driving experience for passengers.

[0083] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0084] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0085] Figure 1 One of the flowcharts for a mode control method of a vehicle electronically controlled suspension provided in an embodiment of this application;

[0086] Figure 2 A second flowchart illustrating a mode control method for an electronically controlled vehicle suspension provided in this application embodiment;

[0087] Figure 3 One of the structural schematic diagrams of a mode control device for a vehicle electronically controlled suspension provided in an embodiment of this application;

[0088] Figure 4 A second schematic diagram of the structure of a mode control device for a vehicle electronically controlled suspension provided in an embodiment of this application;

[0089] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0090] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0091] Research has found that currently, the selection of multiple suspension modes in vehicles equipped with electronically controlled suspension systems is mainly accomplished by the user manually selecting them on the vehicle's suspension mode interface. This requires the driver to perceive the vehicle's performance and operate the suspension mode control interface when switching suspension modes. This method is not only cumbersome but also causes difficulties for the driver in making selections, reducing the efficiency of vehicle suspension mode switching control and thus weakening the driving experience for passengers.

[0092] Based on this, this application provides a mode control method for vehicle electronically controlled suspension. By triggering an intelligent mode for controlling the vehicle's electronically controlled suspension, the method evaluates the vehicle's driving state based on the vehicle's driving parameters, and then determines the mode switching conditions that the vehicle meets in the current suspension mode by combining the vehicle's operating parameters. Based on the met mode switching conditions, the method switches the suspension mode according to the corresponding mode switching strategy to switch to a suspension mode that meets the current driving conditions. This improves the efficiency of vehicle suspension mode switching control and provides a better driving experience for passengers.

[0093] Please see Figure 1 , Figure 1 This is one of the flowcharts for a mode control method of a vehicle electronically controlled suspension provided in an embodiment of this application. For example... Figure 1 As shown in the embodiment of this application, the mode control method for vehicle electronically controlled suspension includes:

[0094] S101. In response to the suspension mode control event of the vehicle's electronically controlled suspension, obtain the vehicle's driving parameters and operating parameters during the current driving control cycle.

[0095] It should be noted that the vehicle is equipped with an electronically controlled suspension, which has multiple suspension modes. For example, the electronically controlled suspension can be set to Comfort mode, Standard mode, Sport mode, and Off-road mode. Among them, the Comfort mode is designed for on-road comfort; the Sport mode is designed for handling performance; the Off-road mode is designed for off-road conditions; and the Standard mode is a non-controlled, conventional performance mode. The electronically controlled suspension can also be set to other suspension modes, which will not be elaborated here.

[0096] Here, the suspension mode control event of the vehicle's electronically controlled suspension is actually a kind of "intelligent mode". This suspension mode control event can be triggered by the user or by other means. The suspension mode control event (intelligent mode) aims to provide the user with the suspension mode that best matches the current driving conditions, so as to eliminate the uncomfortable experience caused by the mismatch between the mode and the road conditions. Specifically, when the user selects "intelligent mode" through the suspension mode control interface, the vehicle's controller distinguishes and analyzes different operating conditions and automatically selects the set suspension mode parameters for output control adjustment.

[0097] In this step, after responding to the triggered suspension mode control event of the vehicle's electronically controlled suspension, the vehicle's driving parameters during the current driving control cycle are obtained through the body sensors and suspension sensors installed in the vehicle; at the same time, the vehicle's operating condition parameters during the current driving control cycle are obtained through the operating condition sensors installed in the vehicle.

[0098] Here, in order to ensure the smoothness and practicality of suspension mode transition while controlling the suspension mode under the suspension mode control event of the vehicle's electronically controlled suspension, and to bring a reliable and comfortable driving experience to the driver and passengers, the vehicle will be divided into multiple driving control cycles during the driving process under this suspension mode control event, and the suspension mode will be controlled in each driving control cycle.

[0099] In one possible implementation of this application, the duration of the driving control cycle can be determined based on the actual vehicle's factory parameters and configuration, or in combination with the suspension mode configuration and user-set parameters. For example, the duration of the driving control cycle can generally be set to 5 seconds.

[0100] Here, the operating parameters include at least one of the following: vehicle speed, number of times the roof control is triggered, number of times the handling control is triggered, number of times the stability system is triggered, and number of times the suspension limit is triggered.

[0101] Among them, the number of skyhook triggers indicates the number of times the body control function is triggered; the number of handling triggers indicates the number of times the driver performs rapid acceleration, rapid deceleration, or rapid steering; the number of ESC (Electronic Stability Control) triggers indicates the number of times the vehicle sideslips; and the number of endstop triggers indicates the number of times the suspension is in its upper or lower limit position, which is used to identify the large travel of the suspension and can also be used to identify whether the vehicle is driving on an unpaved road.

[0102] Furthermore, the driving parameters include at least one of the following: vehicle body acceleration parameters and wheel vertical acceleration parameters; wherein, the vehicle body acceleration parameters include, but are not limited to, left front vehicle body acceleration, right front vehicle body acceleration, and rear vehicle body acceleration; the wheel vertical acceleration parameters include, but are not limited to, left front wheel vertical acceleration, right front wheel vertical acceleration, left rear wheel vertical acceleration, and right rear wheel vertical acceleration.

[0103] Specifically, acceleration sensors installed in the vehicle are used to acquire the vehicle's acceleration parameters at the left front, right front, and rear sides, respectively; suspension height sensors installed in the vehicle are used to acquire the suspension height changes of the left front wheel, left rear wheel, right front wheel, and right rear wheel, respectively; and the vertical acceleration of the wheel is obtained by differentiating the suspension height changes.

[0104] S102. Based on the driving parameters, the driving state of the vehicle in the current driving control cycle is determined by analyzing and evaluating the driving parameters.

[0105] In this step, the analysis of the driving parameters is achieved by: calculating the average values ​​of the vehicle body acceleration parameters and the wheel vertical acceleration parameters included in the driving parameters, and then analyzing the numerical range of the calculated average values ​​to determine the vehicle body state and wheel state within the current driving control cycle.

[0106] Furthermore, the driving parameters are evaluated to determine the driving state of the vehicle in the current driving control cycle in the following way: based on the specific performance of the vehicle body state and wheel state, a specific combination of state conditions is determined, and then the driving state of the vehicle in the current driving control cycle is evaluated and determined based on the combination of conditions.

[0107] In one embodiment of this application, step S102 may include:

[0108] S1021. Calculate the average value of the vehicle body acceleration parameters included in the driving parameters, and determine the vehicle body state within the current driving control cycle through numerical range analysis.

[0109] In this step, in specific implementation, firstly, the vehicle acceleration parameters included in the driving parameters are substituted into the preset vehicle acceleration average value formula to calculate the vehicle acceleration average value; then, based on the vehicle state interval to which the determined vehicle acceleration average value belongs, the vehicle state in the current driving control cycle is determined.

[0110] In one embodiment of this application, step S1021 may include:

[0111] S10211. Based on the left front vehicle acceleration, right front vehicle acceleration, and rear vehicle acceleration included in the vehicle acceleration parameters, the average vehicle acceleration value corresponding to the current driving control cycle is determined by using a preset average vehicle acceleration formula.

[0112] In this step, the left front vehicle acceleration, right front vehicle acceleration, and rear vehicle acceleration included in the vehicle acceleration parameters are substituted into the preset average vehicle acceleration formula to calculate the average vehicle acceleration value corresponding to the current driving control cycle.

[0113] Specifically, the preset formula for the average vehicle acceleration is shown below.

[0114] a body =((acc) fl +acc fr )*0.5+acc rear )*A.

[0115] Among them, a body The average acceleration of the vehicle body; acc fl Acceleration of the left front vehicle body; fr The acceleration of the right front vehicle body; acc rear denoted as , where is the acceleration of the rear side of the vehicle body; A is a mean constant, which can be determined based on the specific distribution and configuration of the vehicle suspension during implementation.

[0116] S10212. Determine the vehicle state range to which the average vehicle acceleration value belongs.

[0117] In this step, the average vehicle acceleration is compared with the first vehicle state interval and the second vehicle state interval to determine the specific vehicle state interval to which the average vehicle acceleration belongs.

[0118] The vehicle state range is determined based on preset vehicle acceleration limits. The first and second vehicle state ranges are determined based on preset minimum, maximum, and median vehicle acceleration values. When the average vehicle acceleration is in the first vehicle state range, it indicates that the vehicle's motion is relatively weak. When the average vehicle acceleration is in the second vehicle state range, it indicates that the vehicle's motion is relatively strong.

[0119] Specifically, the first vehicle body state range is [a body _min, a body _mid); the second vehicle body state range is [a body _mid, a body [_max]; where a body _min is the preset minimum vehicle acceleration; a body _mid is a preset intermediate value for vehicle body acceleration; a body _max is the preset maximum vehicle acceleration.

[0120] S10213. When the average vehicle acceleration value belongs to the first vehicle state interval, the vehicle state in the current driving control cycle is determined to be a weakened motion state.

[0121] In this step, based on the comparison results of the range of the average vehicle acceleration, when the vehicle state interval to which the average vehicle acceleration belongs is the first vehicle state interval, it indicates that the vehicle's vehicle motion is relatively weak at this time, and the vehicle's vehicle state in the current driving control cycle is determined to be a weakened motion state.

[0122] S10214. When the average vehicle acceleration value belongs to the second vehicle state interval, the vehicle state is determined to be a strong motion state in the current driving control cycle.

[0123] In this step, based on the comparison results of the range of the average vehicle acceleration, when the vehicle state interval to which the average vehicle acceleration belongs is the second vehicle state interval, it indicates that the vehicle's body movement is relatively strong at this time, and the vehicle's body state in the current driving control cycle is determined to be a strong movement state.

[0124] S1022. Calculate the average value of the wheel vertical acceleration parameters included in the driving parameters, and determine the wheel state of the vehicle in the current driving control cycle through numerical range analysis.

[0125] In this step, in specific implementation, firstly, the wheel vertical acceleration parameters included in the driving parameters are substituted into the preset wheel vertical acceleration mean formula to calculate the wheel vertical acceleration mean; then, based on the wheel state interval to which the determined wheel vertical acceleration mean belongs, the wheel state of the vehicle in the current driving control cycle is determined.

[0126] In one embodiment of this application, step S1022 may include:

[0127] S10221. Based on the vertical acceleration parameters of the left front wheel, right front wheel, left rear wheel, and right rear wheel, the average vertical acceleration of the vehicle in the current driving control cycle is determined by using a preset formula for the average vertical acceleration of the vehicle.

[0128] In this step, the vertical acceleration parameters of the left front wheel, right front wheel, left rear wheel, and right rear wheel are substituted into the preset formula for the average value of the vertical acceleration of the wheels to calculate the average value of the vertical acceleration of the wheels corresponding to the current driving control cycle.

[0129] Specifically, the preset formula for the average vertical acceleration of the wheel is shown below.

[0130] a wheel =(a fl +a fr +a rl +a rr )*0.25.

[0131] Among them, a wheel a is the average vertical acceleration of the wheel; fl a is the vertical acceleration of the left front wheel; fr a is the vertical acceleration of the right front wheel; rl a is the vertical acceleration of the left rear wheel; rr This represents the vertical acceleration of the right rear wheel.

[0132] S10222. Determine the wheel state interval to which the average vertical acceleration of the wheel belongs.

[0133] In this step, the average vertical acceleration of the wheel is compared with the first wheel state interval and the second wheel state interval to determine the specific wheel state interval to which the average vertical acceleration of the wheel belongs.

[0134] The wheel state interval is determined based on the preset wheel vertical acceleration limit value. The first wheel state interval and the second wheel state interval are determined based on the preset minimum wheel vertical acceleration, maximum wheel vertical acceleration, and median wheel vertical acceleration value. Here, when the average wheel vertical acceleration is in the first wheel state interval, it indicates that the vehicle's wheel motion is relatively weak; when the average wheel vertical acceleration is in the second wheel state interval, it indicates that the vehicle's wheel motion is relatively strong.

[0135] Specifically, the state range of the first wheel is [a wheel _min, a wheel _mid); the second wheel state range is [a wheel _mid, a wheel [_max]; where a wheel _min is the preset minimum vertical acceleration of the wheel; a wheel _mid is a preset midpoint value for the vertical acceleration of the wheel; a wheel _max is the preset maximum vertical acceleration of the wheel.

[0136] S10223. When the wheel state interval to which the average vertical acceleration of the wheel belongs is the first wheel state interval, the wheel state of the vehicle in the current driving control cycle is determined to be a weakened motion state.

[0137] In this step, based on the comparison results of the range of the average vertical acceleration of the wheel, when the wheel state interval to which the average vertical acceleration of the wheel belongs is the first wheel state interval, it indicates that the wheel motion of the vehicle is relatively weak at this time, and the wheel state of the vehicle in the current driving control cycle is determined to be a weakened motion state.

[0138] S10224. When the wheel state interval to which the average vertical acceleration of the wheel belongs is the second wheel state interval, the wheel state of the vehicle in the current driving control cycle is determined to be a strong motion state.

[0139] In this step, based on the comparison results of the range of the average vertical acceleration of the wheel, when the wheel state interval to which the average vertical acceleration of the wheel belongs is the second wheel state interval, it indicates that the wheel motion of the vehicle is strong at this time, and the wheel state of the vehicle in the current driving control cycle is determined to be a strong motion state.

[0140] S1023. Based on the vehicle body state and the wheel state, determine the vehicle's driving state within the current driving control cycle according to a preset state evaluation mechanism.

[0141] In this step, based on the specific performance of the determined vehicle body state and wheel state, the overall motion state of the vehicle as expressed by the vehicle body state and wheel state is analyzed, and then the driving state of the vehicle in the current driving control cycle is evaluated and determined according to the preset state evaluation mechanism.

[0142] Here, the preset state assessment mechanism is to form a combination scheme based on the specific performance of the vehicle body state and wheel state, and to assess the driving state of the vehicle within the current driving control cycle based on the combination scheme.

[0143] In one embodiment of this application, step S1023 may include:

[0144] S10231. When the vehicle body state is in a weakened motion state and the wheel state is in a weakened motion state, the vehicle's driving state in the current driving control cycle is determined to be the first driving state.

[0145] In this step, when the vehicle body state is in a weakened motion state and the wheel state is in a weakened motion state, it indicates that the vehicle body movement is small and the wheel movement is also small, indicating that the vehicle's driving state is stable. This is a vehicle condition that will not cause discomfort to the occupants. The vehicle's driving state in the current driving control cycle is determined as the first driving state.

[0146] In one possible implementation of this application, the first driving state includes a driving state used to indicate that the vehicle's driving state is a weakened driving state.

[0147] S10232. When the vehicle body is in a weakened motion state and the wheel is in a strong motion state, the vehicle's driving state in the current driving control cycle is determined to be the second driving state.

[0148] In this step, when the vehicle body is in a weakened motion state and the wheel is in a strong motion state, it indicates that the vehicle body is moving little, but the wheel bounce is obvious, which has a certain impact on comfort. The vehicle's driving state in the current driving control cycle is determined to be the second driving state.

[0149] In one possible implementation of this application, the second driving state includes a driving state that indicates the vehicle's driving state is a normal driving state.

[0150] S10233. When the vehicle body is in a strong motion state and the wheel is in a weak motion state or a strong motion state, the vehicle's driving state in the current driving control cycle is determined to be the third driving state.

[0151] In this step, when the vehicle body is in a weakened motion state and the wheel is in a strong motion state, it indicates that the vehicle body is moving significantly and is undergoing violent motion, which would cause severe discomfort to the occupants. The vehicle's driving state within the current driving control cycle is then determined to be the second driving state.

[0152] In one possible implementation of this application, the third driving state includes a driving state used to represent the driving state of the vehicle as a strong driving state.

[0153] S103. In the suspension mode corresponding to the previous driving control cycle of the vehicle, determine whether the driving state and the operating parameters meet the mode switching conditions corresponding to the suspension mode.

[0154] It should be noted that after the vehicle responds to the suspension mode control event, that is, after entering "intelligent mode", before switching modes, the vehicle will be in the suspension mode corresponding to the previous driving control cycle and enter the current driving control cycle in that suspension mode.

[0155] In this step, based on the suspension mode corresponding to the previous driving control cycle of the vehicle, it is determined whether the vehicle's assessed driving state and acquired operating parameters meet the corresponding mode switching conditions under that suspension mode, so as to perform subsequent suspension mode switching control based on the met mode switching conditions.

[0156] In one embodiment of this application, step S103 may include:

[0157] S1031. When the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, determine whether the driving state and the operating parameters meet the first mode switching condition or the second mode switching condition corresponding to the suspension mode.

[0158] In this step, when the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, that is, the suspension mode that the vehicle is in before the suspension mode switching control is comfort mode, it is determined whether the driving state and the operating parameters meet the first mode switching condition or the second mode switching condition.

[0159] Here, the first mode switching conditions include: when the driving state is the first driving state or the second driving state, the vehicle driving speed is greater than the calibrated driving speed and the number of times the canopy control is triggered is less than the calibrated number of times the canopy control is triggered, or the number of times the handling and stability control is triggered is greater than the calibrated number of times the handling and stability control is triggered, or the number of times the stability system is triggered is greater than the calibrated number of times the stability system is triggered.

[0160] Furthermore, the second mode switching conditions include: when the driving state is the second driving state or the third driving state, the vehicle driving speed is less than the calibrated driving speed and the number of times the canopy control is triggered is greater than the calibrated number of times the canopy is triggered, or the number of times the suspension limit is triggered is greater than the calibrated number of times the limit is triggered.

[0161] S1032. When the suspension mode corresponding to the previous driving control cycle of the vehicle is the sport mode, determine whether the driving state and the operating parameters meet the third mode switching conditions corresponding to the suspension mode.

[0162] In this step, when the suspension mode corresponding to the previous driving control cycle of the vehicle is the sport mode, that is, the suspension mode that the vehicle is in before the suspension mode switching control is the sport mode, it is determined whether the driving state and the operating parameters meet the third mode switching conditions.

[0163] Here, the conditions for switching to the third mode include: when the driving state is the second driving state or the third driving state, the vehicle speed is less than the calibrated driving speed, or the number of times the canopy control is triggered is greater than the calibrated number of times the canopy is triggered.

[0164] S1033. When the suspension mode corresponding to the previous driving control cycle of the vehicle is off-road mode, determine whether the driving state and the operating parameters meet the fourth mode switching conditions corresponding to the suspension mode.

[0165] In this step, when the suspension mode corresponding to the previous driving control cycle of the vehicle is off-road mode, that is, the suspension mode that the vehicle is in before the suspension mode switching control is off-road mode, it is determined whether the driving state and the operating parameters meet the fourth mode switching conditions.

[0166] Here, the fourth mode switching conditions include: when the driving state is the first driving state or the second driving state, the vehicle driving speed is less than the calibrated driving speed and the number of times the canopy control is triggered is greater than the calibrated number of times, or the vehicle driving speed is greater than the calibrated driving speed.

[0167] S104. If satisfied, control the vehicle's electronic suspension to switch suspension modes according to the mode switching strategy corresponding to the satisfied mode switching conditions.

[0168] In this step, the suspension mode is switched according to the suspension mode corresponding to the previous driving control cycle of the vehicle, and the mode switching strategy corresponding to the mode switching conditions satisfied in that suspension mode is used.

[0169] Specifically, the mode switching strategy corresponding to the mode switching conditions is to select the specific suspension mode to switch to based on the conditions met for different suspension modes.

[0170] In one embodiment of this application, step S104 may include:

[0171] S1041. When the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, and the driving state and the operating parameters meet the first mode switching conditions, control the vehicle's electronically controlled suspension to switch to sport mode.

[0172] In this step, when the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, that is, the suspension mode that the vehicle is in before the suspension mode switching control is comfort mode, it should be determined whether the driving status and operating parameters meet the first mode switching condition or the second mode switching condition; when the driving status and operating parameters meet the first mode switching condition, the vehicle's electronically controlled suspension is controlled to switch to sport mode.

[0173] Here, the conditions for switching to the first mode are met, indicating that the vehicle is moving at a relatively low speed and the speed is relatively high. Other operating conditions indicate that the vehicle's electronically controlled suspension requires greater suspension damping to make the vehicle more stable at high speeds and safer to handle. In this way, the vehicle's electronically controlled suspension is switched from comfort mode to sport mode.

[0174] S1042. When the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, and the driving state and the operating parameters meet the second mode switching conditions, control the vehicle's electronically controlled suspension to switch to off-road mode.

[0175] In this step, when the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, that is, the suspension mode that the vehicle is in before the suspension mode switching control is comfort mode, it should be determined whether the driving status and operating parameters meet the first mode switching condition or the second mode switching condition; when the driving status and operating parameters meet the second mode switching condition, the vehicle's electronically controlled suspension is switched to off-road mode.

[0176] Here, the conditions for switching to the second mode are met when the vehicle is moving at a large speed and the speed is low, or when the suspension travel reaches its upper or lower limit. In this case, it is necessary to switch to the off-road mode, which is indicated by the road sign for unpaved crossing. At this time, the suspension damping of the vehicle's electronically controlled suspension is centered and the upper and lower limits of dynamic control are wider. This can better suppress the vehicle's movement and make full use of the suspension travel to adapt to the driving needs of unpaved roads. In this way, the vehicle's electronically controlled suspension is switched from comfort mode to off-road mode.

[0177] S1043. When the suspension mode corresponding to the previous driving control cycle of the vehicle is sport mode, and the driving state and the operating parameters meet the third mode switching conditions, control the vehicle's electronically controlled suspension to switch to comfort mode.

[0178] In this step, when the suspension mode corresponding to the previous driving control cycle of the vehicle is sport mode, that is, the suspension mode that the vehicle is in before the suspension mode switching control is sport mode, it should be determined whether the driving status and operating parameters meet the third mode switching conditions; when the driving status and operating parameters meet the third mode switching conditions, the vehicle's electronically controlled suspension is controlled to switch to comfort mode.

[0179] Here, meeting the conditions for switching to the third mode indicates that the vehicle is moving at a relatively high speed, or meeting other operating conditions indicates that the suspension damping of the vehicle's electronically controlled suspension is relatively low, which allows the suspension to better adapt to road undulations and improve the comfort of the driver and passengers. In this way, the vehicle's electronically controlled suspension is switched from sport mode to comfort mode.

[0180] S1044. When the suspension mode corresponding to the previous driving control cycle of the vehicle is off-road mode, and the driving state and the operating parameters meet the fourth mode switching conditions, control the vehicle's electronically controlled suspension to switch to comfort mode.

[0181] In this step, when the suspension mode corresponding to the previous driving control cycle of the vehicle is off-road mode, that is, the suspension mode of the vehicle before the suspension mode switching control is off-road mode, it should be determined whether the driving status and operating parameters meet the fourth mode switching conditions; when the driving status and operating parameters meet the fourth mode switching conditions, the vehicle's electronically controlled suspension is switched to comfort mode.

[0182] Here, meeting the fourth mode switching condition indicates that the vehicle is moving more and traveling at a lower speed in off-road mode, or meeting other operating conditions indicates that the suspension damping of the vehicle's electronically controlled suspension is lower. In this way, the vehicle's electronically controlled suspension is switched from off-road mode to comfort mode.

[0183] Furthermore, when the suspension mode corresponding to the previous driving control cycle of the vehicle is off-road mode or sport mode, other suspension modes can also be switched and controlled according to other mode switching conditions.

[0184] Optionally, please refer to Figure 2 , Figure 2 This is a second flowchart illustrating a mode control method for a vehicle's electronically controlled suspension, provided as an embodiment of this application. Figure 2As shown, in addition to the mode control method of the vehicle electronic suspension described in steps S101 to S104, it also includes step S105. Specifically, step S105 is used to describe the mode control method when the driving state and the operating parameters do not meet the mode switching conditions corresponding to the suspension mode, so as to ensure the integrity of the mode control of the vehicle electronic suspension.

[0185] S105. If not satisfied, control the vehicle's electronically controlled suspension to continue driving in the current driving control cycle according to the suspension mode corresponding to the previous driving control cycle.

[0186] In this step, if the driving state and the operating parameters do not meet the mode switching conditions corresponding to the previous driving control cycle, the vehicle does not need to switch modes at this time. In this case, the vehicle's electronically controlled suspension continues to drive in the current driving control cycle according to the suspension mode corresponding to the previous driving control cycle, so as to improve the comfort of the driver and passengers and thus improve the robustness of the vehicle control system.

[0187] The vehicle electronically controlled suspension mode control method provided in this application embodiment responds to a suspension mode control event of the vehicle electronically controlled suspension by acquiring the vehicle's driving parameters and operating parameters within the current driving control cycle; based on the driving parameters, the driving state of the vehicle corresponding to the current driving control cycle is determined through analysis and evaluation of the driving parameters; in the suspension mode corresponding to the previous driving control cycle, it is determined whether the driving state and the operating parameters meet the mode switching conditions corresponding to that suspension mode; if they do, the vehicle electronically controlled suspension is controlled to switch the suspension mode according to the mode switching strategy corresponding to the met mode switching conditions. By triggering an intelligent mode for controlling the vehicle electronically controlled suspension, evaluating the vehicle's driving state based on the vehicle's driving parameters, and then combining the vehicle's operating parameters to determine the mode switching conditions met by the vehicle in the current suspension mode, and switching the suspension mode according to the corresponding mode switching strategy based on the met mode switching conditions to switch to a suspension mode that meets the current driving conditions, the efficiency of vehicle suspension mode switching control is improved, thereby providing a better driving experience for passengers.

[0188] Please see Figure 3 , Figure 4 , Figure 3 This is one of the structural schematic diagrams of a mode control device for a vehicle electronically controlled suspension provided in an embodiment of this application. Figure 4 This is a second schematic diagram of the structure of a mode control device for a vehicle electronically controlled suspension provided in an embodiment of this application. (See attached diagram.) Figure 3 As shown, the mode control device 300 includes:

[0189] The parameter acquisition module 310 is used to acquire the vehicle's driving parameters and operating parameters in the current driving control cycle in response to the suspension mode control event of the vehicle's electronically controlled suspension.

[0190] The status assessment module 320 is used to determine the driving status of the vehicle in the current driving control cycle based on the driving parameters by analyzing and evaluating the driving parameters.

[0191] The switching judgment module 330 determines whether the driving state and the operating parameters meet the mode switching conditions corresponding to the suspension mode in the previous driving control cycle of the vehicle.

[0192] The mode control module 340 is used to control the vehicle's electronically controlled suspension to switch the suspension mode according to the mode switching strategy corresponding to the satisfied mode switching conditions if the driving state and the operating condition parameters meet the mode switching conditions corresponding to the suspension mode.

[0193] Furthermore, such as Figure 4 As shown, the mode control device 300 further includes a mode holding module 350, which is used for:

[0194] If the driving state and the operating parameters do not meet the mode switching conditions corresponding to the suspension mode, the vehicle's electronically controlled suspension will continue driving in the current driving control cycle according to the suspension mode corresponding to the previous driving control cycle.

[0195] Furthermore, when the state evaluation module 320 determines the vehicle's driving state corresponding to the current driving control cycle based on the driving parameters through analysis and evaluation, the state evaluation module 320 is used to:

[0196] The average value of the vehicle body acceleration parameters included in the driving parameters is calculated, and the vehicle body state in the current driving control cycle is determined by numerical range analysis.

[0197] The average value of the wheel vertical acceleration parameters included in the driving parameters is calculated, and the wheel state of the vehicle in the current driving control cycle is determined by numerical range analysis.

[0198] Based on the vehicle body condition and the wheel condition, the driving state of the vehicle within the current driving control cycle is determined according to a preset state evaluation mechanism.

[0199] Furthermore, when the state evaluation module 320 calculates the average value of the vehicle body acceleration parameters included in the driving parameters and determines the vehicle body state within the current driving control cycle through numerical range analysis, the state evaluation module 320 is used to:

[0200] Based on the left front vehicle acceleration, right front vehicle acceleration, and rear vehicle acceleration included in the vehicle acceleration parameters, the average vehicle acceleration value corresponding to the current driving control cycle is determined by a preset average vehicle acceleration formula.

[0201] Determine the vehicle state range to which the average vehicle acceleration belongs;

[0202] When the average vehicle acceleration value belongs to the first vehicle state interval, the vehicle's vehicle state in the current driving control cycle is determined to be a weakened motion state.

[0203] When the average vehicle acceleration value belongs to the second vehicle state interval, the vehicle's vehicle state in the current driving control cycle is determined to be a strong motion state.

[0204] Furthermore, when the state evaluation module 320 calculates the average value of the wheel vertical acceleration parameters included in the driving parameters and determines the wheel state of the vehicle in the current driving control cycle through numerical range analysis, the state evaluation module 320 is used to:

[0205] Based on the vertical acceleration parameters of the left front wheel, right front wheel, left rear wheel, and right rear wheel, the average vertical acceleration of the vehicle in the current driving control cycle is determined by using a preset formula for the average vertical acceleration of the vehicle.

[0206] Determine the wheel state interval to which the mean vertical acceleration of the wheel belongs;

[0207] When the wheel state interval to which the average vertical acceleration of the wheel belongs is the first wheel state interval, the wheel state of the vehicle in the current driving control cycle is determined to be a weakened motion state.

[0208] When the wheel state interval to which the average vertical acceleration of the wheel belongs is the second wheel state interval, the wheel state of the vehicle in the current driving control cycle is determined to be a strong motion state.

[0209] Furthermore, when the state evaluation module 320 determines the vehicle's driving state within the current driving control cycle based on the vehicle body state and the wheel state according to a preset state evaluation mechanism, the state evaluation module 320 is used to:

[0210] When the vehicle body state is in a weakened motion state and the wheel state is in a weakened motion state, the vehicle's driving state in the current driving control cycle is determined to be the first driving state.

[0211] When the vehicle body is in a weakened motion state and the wheel is in a strong motion state, the vehicle's driving state in the current driving control cycle is determined to be the second driving state.

[0212] When the vehicle body is in a strong motion state and the wheel is in a weak motion state or a strong motion state, the vehicle's driving state in the current driving control cycle is determined to be the third driving state.

[0213] Furthermore, when the switching judgment module 330 determines whether the driving state and the operating parameters meet the mode switching conditions corresponding to the suspension mode in the previous driving control cycle of the vehicle, the switching judgment module 330 is used to:

[0214] When the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, determine whether the driving state and the operating parameters meet the first mode switching condition or the second mode switching condition corresponding to the suspension mode.

[0215] When the suspension mode corresponding to the previous driving control cycle of the vehicle is the sport mode, determine whether the driving state and the operating parameters meet the third mode switching conditions corresponding to the suspension mode.

[0216] When the suspension mode corresponding to the previous driving control cycle of the vehicle is off-road mode, determine whether the driving state and the operating parameters meet the fourth mode switching conditions corresponding to that suspension mode.

[0217] Furthermore, when the mode control module 340 controls the vehicle's electronically controlled suspension to switch suspension modes according to the mode switching strategy corresponding to the satisfied mode switching conditions, the mode control module 340 is used to:

[0218] When the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, and the driving state and the operating parameters meet the first mode switching conditions, the vehicle's electronic suspension is controlled to switch to sport mode.

[0219] When the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, and the driving state and the operating parameters meet the second mode switching conditions, the vehicle's electronic suspension is controlled to switch to off-road mode.

[0220] When the suspension mode corresponding to the previous driving control cycle of the vehicle is sport mode, and the driving state and the operating parameters meet the third mode switching conditions, the vehicle's electronically controlled suspension is switched to comfort mode.

[0221] When the suspension mode corresponding to the previous driving control cycle of the vehicle is off-road mode, and the driving state and the operating parameters meet the fourth mode switching conditions, the vehicle's electronically controlled suspension is switched to comfort mode.

[0222] The vehicle electronic suspension mode control device provided in this application embodiment responds to a suspension mode control event of the vehicle electronic suspension by acquiring the vehicle's driving parameters and operating parameters within the current driving control cycle. Based on the driving parameters, the device analyzes and evaluates the driving parameters to determine the vehicle's driving state corresponding to the current driving control cycle. In the suspension mode corresponding to the previous driving control cycle, the device determines whether the driving state and operating parameters meet the mode switching conditions corresponding to that suspension mode. If they do, the device controls the vehicle electronic suspension to switch suspension modes according to the mode switching strategy corresponding to the met mode switching conditions. By triggering an intelligent mode for controlling the vehicle electronic suspension, evaluating the vehicle's driving state based on the driving parameters, and then combining this with the vehicle's operating parameters to determine the mode switching conditions met by the vehicle in the current suspension mode, the device switches suspension modes according to the corresponding mode switching strategy based on the met mode switching conditions, thereby switching to a suspension mode that meets the current driving conditions. This improves the efficiency of vehicle suspension mode switching control and provides a better driving experience for passengers.

[0223] This application also provides a vehicle that can perform the above-described actions during operation. Figure 1 as well as Figure 2 The steps of the mode control method for the vehicle electronically controlled suspension in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0224] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 5 As shown, the electronic device 500 includes a processor 510, a memory 520, and a bus 530.

[0225] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 and the memory 520 communicate via the bus 530. When the machine-readable instructions are executed by the processor 510, they can perform the operations described above. Figure 1 as well as Figure 2 The steps of the mode control method for the vehicle electronically controlled suspension in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0226] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 1 as well as Figure 2 The steps of the mode control method for the vehicle electronically controlled suspension in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0227] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0228] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0229] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0230] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0231] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0232] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A mode control method for a vehicle's electronically controlled suspension, characterized in that, The vehicle is equipped with an electronically controlled suspension; wherein the electronically controlled suspension has multiple suspension modes, and the mode control method includes: In response to suspension mode control events of the vehicle's electronically controlled suspension, obtain the vehicle's driving parameters and operating parameters during the current driving control cycle; Based on the driving parameters, the driving state of the vehicle in the current driving control cycle is determined by analyzing and evaluating the driving parameters. The step of determining the vehicle's driving state in the current driving control cycle based on the driving parameters, through analysis and evaluation of the driving parameters, includes: The average value of the vehicle body acceleration parameters included in the driving parameters is calculated, and the vehicle body state in the current driving control cycle is determined by numerical range analysis. The average value of the wheel vertical acceleration parameters included in the driving parameters is calculated, and the wheel state of the vehicle in the current driving control cycle is determined by numerical range analysis. Based on the vehicle body condition and the wheel condition, the driving state of the vehicle in the current driving control cycle is determined according to a preset state evaluation mechanism. The step of determining the vehicle's driving state within the current driving control cycle based on the vehicle body state and the wheel state, according to a preset state evaluation mechanism, includes: When the vehicle body state is in a weakened motion state and the wheel state is in a weakened motion state, the vehicle's driving state in the current driving control cycle is determined to be the first driving state. When the vehicle body is in a weakened motion state and the wheel is in a strong motion state, the vehicle's driving state in the current driving control cycle is determined to be the second driving state. When the vehicle body is in a strong motion state and the wheel is in a weak motion state or a strong motion state, the vehicle's driving state in the current driving control cycle is determined to be the third driving state. In the suspension mode corresponding to the previous driving control cycle of the vehicle, determine whether the driving state and the operating parameters meet the mode switching conditions corresponding to the suspension mode. If the conditions are met, the vehicle's electronically controlled suspension will switch suspension modes according to the mode switching strategy corresponding to the mode switching conditions met.

2. The method according to claim 1, characterized in that, The operating parameters include at least one of the following: vehicle speed, number of times the roof control is triggered, number of times the handling control is triggered, number of times the stability system is triggered, and number of times the suspension limit is triggered.

3. The method according to claim 1, characterized in that, The mode control method further includes: If the conditions are not met, the vehicle's electronically controlled suspension will continue to operate in the current driving control cycle according to the suspension mode corresponding to the previous driving control cycle.

4. The method according to claim 1, characterized in that, The step of calculating the average value of the vehicle acceleration parameters included in the driving parameters and determining the vehicle's state within the current driving control cycle through numerical range analysis includes: Based on the left front vehicle acceleration, right front vehicle acceleration, and rear vehicle acceleration included in the vehicle acceleration parameters, the average vehicle acceleration value corresponding to the current driving control cycle is determined by a preset average vehicle acceleration formula. Determine the vehicle state range to which the average vehicle acceleration belongs; When the average vehicle acceleration value belongs to the first vehicle state interval, the vehicle's vehicle state in the current driving control cycle is determined to be a weakened motion state. When the average vehicle acceleration value belongs to the second vehicle state interval, the vehicle's vehicle state in the current driving control cycle is determined to be a strong motion state.

5. The method according to claim 4, characterized in that, The step of calculating the average value of the wheel vertical acceleration parameters included in the driving parameters and determining the wheel state of the vehicle within the current driving control cycle through numerical range analysis includes: Based on the vertical acceleration parameters of the left front wheel, right front wheel, left rear wheel, and right rear wheel, the average vertical acceleration of the vehicle in the current driving control cycle is determined by using a preset formula for the average vertical acceleration of the vehicle. Determine the wheel state interval to which the mean vertical acceleration of the wheel belongs; When the wheel state interval to which the average vertical acceleration of the wheel belongs is the first wheel state interval, the wheel state of the vehicle in the current driving control cycle is determined to be a weakened motion state. When the wheel state interval to which the average vertical acceleration of the wheel belongs is the second wheel state interval, the wheel state of the vehicle in the current driving control cycle is determined to be a strong motion state.

6. The method according to any one of claims 1 to 5, characterized in that, The step of determining whether the driving state and the operating parameters meet the mode switching conditions corresponding to the previous driving control cycle of the vehicle in the suspension mode includes: When the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, determine whether the driving state and the operating parameters meet the first mode switching condition or the second mode switching condition corresponding to the suspension mode. When the suspension mode corresponding to the previous driving control cycle of the vehicle is the sport mode, determine whether the driving state and the operating parameters meet the third mode switching conditions corresponding to the suspension mode. When the suspension mode corresponding to the previous driving control cycle of the vehicle is off-road mode, determine whether the driving state and the operating parameters meet the fourth mode switching conditions corresponding to that suspension mode.

7. The method according to claim 6, characterized in that, The first mode switching conditions include: when the driving state is the first driving state or the second driving state, the vehicle driving speed is greater than the rated driving speed and the number of times the roof control is triggered is less than the rated number of times the roof control is triggered, or the number of times the handling control is triggered is greater than the rated number of times the handling control is triggered, or the number of times the stability system is triggered is greater than the rated number of times the stability system is triggered. The second mode switching conditions include: when the driving state is the second driving state or the third driving state, the vehicle driving speed is less than the calibrated driving speed and the number of times the canopy control is triggered is greater than the calibrated number of times the canopy is triggered, or the number of times the suspension limit is triggered is greater than the calibrated number of times the limit is triggered. The conditions for switching to the third mode include: when the driving state is the second driving state or the third driving state, the vehicle speed is less than the calibrated driving speed, or the number of times the canopy control is triggered is greater than the calibrated number of times. The conditions for switching to the fourth mode include: when the driving state is the first driving state or the second driving state, the vehicle driving speed is less than the calibrated driving speed and the number of times the canopy control is triggered is greater than the number of times the canopy is calibrated, or the vehicle driving speed is greater than the calibrated driving speed.

8. The method according to claim 7, characterized in that, The control of the vehicle's electronically controlled suspension to switch suspension modes according to the mode switching strategy corresponding to the satisfied mode switching conditions includes: When the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, and the driving state and the operating parameters meet the first mode switching conditions, the vehicle's electronic suspension is controlled to switch to sport mode. When the suspension mode corresponding to the previous driving control cycle of the vehicle is comfort mode, and the driving state and the operating parameters meet the second mode switching conditions, the vehicle's electronic suspension is controlled to switch to off-road mode. When the suspension mode corresponding to the previous driving control cycle of the vehicle is sport mode, and the driving state and the operating parameters meet the third mode switching conditions, the vehicle's electronically controlled suspension is switched to comfort mode. When the suspension mode corresponding to the previous driving control cycle of the vehicle is off-road mode, and the driving state and the operating parameters meet the fourth mode switching conditions, the vehicle's electronically controlled suspension is switched to comfort mode.

9. A mode control device for a vehicle's electronically controlled suspension, characterized in that, The mode control device includes: The parameter acquisition module is used to acquire the vehicle's driving parameters and operating parameters in the current driving control cycle in response to the suspension mode control event of the vehicle's electronically controlled suspension. The status assessment module is used to determine the driving status of the vehicle in the current driving control cycle by analyzing and evaluating the driving parameters. The switching judgment module determines whether the driving state and the operating parameters meet the mode switching conditions corresponding to the previous driving control cycle of the vehicle. The mode control module is used to control the vehicle's electronically controlled suspension to switch the suspension mode according to the mode switching strategy corresponding to the mode switching conditions met if the driving state and the operating condition parameters meet the mode switching conditions corresponding to the suspension mode. When the state evaluation module is used to determine the vehicle's driving state in the current driving control cycle based on the driving parameters through analysis and evaluation, the state evaluation module is used to: The average value of the vehicle body acceleration parameters included in the driving parameters is calculated, and the vehicle body state in the current driving control cycle is determined by numerical range analysis. The average value of the wheel vertical acceleration parameters included in the driving parameters is calculated, and the wheel state of the vehicle in the current driving control cycle is determined by numerical range analysis. Based on the vehicle body condition and the wheel condition, the driving state of the vehicle in the current driving control cycle is determined according to a preset state evaluation mechanism. When the state assessment module determines the vehicle's driving state within the current driving control cycle based on the vehicle body state and the wheel state according to a preset state assessment mechanism, the state assessment module is used for: When the vehicle body state is in a weakened motion state and the wheel state is in a weakened motion state, the vehicle's driving state in the current driving control cycle is determined to be the first driving state. When the vehicle body is in a weakened motion state and the wheel is in a strong motion state, the vehicle's driving state in the current driving control cycle is determined to be the second driving state. When the vehicle body is in a strong motion state and the wheel is in a weak motion state or a strong motion state, the vehicle's driving state in the current driving control cycle is determined to be the third driving state.

10. A vehicle, characterized in that, The mode control method of the vehicle electronically controlled suspension according to any one of claims 1 to 8.

11. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. The machine-readable instructions are executed by the processor to perform the steps of the mode control method for a vehicle electronic suspension as described in any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the mode control method for the vehicle electronic suspension as described in any one of claims 1 to 8.

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