Long-wave road surface vehicle suspension control method, device, equipment and readable storage medium

Abstract

A long-wave road surface vehicle suspension control method, device, equipment and readable storage medium, the long-wave road surface vehicle suspension control method includes: detecting whether the vehicle is running on the long-wave road surface; if the vehicle is running on the long-wave road surface, whether the vehicle is about to enter the wave trough or the wave crest is detected; if the vehicle is about to enter the wave trough or the wave crest, a preset size of current is applied to the vehicle suspension damper solenoid valve, so that the vehicle suspension damper outputs a preset damping force. The application detects whether the vehicle is running on the long-wave road surface during the vehicle running process, and further applies a preset size of current to the vehicle suspension damper solenoid valve if it is detected that the vehicle is about to enter the wave trough or the wave crest. By adjusting the opening size of the solenoid valve to change the oil flow in the damper chamber, the vehicle suspension damper outputs a preset damping force, so that the vehicle body is more stable when entering the wave trough or the wave crest, thereby effectively improving the driving experience.

Description

Technical Field

[0001] This application relates to the field of vehicle suspension control technology, and in particular to a method, apparatus, device, and readable storage medium for controlling vehicle suspension on long-wave road surfaces. Background Technology

[0002] More and more cars are now equipped with continuously adjustable damping electronically controlled shock absorbers. The control algorithm is generally based on the ceiling algorithm to adjust the damping to control the vehicle body and improve ride comfort. The principle of the ceiling algorithm is to calculate the vertical acceleration, roll acceleration, and pitch acceleration of the vehicle body based on data from the vehicle body sensors. Then, the target damping force is calculated using these three accelerations, and finally, the corresponding current is distributed to the four shock absorbers to generate the corresponding target damping force in the vehicle suspension.

[0003] However, in some road conditions, using the ceiling algorithm to control the damping force of the vehicle suspension shock absorber has hysteresis, resulting in large body changes and a poor driving experience. Summary of the Invention

[0004] This application provides a method, device, equipment, and readable storage medium for controlling vehicle suspension on long-wave road surfaces, aiming to solve the technical problem that the use of ceiling-mounted algorithms to control the damping force of vehicle suspension shock absorbers under certain road conditions has hysteresis, resulting in large changes in vehicle body size and a poor driving experience.

[0005] In a first aspect, embodiments of this application provide a vehicle suspension control method for long-wave road surfaces, the long-wave road surface vehicle suspension control method comprising:

[0006] Detect whether the vehicle is traveling on a long-wave road surface;

[0007] If the vehicle is traveling on a long wave road surface, check whether the vehicle is about to enter a trough or a crest.

[0008] If the vehicle is about to enter a trough or crest of a wave, a preset current is applied to the solenoid valve of the vehicle suspension damper so that the vehicle suspension damper can output a preset damping force.

[0009] Optionally, detecting whether the vehicle is traveling on a long-wave road surface includes:

[0010] The height values ​​of four vehicle suspension height sensors are obtained, and the four vehicle suspension height sensors are distributed on the left and right sides of the front wheels and the left and right sides of the rear wheels of the vehicle.

[0011] If the preset conditions are met for a preset number of consecutive times, the vehicle is detected as traveling on a long-wave road surface. The preset conditions are that the height values ​​of the four vehicle suspension height sensors are all greater than the first preset maximum height and then less than the first preset minimum height within a first preset time period.

[0012] Optionally, detecting whether the vehicle is about to enter a trough or crest includes:

[0013] If the height value of the vehicle suspension height sensor located on the left or right side of the front wheel is less than the second preset minimum height, it is detected that the vehicle is about to enter a trough, and the second preset minimum height is greater than the first preset minimum height.

[0014] If the height value of the vehicle suspension height sensor located on the left or right side of the front wheel is greater than the second preset maximum height, it is detected that the vehicle is about to enter the peak of the wave. The second preset maximum height is less than the first preset maximum height.

[0015] Optionally, if it is detected that the vehicle is about to enter a trough, after applying a preset current to the solenoid valve of the vehicle suspension damper to allow the vehicle suspension damper to output a preset damping force, the following steps are included:

[0016] If the height values ​​of all four vehicle suspension height sensors are greater than the third preset minimum height, it is detected that the vehicle has left the trough. The current of the vehicle suspension damper solenoid valve is controlled by the ceiling algorithm. The third preset minimum height is greater than the first preset minimum height.

[0017] If the detection indicates that the vehicle is about to enter a wave peak, after applying a preset current to the solenoid valve of the vehicle suspension damper to allow the vehicle suspension damper to output a preset damping force, the process includes:

[0018] If the height values ​​of all four vehicle suspension height sensors are less than the second preset maximum height, it is detected that the vehicle has left the wave crest, and the current of the vehicle suspension damper solenoid valve is controlled using the ceiling algorithm.

[0019] Optionally, the first preset maximum height is greater than the maximum height of the vehicle suspension, the first preset minimum height is less than the minimum height of the vehicle suspension, the second preset minimum height is equal to the sum of the first preset minimum height and the preset advance control amount of the suspension height, the second preset maximum height is equal to the difference between the first preset maximum height and the preset advance control amount of the suspension height, and the third preset minimum height is equal to the sum of the first preset minimum height and the preset advance control amount of the suspension height.

[0020] Secondly, embodiments of this application provide a long-wave road surface vehicle suspension control device, the long-wave road surface vehicle suspension control device comprising:

[0021] The first detection module is used to detect whether the vehicle is traveling on a long-wave road surface;

[0022] The second detection module is used to detect whether the vehicle is about to enter a trough or crest if the vehicle is traveling on a long wave road surface.

[0023] The control module is used to apply a preset current to the solenoid valve of the vehicle suspension damper when the vehicle is about to enter a trough or crest of a wave, so that the vehicle suspension damper can output a preset damping force.

[0024] Optionally, the first detection module is used for:

[0025] The height values ​​of four vehicle suspension height sensors are obtained, and the four vehicle suspension height sensors are distributed on the left and right sides of the front wheels and the left and right sides of the rear wheels of the vehicle.

[0026] If the preset conditions are met for a preset number of consecutive times, the vehicle is detected as traveling on a long-wave road surface. The preset conditions are that the height values ​​of the four vehicle suspension height sensors are all greater than the first preset maximum height and then less than the first preset minimum height within a first preset time period.

[0027] Optionally, the second detection module is used for:

[0028] If the height value of the vehicle suspension height sensor located on the left or right side of the front wheel is less than the second preset minimum height, it is detected that the vehicle is about to enter a trough, and the second preset minimum height is greater than the first preset minimum height.

[0029] If the height value of the vehicle suspension height sensor located on the left or right side of the front wheel is greater than the second preset maximum height, it is detected that the vehicle is about to enter the peak of the wave. The second preset maximum height is less than the first preset maximum height.

[0030] Thirdly, embodiments of this application provide a long-wave road vehicle suspension control device, which includes a processor, a memory, and a long-wave road vehicle suspension control program stored in the memory and executable by the processor. When the long-wave road vehicle suspension control program is executed by the processor, it implements the steps of the long-wave road vehicle suspension control method as described above.

[0031] Fourthly, embodiments of this application provide a readable storage medium storing a long-wave road vehicle suspension control program, wherein when the long-wave road vehicle suspension control program is executed by a processor, it implements the steps of the long-wave road vehicle suspension control method as described above.

[0032] The beneficial effects of the technical solutions provided in this application include:

[0033] In this embodiment, it is detected whether the vehicle is traveling on a long-wave road surface; if the vehicle is traveling on a long-wave road surface, it is detected whether the vehicle is about to enter a trough or crest; if the vehicle is about to enter a trough or crest, a preset current is applied to the solenoid valve of the vehicle suspension damper, so that the vehicle suspension damper outputs a preset damping force. This embodiment detects whether the vehicle is traveling on a long-wave road surface during vehicle operation, and further, if it detects that the vehicle is about to enter a trough or crest, it applies a preset current to the solenoid valve of the vehicle suspension damper. By adjusting the opening size of the solenoid valve, the flow of oil in the damper chamber is changed, causing the vehicle suspension damper to output a preset damping force, thereby making the vehicle body more stable when entering a trough or crest, thus effectively improving the driving experience. Attached Figure Description

[0034] Figure 1 This is a flowchart illustrating an embodiment of the long-wave road vehicle suspension control method of this application;

[0035] Figure 2 For this application Figure 1 A detailed flowchart of step S10;

[0036] Figure 3 For this application Figure 1 A detailed flowchart of step S20;

[0037] Figure 4 This is a functional module diagram of an embodiment of the long-wave road surface vehicle suspension control device of this application;

[0038] Figure 5 This is a schematic diagram of the hardware structure of the long-wave road vehicle suspension control device involved in the embodiments of this application. Detailed Implementation

[0039] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0041] In a first aspect, embodiments of this application provide a vehicle suspension control method for long-wave road surfaces.

[0042] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the long-wave road vehicle suspension control method of this application, as shown below. Figure 1 As shown, the vehicle suspension control method for long-wave road surfaces includes:

[0043] Step S10: Detect whether the vehicle is traveling on a long-wave road surface.

[0044] In this embodiment, "long-wave road surface" refers to an undulating road surface, specifically a sinusoidal road surface with a relatively long waveband. According to national standards, both long-wave and short-wave road surfaces have fixed standard dimensions. The waveband of a long-wave road surface is 12 meters, while a short-wave road surface generally refers to a surface within a single wheelbase. However, the actual road conditions encountered by vehicles may not perfectly conform to the definition of a long-wave road surface. Therefore, in this application, "long-wave road surface" is interpreted broadly, referring to a shape resembling a long-wave road surface with relatively long undulations, causing the vehicle body to experience low-frequency rises and falls. The system first detects whether the vehicle is traveling on a long-wave road surface to further control the vehicle suspension. Specifically, this can be achieved through the height values ​​of the vehicle suspension sensors, the vehicle's real-time position, and the vehicle's camera.

[0045] Step S20: If the vehicle is traveling on a long wave road surface, detect whether the vehicle is about to enter a wave trough or wave crest.

[0046] In this embodiment, when the vehicle is detected traveling on a long-wave road surface, it is further detected whether the vehicle is about to enter a trough or crest, so that the vehicle suspension can be controlled accordingly based on the vehicle's trajectory trend. Specifically, the vehicle's upcoming entry into a trough or crest can be detected using the height values ​​of the vehicle suspension sensors, the vehicle's real-time position, and the vehicle's camera.

[0047] In step S30, if the vehicle is about to enter a trough or crest, a preset current is applied to the solenoid valve of the vehicle suspension damper so that the vehicle suspension damper can output a preset damping force.

[0048] In this embodiment, since the acceleration of a vehicle traveling on a long-wave road surface is typically small, the target damping force calculated using the existing ceiling algorithm is also small. When the vehicle encounters a crest or trough, it is prone to significant body movement. Subsequently, as the vehicle enters a crest or trough, the vehicle's acceleration suddenly increases. However, because the ceiling algorithm's control of the damping force is synchronized with the body movement, the body has already undergone a significant change, leading to a poor driving experience. Whether the vehicle is about to enter a trough or crest represents the vehicle's trajectory trend. When it is detected that the vehicle is about to enter a trough or crest, a preset current is applied to the solenoid valve of the vehicle's suspension damper in advance. By adjusting the opening size of the solenoid valve, the flow of oil in the damper chamber is changed, causing the vehicle's suspension damper to output a preset damping force. This makes the vehicle more stable when entering a trough or crest, thereby effectively improving the driving experience. The preset current applied to the solenoid valve of the vehicle suspension damper can be set to a large current. For example, if the maximum rated current of the solenoid valve of the vehicle suspension damper is 2A (Ampere), the preset current applied can be set to 1.8A (Ampere). This will enable the vehicle suspension damper to output a preset large target damping force, which will make the vehicle body more stable when entering a trough or crest of a wave.

[0049] In this embodiment, since the acceleration of a vehicle traveling on a long-wave road surface is usually small, the target damping force calculated by the existing ceiling algorithm is also small. When the vehicle encounters a peak or trough, it is easy to cause a large change in the vehicle body. Subsequently, when the vehicle enters a peak or trough, the vehicle acceleration suddenly increases. However, since the control of damping force by the ceiling algorithm is generated synchronously with the change in the vehicle body, the vehicle body has already undergone a large change, which will also lead to a poor driving experience. Firstly, the vehicle's position can be monitored using the height values ​​of the suspension sensors, the vehicle's real-time location, and the vehicle's camera to detect whether the vehicle is traveling on a long-wave road surface. If the vehicle is traveling on a long-wave road surface, further monitoring using the same methods can be used to detect whether the vehicle is about to enter a trough or crest. Whether the vehicle is about to enter a trough or crest indicates the trajectory trend of the vehicle. If the vehicle is about to enter a trough or crest, a preset current is applied to the solenoid valve of the vehicle's suspension damper in advance. By adjusting the opening size of the solenoid valve, the flow of oil in the damper chamber is changed, causing the vehicle's suspension damper to output a preset damping force. This makes the vehicle more stable when entering a trough or crest, thus effectively improving the driving experience.

[0050] Furthermore, in one embodiment, reference is made to Figure 2 , Figure 2 For this application Figure 1 A detailed flowchart of step S10 is shown below. Figure 2As shown, step S10 includes:

[0051] Step S101: Obtain the height values ​​of four vehicle suspension height sensors, which are distributed on the left and right sides of the front wheels and the left and right sides of the rear wheels of the vehicle.

[0052] Step S102: If the preset number of consecutive preset times meets the preset conditions, then the vehicle is detected to be traveling on a long-wave road surface. The preset conditions are that the height values ​​of the four vehicle suspension height sensors all meet the condition of being greater than the first preset maximum height and then less than the first preset minimum height within the first preset time period.

[0053] In this embodiment, the vehicle's travel on a long-wave road surface is determined by the height values ​​of four vehicle suspension height sensors. The preset number of tests can be set to, for example, two. If the preset condition is met twice consecutively, the vehicle is detected as traveling on a long-wave road surface. The first preset duration can be set to, for example, three seconds. Since the four wheels (front, rear, left, and right) have different heights and positions when the vehicle is traveling on a long-wave road surface, it is not required that the height values ​​of all four sensors simultaneously satisfy a condition of being greater than a first preset maximum height and then less than a first preset minimum height within three seconds. It is only required that the height values ​​of all four sensors, sequentially within three seconds, satisfy this condition. The first preset maximum height can be represented by H. max Let H represent the first preset maximum height. max The maximum height of the vehicle suspension can be increased by 20mm. The first preset minimum height can be set using H. min Let H represent the first preset minimum height. min It can be reduced by 20mm (millimeters) from the minimum height of the vehicle suspension.

[0054] Furthermore, in one embodiment, reference is made to Figure 3 , Figure 3 For this application Figure 1 A detailed flowchart of step S20 is shown below. Figure 3 As shown, step S20 includes:

[0055] Step S201: If the height value of the vehicle suspension height sensor located on the left or right side of the front wheel of the vehicle is less than the second preset minimum height, it is detected that the vehicle is about to enter a trough. The second preset minimum height is greater than the first preset minimum height.

[0056] Step S202: If the height value of the vehicle suspension height sensor located on the left or right side of the front wheel of the vehicle is greater than the second preset maximum height, it is detected that the vehicle is about to enter the peak of the wave. The second preset maximum height is less than the first preset maximum height.

[0057] In this embodiment, the vehicle's approach to a trough or crest is determined by the height values ​​of vehicle suspension height sensors located on the left or right side of the front wheels. If the height value of the vehicle suspension height sensor on either side of the front wheels is less than a second preset minimum height, the vehicle is detected as about to enter a trough; if the height value is greater than a second preset maximum height, the vehicle is detected as about to enter a crest. The second preset minimum height is greater than the first preset minimum height; for example, the second preset minimum height is H times the first preset minimum height. min +ΔH (ΔH is the preset advance control amount for suspension height, ΔH is, for example, 10mm), the second preset maximum height is less than the first preset maximum height, for example, the second preset maximum height is H of the first preset maximum height. max -ΔH. Pre-setting a suspension height advance control amount ΔH allows for early intervention control of the vehicle's suspension. This ensures that the shock absorber's solenoid valve is activated with a large current before the shock absorber's travel reaches its lowest or highest point. This helps mitigate internal shocks and provides sufficient damping force to control the vehicle body. When the vehicle enters a trough, the shock absorber compresses, and the suspension height is at its lowest state. Therefore, the height value of the vehicle's suspension height sensor on either side of the front wheels is less than H. min +ΔH is used to detect whether the vehicle is about to enter a trough; when the vehicle enters a crest, the shock absorbers extend, and the suspension height will be at its highest state. Therefore, the height value of the vehicle suspension height sensor on either side of the front wheels is greater than H. max -ΔH is used to detect and determine whether a vehicle is about to enter a wave peak.

[0058] Furthermore, in one embodiment, if it is detected that the vehicle is about to enter a trough, then after step S30, the following steps are included:

[0059] If the height values ​​of all four vehicle suspension height sensors are greater than the third preset minimum height, it is detected that the vehicle has left the trough. The current of the vehicle suspension damper solenoid valve is controlled by the ceiling algorithm. The third preset minimum height is greater than the first preset minimum height.

[0060] If the detection indicates that a vehicle is about to enter a peak, then after step S30, the following steps are included:

[0061] If the height values ​​of all four vehicle suspension height sensors are less than the second preset maximum height, it is detected that the vehicle has left the wave crest, and the current of the vehicle suspension damper solenoid valve is controlled using the ceiling algorithm.

[0062] In this embodiment, the height values ​​of four vehicle suspension height sensors are used to detect whether the vehicle has left a trough or crest. If the vehicle has left a trough or crest, the current of the solenoid valve of the vehicle suspension damper is controlled using a ceiling algorithm, and the vehicle suspension damper generates the damping force corresponding to the ceiling algorithm. Specifically, if the height values ​​of all four vehicle suspension height sensors are greater than a third preset minimum height, the vehicle is detected to have left a trough; if the height values ​​of all four vehicle suspension height sensors are less than a second preset maximum height, the vehicle is detected to have left a crest. The third preset minimum height is greater than the first preset minimum height; for example, the third preset minimum height is H times the first preset minimum height. min +ΔH, same as above, the second preset maximum height is the first preset maximum height H. max -ΔH, when the height values ​​of all four vehicle suspension height sensors are greater than H. min +ΔH indicates that the vehicle body has left the trough, and the height values ​​of all four vehicle suspension height sensors are less than H. max -ΔH represents the point at which the vehicle body leaves the crest of a wave. Similarly, here, the delayed exit control of the vehicle's suspension is achieved through a preset advance control amount ΔH of the suspension height. Furthermore, after detecting that the vehicle has left a trough or crest, the long-wave road function can be deactivated, meaning that it will no longer detect whether the vehicle is about to enter a trough or crest. Conversely, after detecting that the vehicle is traveling on a long-wave road, the long-wave road function can be activated, and it will begin detecting whether the vehicle is about to enter a trough or crest.

[0063] Furthermore, in one embodiment, the first preset maximum height is greater than the maximum height of the vehicle suspension, the first preset minimum height is less than the minimum height of the vehicle suspension, the second preset minimum height is equal to the sum of the first preset minimum height and the preset advance control amount of the suspension height, the second preset maximum height is equal to the difference between the first preset maximum height and the preset advance control amount of the suspension height, and the third preset minimum height is equal to the sum of the first preset minimum height and the preset advance control amount of the suspension height.

[0064] In this embodiment, the first preset maximum height H max The first preset minimum height H can be 20mm higher than the maximum height of the vehicle suspension. min The second preset minimum height can be 20mm lower than the minimum height of the vehicle suspension. The second preset minimum height is the first preset minimum height H. min +ΔH (ΔH is the preset advance control amount for suspension height), the second preset maximum height is the first preset maximum height H. max -ΔH, the third preset minimum height is the first preset minimum height H. min+ΔH, where the suspension height preset advance control amount ΔH can be tested by professionals when the vehicle passes through long-wave road surfaces and wave troughs or peaks to evaluate the vehicle suspension experience and calibrate the suspension height preset advance control amount ΔH.

[0065] Secondly, embodiments of this application also provide a vehicle suspension control device for long-wave road surfaces.

[0066] In one embodiment, reference is made to Figure 4 , Figure 4 This is a functional module diagram of an embodiment of the long-wave road surface vehicle suspension control device of this application, as shown below. Figure 4 As shown, the long-wave road surface vehicle suspension control device includes:

[0067] The first detection module 10 is used to detect whether the vehicle is traveling on a long-wave road surface;

[0068] The second detection module 20 is used to detect whether the vehicle is about to enter a trough or crest if the vehicle is traveling on a long wave road surface.

[0069] The control module 30 is used to apply a preset current to the solenoid valve of the vehicle suspension damper if the vehicle is about to enter a trough or crest of a wave, so that the vehicle suspension damper can output a preset damping force.

[0070] Furthermore, in one embodiment, the first detection module 10 is used for:

[0071] The height values ​​of four vehicle suspension height sensors are obtained, and the four vehicle suspension height sensors are distributed on the left and right sides of the front wheels and the left and right sides of the rear wheels of the vehicle.

[0072] If the preset conditions are met for a preset number of consecutive times, the vehicle is detected as traveling on a long-wave road surface. The preset conditions are that the height values ​​of the four vehicle suspension height sensors are all greater than the first preset maximum height and then less than the first preset minimum height within a first preset time period.

[0073] Furthermore, in one embodiment, the second detection module 20 is used for:

[0074] If the height value of the vehicle suspension height sensor located on the left or right side of the front wheel is less than the second preset minimum height, it is detected that the vehicle is about to enter a trough, and the second preset minimum height is greater than the first preset minimum height.

[0075] If the height value of the vehicle suspension height sensor located on the left or right side of the front wheel is greater than the second preset maximum height, it is detected that the vehicle is about to enter the peak of the wave. The second preset maximum height is less than the first preset maximum height.

[0076] Furthermore, in one embodiment, if it is detected that a vehicle is about to enter a trough, the long-wave road surface vehicle suspension control device further includes a trough exit module, used for:

[0077] If the height values ​​of all four vehicle suspension height sensors are greater than the third preset minimum height, it is detected that the vehicle has left the trough. The current of the vehicle suspension damper solenoid valve is controlled by the ceiling algorithm. The third preset minimum height is greater than the first preset minimum height.

[0078] If the system detects that a vehicle is about to enter a wave crest, the long-wave road vehicle suspension control device also includes a wave crest exit module, used for:

[0079] If the height values ​​of all four vehicle suspension height sensors are less than the second preset maximum height, it is detected that the vehicle has left the wave crest, and the current of the vehicle suspension damper solenoid valve is controlled using the ceiling algorithm.

[0080] Furthermore, in one embodiment, the first preset maximum height is greater than the maximum height of the vehicle suspension, the first preset minimum height is less than the minimum height of the vehicle suspension, the second preset minimum height is equal to the sum of the first preset minimum height and the preset advance control amount of the suspension height, the second preset maximum height is equal to the difference between the first preset maximum height and the preset advance control amount of the suspension height, and the third preset minimum height is equal to the sum of the first preset minimum height and the preset advance control amount of the suspension height.

[0081] The functions of each module in the aforementioned long-wave road vehicle suspension control device correspond to the steps in the aforementioned long-wave road vehicle suspension control method embodiment, and their functions and implementation processes will not be described in detail here.

[0082] Thirdly, embodiments of this application provide a vehicle suspension control device for long-wave road surfaces.

[0083] Reference Figure 5 , Figure 5 This is a schematic diagram of the hardware structure of a long-wave road vehicle suspension control device involved in an embodiment of this application. In this embodiment, the long-wave road vehicle suspension control device may include a processor, a memory, a communication interface, and a communication bus.

[0084] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0085] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting components within the long-wave road vehicle suspension control equipment, as well as interfaces used for interconnecting the long-wave road vehicle suspension control equipment with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0086] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0087] The processor can be a general-purpose processor, which can call the long-wave road vehicle suspension control program stored in memory and execute the long-wave road vehicle suspension control method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the long-wave road vehicle suspension control program is called can be referred to in the various embodiments of the long-wave road vehicle suspension control method of this application, and will not be repeated here.

[0088] Those skilled in the art will understand that Figure 5 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0089] Fourthly, embodiments of this application also provide a readable storage medium.

[0090] This application has a readable storage medium storing a long-wave road vehicle suspension control program, wherein when the long-wave road vehicle suspension control program is executed by a processor, it implements the steps of the long-wave road vehicle suspension control method as described above.

[0091] The method implemented when the long-wave road vehicle suspension control program is executed can be referred to in various embodiments of the long-wave road vehicle suspension control method of this application, and will not be repeated here.

[0092] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0093] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0094] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0095] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0096] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0097] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0098] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A long-travel road vehicle suspension control method, characterized by, The long-wave road surface vehicle suspension control method comprises: detecting whether the vehicle is running on a long-wave road surface; if the vehicle is running on a long-wave road surface, detecting whether the vehicle is about to enter a wave trough or a wave crest; if the vehicle is about to enter a wave trough or a wave crest, applying a preset current to a vehicle suspension damper electromagnetic valve so that the vehicle suspension damper outputs a preset damping force; the detection of whether the vehicle is running on a long-wave road surface comprises: obtaining height values of four vehicle suspension height sensors distributed on the left and right sides of the front wheels and the left and right sides of the rear wheels of the vehicle; if a preset condition is met for a preset number of times in succession, it is detected that the vehicle is running on a long-wave road surface, and the preset condition is that the height values of the four vehicle suspension height sensors all meet the condition of being greater than a first preset maximum height and then being less than a first preset minimum height within a first preset time length; the detection of whether the vehicle is about to enter a wave trough or a wave crest comprises: if the height value of the vehicle suspension height sensor on the left or right side of the front wheel of the vehicle is less than a second preset minimum height, it is detected that the vehicle is about to enter a wave trough, and the second preset minimum height is greater than the first preset minimum height; if the height value of the vehicle suspension height sensor on the left or right side of the front wheel of the vehicle is greater than a second preset maximum height, it is detected that the vehicle is about to enter a wave crest, and the second preset maximum height is less than the first preset maximum height; if it is detected that the vehicle is about to enter a wave trough, after the step of applying the preset current to the vehicle suspension damper electromagnetic valve so that the vehicle suspension damper outputs the preset damping force, the method comprises: if the height values of the four vehicle suspension height sensors are all greater than a third preset minimum height, it is detected that the vehicle has left the wave trough, and a skyhook algorithm is used to control the current of the vehicle suspension damper electromagnetic valve, and the third preset minimum height is greater than the first preset minimum height; if it is detected that the vehicle is about to enter a wave crest, after the step of applying the preset current to the vehicle suspension damper electromagnetic valve so that the vehicle suspension damper outputs the preset damping force, the method comprises: if the height values of the four vehicle suspension height sensors are all less than the second preset maximum height, it is detected that the vehicle has left the wave crest, and a skyhook algorithm is used to control the current of the vehicle suspension damper electromagnetic valve.

2. The long-travel on-road vehicle suspension control method of claim 1, wherein, The first preset maximum height is greater than the maximum height of the vehicle suspension, the first preset minimum height is less than the minimum height of the vehicle suspension, the second preset minimum height is equal to the sum of the first preset minimum height and a preset suspension height advance control amount, the second preset maximum height is equal to the difference between the first preset maximum height and the preset suspension height advance control amount, and the third preset minimum height is equal to the sum of the first preset minimum height and the preset suspension height advance control amount.

3. A long-travel road vehicle suspension control device, characterized by, The long-wave road surface vehicle suspension control device comprises: a first detection module configured to detect whether the vehicle is running on a long-wave road surface; a second detection module configured to, if the vehicle is running on a long-wave road surface, detect whether the vehicle is about to enter a wave trough or a wave crest; a control module configured to, if the vehicle is about to enter a wave trough or a wave crest, apply a preset current to a vehicle suspension damper electromagnetic valve so that the vehicle suspension damper outputs a preset damping force; the first detection module is configured to Obtaining height values of four vehicle suspension height sensors distributed on the left and right sides of the front wheels and the left and right sides of the rear wheels of the vehicle; If the height values of the four vehicle suspension height sensors satisfy the first preset maximum height and then the first preset minimum height within a first preset time length, it is detected that the vehicle is running on a long-wave road surface; The second detection module is configured to: If the height value of the vehicle suspension height sensor on the left or right side of the front wheel of the vehicle is less than a second preset minimum height, it is detected that the vehicle is about to enter a trough, and the second preset minimum height is greater than the first preset minimum height; If the height value of the vehicle suspension height sensor on the left or right side of the front wheel of the vehicle is greater than a second preset maximum height, it is detected that the vehicle is about to enter a peak, and the second preset maximum height is less than the first preset maximum height; If it is detected that the vehicle is about to enter a trough, the long-wave road surface vehicle suspension control device further comprises a trough exit module configured to: If the height values of the four vehicle suspension height sensors are all greater than a third preset minimum height, it is detected that the vehicle has left the trough, and a skyhook algorithm is used to control the current of the vehicle suspension damper solenoid valve, and the third preset minimum height is greater than the first preset minimum height; If it is detected that the vehicle is about to enter a peak, the long-wave road surface vehicle suspension control device further comprises a peak exit module configured to: If the height values of the four vehicle suspension height sensors are all less than the second preset maximum height, it is detected that the vehicle has left the peak, and a skyhook algorithm is used to control the current of the vehicle suspension damper solenoid valve.

4. A long-travel road vehicle suspension control apparatus characterized by comprising: The long-wave road surface vehicle suspension control device comprises a processor, a memory, and a long-wave road surface vehicle suspension control program stored in the memory and executable by the processor, wherein when the long-wave road surface vehicle suspension control program is executed by the processor, the steps of the long-wave road surface vehicle suspension control method according to any one of claims 1 to 2 are implemented.

5. A readable storage medium characterized by, The readable storage medium stores a long-wave road surface vehicle suspension control program, wherein when the long-wave road surface vehicle suspension control program is executed by the processor, the steps of the long-wave road surface vehicle suspension control method according to any one of claims 1 to 2 are implemented.

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