A method and apparatus for adjusting the height of a vehicle suspension

Abstract

The application discloses a vehicle suspension height adjusting method and device, the method comprising: acquiring road surface height change data in real time when the vehicle is driving on the road, and determining the road condition of the current road; when it is determined that the road condition is a target road condition, acquiring map road information of the current road on a preset high-precision map and sensor road information collected by a sensor; when it is determined that the vehicle is driving on the current road, acquiring historical road information of the vehicle when driving on the current road; based on the map road information, the sensor road information and the historical road information, determining a target height of the suspension that enables the vehicle to smoothly pass through the current road; and adjusting the suspension height of the vehicle according to the target height. In the scheme, the high-precision map, the sensor and the historical road information are fused to jointly determine the target height, the accuracy of the suspension height calculation is improved, the road information is responded to in a timely manner, the vehicle is smoothly driven, and the service life of the vehicle is prolonged.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and more particularly to a method and apparatus for adjusting vehicle suspension height. Background Technology

[0002] With the rapid development of automotive electronics technology, the intelligence of automotive electronics has brought convenience and a superior user experience. In recent years, autonomous driving has gradually entered the public eye, and L2 and above automotive electronic technologies are increasingly favored by users. More and more users are no longer limited to braking and steering performance when choosing vehicle performance, but are also placing higher demands on vehicle comfort and convenience. As one of the important components of the car chassis, the suspension system transfers the energy of road impacts when the car is subjected to them, reducing vehicle vibration and greatly improving passenger comfort and handling stability.

[0003] Currently, most cars on the market use semi-active electromagnetic suspension and air suspension to dampen road unevenness during driving. However, few cars have active suspension height adjustment capabilities, and the suspension adjustment methods are relatively limited. Furthermore, because cars encounter complex and changing road conditions during driving, current suspension systems struggle to respond promptly to road information, easily leading to chassis scrapes and significantly impacting the vehicle's lifespan. Summary of the Invention

[0004] This invention aims to at least solve the technical problems existing in the prior art. To this end, the first aspect of this invention proposes a method for adjusting the height of a vehicle suspension, the method comprising:

[0005] When a vehicle is driving on the road, it acquires real-time data on changes in road surface height and determines the current road conditions based on this data.

[0006] When the road condition is determined to be a target road condition where the road surface height change rate is greater than or equal to a preset first change rate, the map road information of the current road on the preset high-precision map and the sensor road information collected by the sensor are obtained.

[0007] Determine whether the vehicle has traveled on the current road within a preset time period prior to the current time;

[0008] When it is determined that the vehicle has traveled on the current road, the historical road information of the vehicle when it traveled on the current road is obtained;

[0009] Based on the map road information, the sensor road information, and the historical road information, a target suspension height is determined to allow the vehicle to smoothly pass through the current road;

[0010] Adjust the vehicle's suspension height according to the target height.

[0011] Optionally, determining the target suspension height for the vehicle to smoothly traverse the current road based on the map road information, the sensor road information, and the historical road information includes:

[0012] Based on the map road information, the sensor road information, and the historical road information, the suspension height that allows the vehicle to smoothly pass through the current road is determined, resulting in a first height, a second height, and a third height.

[0013] Based on the road surface height data, the category of the target road condition is determined; the category includes a first category, a second category, and a third category, the first category includes uphill and downhill, the second category includes road water accumulation and road potholes, and the third category includes other road conditions other than the first and second categories;

[0014] The weights corresponding to the map road information, the sensor road information, and the historical road information are determined according to the category, resulting in a first weight, a second weight, and a third weight; the sum of the first weight, the second weight, and the third weight is 1.

[0015] Based on the first weight, the second weight, and the third weight, the first height, the second height, and the third height are weighted and summed to obtain the target height of the suspension that allows the vehicle to pass smoothly over the current road.

[0016] Optionally, determining the weights corresponding to the first height, second height, and third height according to the category to obtain the first weight, second weight, and third weight includes:

[0017] When the target road condition is the first category, the third weight is set to any number within a first preset range, and the first weight and the second weight are set to be equal; the first preset range is 0.8 to 0.9.

[0018] When the target road condition is the second category, the second weight is set to any number within a second preset range, and the first weight is set to be greater than the third weight; the second preset range is 0.65 to 0.75.

[0019] When the target road condition is the third category, the third weight is set to any number within a third preset range, and the first weight is set to be equal to the second weight; the third preset range is 0.6 to 0.8.

[0020] Optionally, after determining whether the vehicle has traveled on the current road within a preset time period prior to the current time, the method further includes:

[0021] When it is determined that the vehicle has not traveled on the current road, the target height of the suspension that will allow the vehicle to pass smoothly over the current road is determined based on the map road information and the sensor road information.

[0022] Optionally, based on the map road information and the sensor road information, determining the target suspension height for the vehicle to smoothly pass through the current road includes:

[0023] The category of the target road condition is determined, and the category includes the first category, the second category, and the third category;

[0024] The weights corresponding to the first height and the second height are determined according to the category, resulting in a fourth weight and a fifth weight; the sum of the fourth weight and the fifth weight is 1.

[0025] Based on the fourth weight and the fifth weight, the first height and the second height are weighted and summed to obtain the target height of the suspension that allows the vehicle to pass smoothly over the current road.

[0026] Optionally, determining the weights corresponding to the first height and the second height according to the category to obtain the fourth weight and the fifth weight includes:

[0027] When the target road condition is the first category, the fourth weight is set to any number within a fourth preset range, where the fourth preset range is 0.85 to 0.95.

[0028] When the target road condition is the second category, the fifth weight is set to any number within a fifth preset range; the fifth preset range is 0.55 to 0.75.

[0029] When the target road condition is the third category, the fourth weight is set to any number within the sixth preset range, where the sixth preset range is 0.75 to 0.95.

[0030] Optionally, after determining that the road condition is a target road condition where the road surface height change rate is greater than or equal to a preset first change rate, the method further includes:

[0031] Obtain the current driving mode of the vehicle;

[0032] When the driving mode is standard mode, the steps of obtaining the map road information of the current road on a preset high-precision map and the sensor road information collected by the sensor are performed.

[0033] A second aspect of the present invention provides a vehicle suspension height adjustment device, the device comprising:

[0034] The road condition determination module is used to acquire real-time road surface height change data when a vehicle is driving on the road, and to determine the current road condition based on the road surface height change data.

[0035] The first road information acquisition module is used to acquire map road information of the current road on a preset high-precision map and sensor road information collected by the sensor when it is determined that the road condition is a target road condition with a road surface height change rate greater than or equal to a preset first change rate.

[0036] The determination module is used to determine whether the vehicle has traveled on the current road within a preset time period prior to the current time;

[0037] The second road information acquisition module is used to acquire historical road information of the vehicle when it is determined that the vehicle has traveled on the current road.

[0038] The target height determination module is used to determine the target height of the suspension that allows the vehicle to pass smoothly through the current road based on the map road information, the sensor road information, and the historical road information.

[0039] An adjustment module is used to adjust the suspension height of the vehicle according to the target height.

[0040] A third aspect of the present invention provides an electronic device comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set, or an instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the vehicle suspension height adjustment method as described in the first aspect.

[0041] A fourth aspect of the present invention provides a computer-readable storage medium storing at least one instruction, at least one program, a code set, or an instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the vehicle suspension height adjustment method as described in the first aspect.

[0042] The embodiments of the present invention have the following beneficial effects:

[0043] The vehicle suspension height adjustment method provided in this invention involves acquiring real-time road surface height change data when the vehicle is driving on a road, and determining the current road conditions based on the road surface height change data. When the road conditions are determined to be target road conditions where the road surface height change rate is greater than or equal to a preset first change rate, the method acquires map road information of the current road on a preset high-precision map and sensor road information collected by sensors. It then determines whether the vehicle has driven on the current road within a preset time period prior to the current time. If the vehicle has driven on the current road, the method acquires historical road information of the vehicle while driving on the current road. Based on the map road information, the sensor road information, and the historical road information, the method determines the target suspension height for the vehicle to smoothly pass through the current road. Finally, the method adjusts the vehicle suspension height according to the target height. In this solution, the high-precision map, sensors, and historical road information provide more comprehensive, accurate, and real-time road information. Integrating these three elements to jointly determine the target suspension height for the vehicle to smoothly pass through the current road improves the accuracy and applicability of suspension height calculation, and allows for timely response to road information, enabling smooth and safe vehicle operation and extending vehicle lifespan. Attached Figure Description

[0044] Figure 1 A flowchart illustrating the steps of a vehicle suspension height adjustment method provided in an embodiment of the present invention;

[0045] Figure 2 This is a structural block diagram of a vehicle suspension height adjustment device provided in an embodiment of the present invention. Detailed Implementation

[0046] 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more. Furthermore, the use of "based on" or "according to" implies openness and inclusiveness, because processes, steps, calculations, or other actions "based on" or "according to" one or more of the stated conditions or values ​​may in practice be based on additional conditions or beyond the stated values.

[0048] Figure 1 This is a flowchart of the steps of a vehicle suspension height adjustment method provided in an embodiment of the present invention.

[0049] like Figure 1 As shown, the method includes the following steps:

[0050] Step 101: When the vehicle is driving on the road, acquire road surface height change data in real time, and determine the current road conditions based on the road surface height change data.

[0051] Specifically, this solution is applied to the suspension controller of a vehicle.

[0052] In this embodiment of the invention, there are multiple methods for obtaining road surface height change data, and one can be selected according to actual needs.

[0053] The first method involves indirectly obtaining road height data by measuring changes in gravitational acceleration using an accelerometer. Vehicle attitude sensors often include accelerometers, which measure changes in vehicle acceleration in three directions, including gravitational acceleration. When a vehicle is affected by changes in ground height, its acceleration also changes. Therefore, accelerometers can be used to indirectly measure changes in road height.

[0054] The second method involves measuring ground height using a camera or lidar. Cameras or lidar mounted on vehicles can measure the distance from the vehicle to the ground, and through continuous measurements, data on changes in ground height can be indirectly obtained. Simultaneously, attitude sensors can provide directional information from the camera or lidar, thereby enhancing measurement accuracy.

[0055] The third method is to measure changes in altitude using GPS. GPS can measure changes in a vehicle's position in a geodetic system, and through continuous measurements, it can indirectly obtain data on changes in road surface altitude. Simultaneously, attitude sensors can provide GPS orientation information, thereby enhancing measurement accuracy.

[0056] By analyzing road surface height change data, the current road conditions can be determined. Specifically, by acquiring road surface height change data per unit time, the road surface height change rate can be obtained based on the height difference within that unit time. The smaller the value per unit time, the more accurate the road surface height change rate, and the stronger the ability to represent the details of road conditions.

[0057] Step 102: When it is determined that the road condition is a target road condition where the road surface height change rate is greater than or equal to a preset first change rate, the map road information of the current road on the preset high-precision map and the sensor road information collected by the sensor are obtained.

[0058] A first rate of change is preset. When the rate of change of road surface height is greater than or equal to the first rate of change, it indicates that the current road surface height change rate is large, the road surface is undulating and bumpy. When the rate of change of road surface height is less than the first rate of change, it indicates that the current road surface height change rate is small, the road surface is relatively stable.

[0059] The road surface with an uneven surface height, where the rate of change is greater than or equal to the first rate of change, is defined as the target road condition. Currently, vehicle suspension systems can actively cope with road irregularities, but when a vehicle is in the target road condition, it cannot respond well to potholes, slopes, etc., easily causing chassis scraping and affecting the vehicle's lifespan. Therefore, this solution, when facing the target road condition, combines high-precision map road information, sensor-collected road information, and the vehicle's historical memory information to jointly constrain and adjust the suspension height. This allows the vehicle suspension to prepare for height adjustment in advance, preventing chassis scraping and providing the driver with a superior driving experience.

[0060] Specifically, high-precision maps utilize various sensor technologies, such as satellite navigation, lidar, cameras, millimeter-wave radar, and inertial measurement units, to collect and process data on roads, buildings, and transportation facilities with high precision and from multiple angles, forming digitized map data. This map data is then fused with real-time positioning data to provide accurate and real-time map information. However, since high-precision maps are pre-generated, to compensate for their lack of real-time capability, additional sensor-collected road information is needed to provide even more accurate and timely road information.

[0061] Specifically, map road information and sensor road information mainly include the current road surface height information.

[0062] Step 103: Determine whether the vehicle has traveled on the current road within a preset time period prior to the current time.

[0063] This solution combines a memory mode to jointly constrain and adjust the suspension height. The memory mode refers to the period within a preset time frame prior to the current time, such as three months prior to the current time. If the vehicle has driven on the current road within that time frame, the vehicle records historical road data from that period, which can then be used as a reference for adjusting the suspension height.

[0064] Specifically, the system obtains the geographical location data of the vehicle within a preset time period prior to the current time. If the geographical location data includes the location data of the current road, it indicates that the vehicle has traveled on the current road.

[0065] Step 104: When it is determined that the vehicle has traveled on the current road, obtain the historical road information of the vehicle when it traveled on the current road.

[0066] Historical road information mainly includes road surface height information collected by sensors when vehicles are traveling on the current road within a preset time period.

[0067] If a vehicle travels on the current road multiple times within a preset time period, the average of the road surface height information from these multiple trips can be used as historical road information. Alternatively, the road surface height information collected during the most recent trip can be used as historical road information.

[0068] Step 105: Based on the map road information, the sensor road information, and the historical road information, determine the target height of the suspension that will allow the vehicle to pass smoothly over the current road.

[0069] High-precision maps utilize various sensor technologies to collect and process road data with high precision and from multiple angles, creating digitized map data. However, since high-precision maps are pre-generated, to compensate for their lack of real-time capability, additional data is needed, including sensor-collected road information. Furthermore, if a vehicle has previously traveled this road segment, historical road information collected during the vehicle's current journey is also retrieved.

[0070] In this way, high-precision maps, sensors, and historical road information provide more comprehensive, accurate, and real-time road information. The integration of these three elements jointly determines the target suspension height for the vehicle to smoothly pass through the current road, thereby improving the accuracy and applicability of suspension height calculation.

[0071] Step 106: Adjust the vehicle's suspension height according to the target height.

[0072] After the suspension controller calculates the target suspension height for the vehicle to pass smoothly over the current road, it sends a height adjustment signal to the suspension, which then automatically adjusts its height to the target height.

[0073] In summary, in this embodiment of the invention, when a vehicle is traveling on a road, real-time road surface height change data is acquired, and the current road condition is determined based on the road surface height change data. When the road condition is determined to be a target road condition where the road surface height change rate is greater than or equal to a preset first change rate, map road information of the current road on a preset high-precision map and sensor road information collected by sensors are acquired. It is determined whether the vehicle has traveled on the current road within a preset time period before the current time. When it is determined that the vehicle has traveled on the current road, historical road information of the vehicle when it traveled on the current road is acquired. Based on the map road information, the sensor road information, and the historical road information, a target suspension height for the vehicle to smoothly pass through the current road is determined.

[0074] The vehicle's suspension height is adjusted according to the target height. In this solution, high-precision maps, sensors, and historical road information provide more comprehensive, accurate, and real-time road information. Integrating these three elements together determines the target suspension height for the vehicle to smoothly traverse the current road, improving the accuracy and applicability of suspension height calculation. Furthermore, it allows for timely responses to road information, ensuring smooth and safe vehicle operation and extending vehicle lifespan.

[0075] In one possible implementation, step 105 includes:

[0076] Step 1051: Based on the map road information, the sensor road information, and the historical road information, determine the suspension height that allows the vehicle to smoothly pass through the current road, and obtain the first height, the second height, and the third height.

[0077] Map road information, sensor road information, and historical road information each contain their own road surface height information. The suspension height required for a vehicle to smoothly traverse the road is calculated based on each of these road surface height information. A first height is calculated based on map road information, a second height is calculated based on sensor road information, and a third height is calculated based on historical road information.

[0078] The algorithm for calculating the vehicle suspension height based on road surface height information is existing technology and will not be described in detail in this embodiment of the invention.

[0079] Step 1052: Determine the category of the target road condition based on the road surface height data; the category includes a first category, a second category, and a third category, the first category includes uphill and downhill, the second category includes road surface water accumulation and road surface potholes, and the third category includes other road conditions other than the first and second categories.

[0080] For target road conditions where the rate of change of road surface height is greater than or equal to the first rate of change, the target road conditions are further divided into three categories based on the direction of change of road surface height.

[0081] The first category includes road conditions where the road surface height changes in the same direction, such as an uphill slope where the height continuously increases or a downhill slope where the height continuously decreases. The second category includes road conditions where the road surface height changes in different directions, such as waterlogged sections or potholed sections where the height changes both increase and decrease. The third category includes all other road conditions not included in the first and second categories.

[0082] Step 1053: Determine the weights corresponding to the map road information, the sensor road information, and the historical road information according to the category, and obtain the first weight, the second weight, and the third weight; the sum of the first weight, the second weight, and the third weight is 1.

[0083] Because the accuracy and reliability of map road information, sensor road information, and historical road information vary depending on the type of road condition, different weights can be assigned to map road information, sensor road information, and historical road information in advance based on the category to which the target road condition belongs.

[0084] Step 1054: Based on the first weight, the second weight, and the third weight, perform a weighted summation of the first height, the second height, and the third height to obtain the target height of the suspension that allows the vehicle to pass smoothly over the current road.

[0085] Specifically, the formula for calculating the target height is as follows:

[0086] h = ah1 + bh2 + ch3

[0087] Where h is the target height, and h1, h2, and h3 are the first, second, and third heights of the suspension calculated based on map road information, sensor road information, and historical road information, respectively, in mm;

[0088] a, b, and c are the weighting coefficients for map road information, sensor road information, and historical road information, respectively, i.e., the first weight, the second weight, and the third weight. Wherein, 0 < a < 1, 0 < b < 1, 0 < c < 1, and a + b + c = 1.

[0089] This scheme assigns different weights to map road information, sensor road information, and historical road information based on the category of road conditions, and determines the target height of the suspension based on the weighted summation result, making the calculation of the target height more reasonable and accurate.

[0090] In one possible implementation, step 1053 includes:

[0091] Step 10531: When the target road condition is the first category, set the third weight to any number within the first preset range, and set the first weight and the second weight to be equal; the first preset range is 0.8 to 0.9.

[0092] Step 10532: When the target road condition is the second category, set the third weight to any number within the second preset range, and set the first weight to be less than the second weight; the second preset range is 0.65 to 0.75;

[0093] Step 10533: When the target road condition is the third category, set the third weight to any number within the third preset range, and set the first weight to be equal to the second weight; the third preset range is 0.6 to 0.8.

[0094] In steps 10531-10533, when the target road condition is the first category, i.e. uphill and downhill road conditions, the road surface is relatively stable and the historical road information is relatively accurate. Therefore, the historical road information is given a higher weight, i.e., the third weight is set in a higher first preset range, which is 0.8 to 0.9. The first weight and the second weight are both set to 0.1.

[0095] For example, the third weight is set to 0.8, and the first and second weights are set to 0.1. In this case, the target height of the suspension lift is h = 0.1h1 + 0.1h2 + 0.8h3. If h1 is 20mm, h2 is 25mm, and h3 is 20mm, then h = 0.1*20 + 0.1*25 + 0.8*20 = 20.5mm.

[0096] When the target road condition is the second category, namely, road surface water accumulation and potholes, although the vehicle has previously traveled on this road section, water accumulation and potholes are generally short-term road conditions, and the road conditions are more likely to change. Therefore, the sensor detection weight coefficient is given a larger value, that is, the second weight is set to a number within the second preset range, which is 0.65 to 0.75.

[0097] In addition, since map road information is updated more frequently than historical road information, map road information is given a greater weight than historical road information; that is, the first weight is set greater than the third weight.

[0098] For example, the second weight is set to 0.7, the first weight is set to 0.2, and the third weight is set to 0.1. At this time, the target height of the suspension lift is h = 0.2h1 + 0.7h2 + 0.1h3.

[0099] When the target road condition is Category 3, the road surface is relatively stable, and historical road information is relatively accurate, a higher weight is given to historical road information, i.e., set to the third preset range: 0.6 to 0.8. Considering the changes in high-precision map updates and historical road conditions, and to improve the accuracy and comfort of suspension adjustment, a smaller weight coefficient is given to the suspension lift height under high-precision map and sensor detection, set to 0.1 to 0.2.

[0100] This scheme assigns different weights to map road information, sensor road information, and historical road information based on the category of road conditions, thereby improving the flexibility and rationality of weight settings.

[0101] In one possible implementation, after step 103, the method further includes:

[0102] Step 201: When it is determined that the vehicle has not traveled on the current road, the target height of the suspension that will allow the vehicle to pass smoothly over the current road is determined based on the map road information and the sensor road information.

[0103] When the vehicle has not traveled on the current road and there is no historical road information, the target suspension height for the vehicle to pass smoothly on the current road is determined directly based on the map road information and sensor road information.

[0104] In one possible implementation, step 201 includes:

[0105] Step 2011: Determine the category of the target road condition, wherein the category includes the first category, the second category, and the third category;

[0106] Step 2012: Determine the weights corresponding to the first height and the second height according to the category to obtain the fourth weight and the fifth weight; the sum of the fourth weight and the fifth weight is 1;

[0107] Step 2013: Based on the fourth weight and the fifth weight, the first height and the second height are weighted and summed to obtain the target height of the suspension that allows the vehicle to pass smoothly over the current road.

[0108] In steps 2011-2013, when the vehicle has not driven on the current road and there is no historical road information, but map road information and sensor road information can be obtained, the first height determined by the map road information and the second height determined by the sensor road information are directly weighted and summed to obtain the target height of the suspension.

[0109] In one possible implementation, step 2012 includes:

[0110] Step 20121: When the target road condition is the first category, set the fourth weight to any number within a fourth preset range, where the fourth preset range is 0.85 to 0.95;

[0111] Step 20122: When the target road condition is the second category, set the fifth weight to any number within a fifth preset range; the fifth preset range is 0.65 to 0.75.

[0112] Step 20123: When the target road condition is the third category, set the fourth weight to any number within the fourth preset range, and the sixth preset range is 0.75 to 0.95.

[0113] In steps 20121-20123, when historical road information is unavailable, the weights of map road information and sensor road information can be reset according to the category of the target road condition. When the road surface is a first-category road condition such as uphill or downhill, the road surface is relatively stable, and the weight of the map road information is set to a larger value, which is any number within the fourth preset range, which is 0.85 to 0.95.

[0114] For example, the fourth weight is set to 0.9 and the fifth weight is set to 0.1. At this time, the target height of the suspension lift is h = 0.9h1 + 0.1h2.

[0115] When the road surface is a Class II road condition such as water accumulation or potholes, in order to reduce the error of the high-precision map, the sensor detection weight coefficient is given a larger value. That is, the fifth weight is any number within the fifth preset range, which is 0.55 to 0.75.

[0116] For example, the fourth weight is set to 0.3 and the fifth weight is set to 0.7. At this time, the target height of the suspension lift is h = 0.3h1 + 0.7h3.

[0117] When the target road condition is category three, the road surface is relatively stable. The weight of the map road information is set to be slightly higher than that of the sensor road information, that is, any number within the sixth preset range, which is 0.75 to 0.95.

[0118] For example, the fourth weight is set to 0.7 and the fifth weight is set to 0.3. At this time, the target height of the suspension lift is h = 0.7h1 + 0.3h3.

[0119] In one possible implementation, after step 102, the method further includes:

[0120] Step 301: When the map road information of the current road on the preset high-precision map is not obtained, but the sensor road information collected by the sensor is obtained, the target height of the suspension that allows the vehicle to pass smoothly through the current road is determined according to the sensor road information.

[0121] When neither historical road information nor map road information is available, the target height of the suspension is determined directly based on the sensor road information. In this case, the target height h = h3.

[0122] In one possible implementation, after step 102, the method further includes:

[0123] Step 401: Obtain the current driving mode of the vehicle;

[0124] Step 402: When the driving mode is off-road mode, set the vehicle's suspension height to the maximum height of the suspension.

[0125] Step 403: When the driving mode is standard mode, perform the steps of obtaining the map road information of the current road on the preset high-precision map and the sensor road information collected by the sensor.

[0126] In steps 401-403, vehicles typically have multiple driving modes, such as off-road mode, snow mode, and standard mode. Users can choose the driving mode according to their preferences or actual conditions.

[0127] If the vehicle is in off-road mode, the suspension is already at its highest position to prevent the chassis from scraping due to the bumpy and uneven terrain. Therefore, when the road condition is the target road condition where the rate of change of road surface height is greater than or equal to the first rate of change, the height of the vehicle suspension does not need to be adjusted, and a = b = c = 0.

[0128] When the vehicle's driving mode is in standard mode, the system executes a plan that determines the target suspension height to allow the vehicle to smoothly pass through the current road, based on map road information, sensor road information, and historical road information.

[0129] Figure 2 This is a structural block diagram of a vehicle suspension height adjustment device provided in an embodiment of the present invention. The device includes:

[0130] The road condition determination module 501 is used to acquire road surface height change data in real time when a vehicle is driving on the road, and determine the current road condition based on the road surface height change data.

[0131] The first road information acquisition module 502 is used to acquire map road information of the current road on a preset high-precision map and sensor road information collected by the sensor when it is determined that the road condition is a target road condition with a road surface height change rate greater than or equal to a preset first change rate.

[0132] The determining module 503 is used to determine whether the vehicle has traveled on the current road within a preset time period before the current time;

[0133] The second road information acquisition module 504 is used to acquire historical road information of the vehicle when it is determined that the vehicle has traveled on the current road.

[0134] The target height determination module 505 is used to determine the target height of the suspension that allows the vehicle to pass smoothly through the current road based on the map road information, the sensor road information and the historical road information;

[0135] The adjustment module 506 is used to adjust the suspension height of the vehicle according to the target height.

[0136] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0137] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0138] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0139] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method for adjusting vehicle suspension height, characterized in that, The method includes: When a vehicle is driving on the road, it acquires real-time data on changes in road surface height and determines the current road conditions based on this data. When the road condition is determined to be a target road condition where the road surface height change rate is greater than or equal to a preset first change rate, the map road information of the current road on the preset high-precision map and the sensor road information collected by the sensor are obtained. Determine whether the vehicle has traveled on the current road within a preset time period prior to the current time; When it is determined that the vehicle has traveled on the current road, the historical road information of the vehicle when it traveled on the current road is obtained; Based on the map road information, the sensor road information, and the historical road information, a target suspension height is determined to allow the vehicle to smoothly pass through the current road; Adjust the vehicle's suspension height according to the target height; The step of determining the target suspension height for the vehicle to smoothly pass through the current road based on the map road information, the sensor road information, and the historical road information includes: Based on the map road information, the sensor road information, and the historical road information, the suspension height that allows the vehicle to smoothly pass through the current road is determined, resulting in a first height, a second height, and a third height. Based on the road surface height change data, the category of the target road condition is determined; the category is determined based on the direction of the road surface height change. The weights corresponding to the map road information, the sensor road information, and the historical road information are determined according to the category, resulting in a first weight, a second weight, and a third weight; the sum of the first weight, the second weight, and the third weight is 1. Based on the first weight, the second weight, and the third weight, the first height, the second height, and the third height are weighted and summed to obtain the target height of the suspension that allows the vehicle to pass smoothly over the current road.

2. The method according to claim 1, characterized in that, The categories include a first category, a second category, and a third category. The first category includes uphill and downhill sections, the second category includes road flooding and potholes, and the third category includes other road conditions besides the first and second categories.

3. The method according to claim 2, characterized in that, The step of determining the weights corresponding to the first height, the second height, and the third height according to the category, to obtain the first weight, the second weight, and the third weight, includes: When the target road condition is the first category, the third weight is set to any number within a first preset range, and the first weight and the second weight are set to be equal; the first preset range is 0.8~0.9; When the target road condition is the second category, the second weight is set to any number within a second preset range, and the first weight is set to be greater than the third weight; the second preset range is 0.65~0.75; When the target road condition is the third category, the third weight is set to any number within a third preset range, and the first weight is set to be equal to the second weight; the third preset range is 0.6 to 0.

8.

4. The method according to claim 2, characterized in that, After determining whether the vehicle has traveled on the current road within a preset time period prior to the current time, the process further includes: When it is determined that the vehicle has not traveled on the current road, the target height of the suspension that will allow the vehicle to pass smoothly over the current road is determined based on the map road information and the sensor road information.

5. The method according to claim 4, characterized in that, Based on the map road information and the sensor road information, the target suspension height for the vehicle to smoothly traverse the current road is determined, including: The category of the target road condition is determined, and the category includes the first category, the second category, and the third category; The weights corresponding to the first height and the second height are determined according to the category, resulting in a fourth weight and a fifth weight; the sum of the fourth weight and the fifth weight is 1. Based on the fourth weight and the fifth weight, the first height and the second height are weighted and summed to obtain the target height of the suspension that allows the vehicle to pass smoothly over the current road.

6. The method according to claim 5, characterized in that, The step of determining the weights corresponding to the first height and the second height according to the category, and obtaining the fourth weight and the fifth weight, includes: When the target road condition is the first category, the fourth weight is set to any number within a fourth preset range, where the fourth preset range is 0.85 to 0.

95. When the target road condition is the second category, the fifth weight is set to any number within a fifth preset range; the fifth preset range is 0.55 to 0.

75. When the target road condition is the third category, the fourth weight is set to any number within the sixth preset range, where the sixth preset range is 0.75 to 0.

95.

7. The method according to claim 1, characterized in that, After determining that the road condition is a target road condition where the road surface height change rate is greater than or equal to a preset first change rate, the method further includes: Obtain the current driving mode of the vehicle; When the driving mode is standard mode, the steps of obtaining the map road information of the current road on a preset high-precision map and the sensor road information collected by the sensor are performed.

8. A vehicle suspension height adjustment device, characterized in that, The device includes: The road condition determination module is used to acquire real-time road surface height change data when a vehicle is driving on the road, and to determine the current road condition based on the road surface height change data. The first road information acquisition module is used to acquire map road information of the current road on a preset high-precision map and sensor road information collected by the sensor when it is determined that the road condition is a target road condition with a road surface height change rate greater than or equal to a preset first change rate. The determination module is used to determine whether the vehicle has traveled on the current road within a preset time period prior to the current time; The second road information acquisition module is used to acquire historical road information of the vehicle when it is determined that the vehicle has traveled on the current road. The target height determination module is used to determine the target height of the suspension that allows the vehicle to pass smoothly through the current road based on the map road information, the sensor road information, and the historical road information. An adjustment module is used to adjust the suspension height of the vehicle according to the target height; The target height determination module is specifically used for: Based on the map road information, the sensor road information, and the historical road information, the suspension height that allows the vehicle to smoothly pass through the current road is determined, resulting in a first height, a second height, and a third height. Based on the road surface height change data, the category of the target road condition is determined; the category is determined based on the direction of the road surface height change. The weights corresponding to the map road information, the sensor road information, and the historical road information are determined according to the category, resulting in a first weight, a second weight, and a third weight; the sum of the first weight, the second weight, and the third weight is 1. Based on the first weight, the second weight, and the third weight, the first height, the second height, and the third height are weighted and summed to obtain the target height of the suspension that allows the vehicle to pass smoothly over the current road.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the vehicle suspension height adjustment method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, the at least one program, the code set, or instruction set is loaded and executed by a processor to implement the vehicle suspension height adjustment method as described in any one of claims 1-7.

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