Vehicle jumping control method, device, active suspension and vehicle

Abstract

The present disclosure relates to a control method, device, active suspension, and vehicle for an active suspension. The method comprises: upon receiving a take-off command, storing energy in an accumulator until the energy stored in the accumulator reaches a set first stored energy; when the energy stored in the accumulator reaches the first stored energy, releasing the first stored energy, and the active suspension's shock absorber and the accumulator working together to ensure that the upward movement rate of the vehicle body is greater than zero when the wheel leaves the ground.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and more particularly, to a vehicle take-off control method, a vehicle take-off control device, an active suspension, and a vehicle. Background Art

[0002] A vehicle's suspension system connects the vehicle body and tires, transferring forces between the wheels and the vehicle body. The suspension system's primary functions include cushioning, vibration filtering, and steering. Suspension systems can be categorized by control type into passive, semi-active, and fully active suspensions. Passive suspensions generally have a fixed damping force and are forced to move with the wheels. Semi-active suspensions incorporate electronically controlled components, enabling passive adjustment of the damping force. Active suspensions dynamically and adaptively adjust the vehicle's driving conditions (such as its motion and road conditions). Currently, active suspensions primarily adjust vehicle height based on road conditions. Summary of the Invention

[0003] An objective of the embodiments of the present disclosure is to provide a control solution for an active suspension to achieve a vehicle jumping function.

[0004] According to a first aspect of the present disclosure, an embodiment of a method for controlling vehicle take-off is provided, the method comprising:

[0005] When a take-off instruction is received, the accumulator is charged with energy until the energy stored in the accumulator reaches a set first stored energy;

[0006] When the energy stored in the accumulator reaches the first stored energy, the first stored energy is released, and the shock absorber of the active suspension and the accumulator work together to make the upward movement rate of the vehicle body greater than 0 when the wheel leaves the ground.

[0007] Optionally, the energy accumulator includes a plurality of springs, the active suspension includes a plurality of shock absorbers, and the step of storing energy in the energy accumulator until the energy stored in the energy accumulator reaches a set first stored energy comprises:

[0008] storing energy in the plurality of springs until the total stored energy of the plurality of springs reaches a set first stored energy;

[0009] The second action force applied by the shock absorber of the active suspension is a force applied jointly by multiple shock absorbers of the active suspension.

[0010] Optionally, the energy accumulator is a spring of the active suspension, and the step of storing energy in the energy accumulator until the energy stored in the energy accumulator reaches a set first stored energy comprises:

[0011] The active suspension is controlled to perform a first energy storage movement of the compression spring until the stored energy of the spring reaches a set first stored energy.

[0012] Optionally, a first force applied by the energy accumulator to the vehicle body is greater than a second force applied by the shock absorber to the vehicle body.

[0013] Optionally, the shock absorber and the accumulator work together so that the upward movement rate of the vehicle body is greater than 0 when the active suspension reaches a maximum stroke.

[0014] Optionally, the shock absorber applies an upward force to the vehicle body during the process of the accumulator releasing the first stored energy.

[0015] Optionally, a movement rate of the active suspension during storage of energy in the accumulator is smaller than an initial movement rate of the active suspension during release of the first stored energy in the accumulator.

[0016] Optionally, the method further comprises:

[0017] When the wheel is off the ground, the active suspension is controlled to perform a wheel-lifting movement to pull the wheel toward the vehicle body.

[0018] Optionally, when the wheel is off the ground, controlling the active suspension to perform a wheel-lifting movement to pull the wheel toward the vehicle body includes:

[0019] When the wheel leaves the ground and the take-off speed of the vehicle body drops to a set speed threshold, the active suspension is controlled to perform the wheel lifting movement, wherein the set speed threshold is greater than zero.

[0020] Optionally, after controlling the active suspension to perform a wheel-lifting movement to pull the wheel toward the vehicle body, the method further includes:

[0021] When the wheel falls to the ground, the accumulator is charged until the charged energy of the accumulator reaches a set second stored energy; wherein the second stored energy is greater than the first stored energy;

[0022] When the stored energy of the accumulator reaches the second stored energy, the active suspension is controlled to drive the vehicle body to jump, thereby releasing the second stored energy.

[0023] Optionally, a movement rate of the active suspension in storing the second stored energy in the accumulator is greater than a movement rate of the active suspension in storing the first stored energy in the accumulator.

[0024] Optionally, after controlling the active suspension to perform a wheel-lifting movement to pull the wheel toward the vehicle body, the method further includes:

[0025] When the wheel falls to the ground, obtaining the movement speed of the moving part of the shock absorber connected to the vehicle body; wherein the movement speed includes the movement rate and the movement direction;

[0026] The shock absorber is controlled to output a force to resist the vibration of a vehicle body according to the movement speed of the moving component of the shock absorber.

[0027] Optionally, after controlling the active suspension to perform a wheel-lifting movement to pull the wheel toward the vehicle body, the method further includes:

[0028] When the vehicle height drops, the shock absorber is controlled to be in a passive state in which the output is not actively adjusted.

[0029] According to a second aspect of the present disclosure, an embodiment of a vehicle take-off control device is provided, the control device comprising:

[0030] an energy storage control module, configured to store energy in the energy accumulator upon receiving a take-off instruction, until the energy stored in the energy accumulator reaches a set first stored energy;

[0031] The take-off control module is configured to release the first stored energy when the energy stored in the accumulator reaches the first stored energy, and the shock absorber of the active suspension and the accumulator work together to make the upward movement rate of the vehicle body greater than 0 when the wheel leaves the ground.

[0032] According to a third aspect of the present disclosure, another embodiment of a vehicle take-off control device is provided, the control device comprising: a memory and a processor, the memory storing executable instructions, the instructions being used to control the processor to operate to execute the control method according to the first aspect of the present disclosure.

[0033] According to a fourth aspect of the present disclosure, an embodiment of an active suspension is provided, the active suspension comprising:

[0034] a shock absorber, the shock absorber being used to connect the vehicle body and the wheels;

[0035] an accumulator for connecting the vehicle body and the wheels; and

[0036] A control device, wherein the control device is the control device according to the third aspect of the present disclosure.

[0037] According to a fifth aspect of the present disclosure, there is provided an embodiment of a vehicle, the vehicle comprising:

[0038] a shock absorber, the shock absorber being used to connect the vehicle body and the wheels;

[0039] an accumulator for connecting the vehicle body and the wheels; and

[0040] A control device, wherein the control device is the control device according to the third aspect of the present disclosure.

[0041] According to a sixth aspect of the present disclosure, another embodiment of a vehicle is provided. The vehicle includes the active suspension according to the fourth aspect of the present disclosure, and the shock absorber and the accumulator are connected between the vehicle body and the wheels.

[0042] One advantageous effect of the embodiments of the present disclosure is that, according to the control method of the embodiments of the present disclosure, upon receiving a jump command, the control device can charge the accumulator according to the jump command, so that the accumulator has the ability to drive the vehicle body to jump together with the shock absorber of the active suspension. When the energy stored in the accumulator reaches a first stored energy level that enables this ability, the control device controls the active suspension to drive the vehicle body to jump, releasing the first stored energy. The shock absorber of the active suspension and the accumulator work together to ensure that the upward movement rate of the vehicle body is greater than zero when the wheel leaves the ground. Because the shock absorber and accumulator of the active suspension can apply an upward jump force to the vehicle body, the vehicle body jumps upward under the action of the jump force. At this time, when the initial jump force applied by the shock absorber and accumulator to the vehicle body is such that the upward movement rate of the vehicle body is greater than zero when the wheel leaves the ground, the wheel can lift off the ground as the vehicle body jumps, completing the vehicle jump. It can be seen that according to the control method of the embodiment of the present disclosure, the active suspension of the wheel can be used to realize the vehicle jumping function, which expands the application scenarios of the active suspension and enables the value of the active suspension to be better utilized.

[0043] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0045] Figure 1 is a schematic structural diagram of an active suspension system according to some embodiments;

[0046] Figure 2 is a schematic structural diagram of an active suspension according to some embodiments;

[0047] Figure 3 is a flow chart of a control method for an active suspension according to some embodiments;

[0048] Figure 4 is a flowchart of a control method for an active suspension according to other embodiments;

[0049] Figure 5Ais a schematic diagram of the vehicle take-off process according to some embodiments;

[0050] Figure 5B is a schematic diagram of the forces acting on the vehicle body by the shock absorber and the accumulator during the vehicle jumping process according to some embodiments;

[0051] Figure 5C is a schematic diagram of the forces applied to a vehicle body by a shock absorber and an accumulator when the vehicle body is jointly lifted according to some embodiments;

[0052] Figure 6 is a schematic diagram of the structure of a control device for an active suspension according to some embodiments;

[0053] Figure 7 is a schematic diagram of the structure of an active suspension control device according to other embodiments;

[0054] Figure 8 is a schematic diagram of the hardware structure of an active suspension control device according to some embodiments;

[0055] Figure 9 is a schematic diagram of the structure of a vehicle according to some embodiments;

[0056] Figure 10 is a schematic diagram of the structure of a vehicle according to some other embodiments;

[0057] Figure 11 It is a schematic diagram of the structure of the active suspension according to some other embodiments.

[0058] Description of reference numerals:

[0059] AS - active suspension system; 1. 1100 - active suspension; 2. 600, 800, 1020, 1120 - control device; 3. 1111, 1030 - accumulator; 11 - spring; 12. 1112, 1012 - shock absorber; 121 - working cylinder; 122 - piston assembly; 1221 - compression relief valve; 1222 - lift relief valve; 123 - piston rod; 124 - bidirectional pump; 125 - motor; 126 - accumulator; 900, 1000 - vehicle. DETAILED DESCRIPTION

[0060] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0061] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0062] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0063] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0064] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0065] The embodiments of the present disclosure relate to the application of an active suspension in realizing a vehicle jumping function. To realize this application, the embodiments of the present disclosure provide a vehicle jumping control method. Figure 1 The present invention is a schematic diagram of the structure of an active suspension system to which the vehicle take-off control method according to the embodiment of the present disclosure can be applied.

[0066] like Figure 1 As shown, the vehicle's active suspension system AS may include an active suspension 1, a control device 2, and an accumulator 3. The control device 2 is used to control the operation of the active suspension 1's shock absorbers to achieve vehicle launch. The control device 2 can control the accumulator 3 to store or release stored energy by controlling the shock absorbers to drive the vehicle's movement. If the accumulator 3 is an actively adjustable device such as an air spring, the control device 2 can also directly control the operation of the accumulator 3 to store or release stored energy.

[0067] The accumulator 3 can be any device capable of storing energy, for example, any type of elastic member capable of storing elastic potential energy. When implementing the control method of the disclosed embodiment to control a vehicle jump, the accumulator 3 releases the stored energy to provide the vehicle body with the force to initiate the jump.

[0068] The active suspension 1 includes at least a shock absorber. The shock absorber comprises a fixed component and a moving component that can move relative to the fixed component. When the shock absorber is connected to the vehicle body and wheels, its moving component can be connected to the vehicle body, and its fixed component can be connected to the wheels. The movement of the moving component allows the vehicle body to be adjusted in height, including raising and lowering.

[0069] In some embodiments, the active suspension 1 also includes a spring, and the accumulator 3 includes at least the spring of the active suspension 1. For example, the spring of the active suspension 1 can be directly used as the accumulator 3, that is, the active suspension 1 includes the accumulator 3. For another example, the accumulator 3 may also include the spring of the active suspension 1 and other additional devices independent of the active suspension 1 with energy storage capabilities, such as springs. In other embodiments, the active suspension 1 may also not have a spring, and the accumulator 3 is a component of the active suspension system AS that is independent of the active suspension 1. Here, the spring mentioned in the present disclosure may be any type of elastic element that can undergo elastic deformation, and is not limited to coil springs, air springs, etc.

[0070] Figure 2 The figure shows a suspension assembly of an active suspension 1, which includes a spring 11 and a shock absorber 12. The spring 11 and the shock absorber 12 are components of the active suspension 1 for connecting the vehicle body and the wheels.

[0071] The active suspension 1 can be an independent suspension. Accordingly, the active suspension 1 includes multiple sets of Figure 2 The suspension components shown have one set of suspension components corresponding to one wheel, and each set of suspension components is connected between the vehicle body and the corresponding wheel. Each set of suspension components can act independently under the control of the control device 2. This type of independent suspension has greater adjustment flexibility.

[0072] The active suspension 1 may also be a non-independent suspension. For example, the active suspension 1 may include a set of Figure 2 The suspension assembly shown can be connected to each wheel of the vehicle through a transmission mechanism to transmit force between the wheels and the vehicle body.

[0073] For active suspensions consisting of springs and shock absorbers, see Figure 2 The spring 11 and the shock absorber 12 can occupy different installation spaces separately. The spring 11 can also be mounted on the shock absorber 12 to save installation space. The spring 11 can also be connected in series with the shock absorber 12, with one end of the spring connected to the wheel and the other end of the spring connected to the shock absorber. The output end of the shock absorber is connected to the vehicle body, which is not limited here.

[0074] The control method of the disclosed embodiments is applicable to any shock absorber capable of actively adjusting its output under the action of a power member, and is not limited thereto. In some embodiments, the shock absorber can be directly implemented as a power member, for example, the shock absorber is a linear motor or an electric cylinder, and the moving part of the shock absorber is the output shaft of the motor or electric cylinder. In other embodiments, the moving part of the shock absorber needs to be driven by a power member, such as a hydraulic shock absorber, which requires a motor to drive a bidirectional pump. The moving part of the hydraulic shock absorber is a piston rod, and the fixed part is a working cylinder.

[0075] The vehicle's active suspension system AS may also include a control circuit that drives the shock absorber. This control circuit may be an integrated controller or comprised of discrete electronic components, without limitation. The control device 2 may output control signals to the control circuit, which in turn controls the operation of the active suspension 1. For example, if the active suspension's power element is a motor, the control circuit may be the motor's control circuit, such as a motor controller. The control device is connected to the motor controller to output control signals to the motor controller, which in turn controls the motor to rotate at a desired speed and output a desired torque.

[0076] Figure 2 FIG. 1 shows a schematic structural diagram of a suspension assembly of an active suspension 1 according to some embodiments. Figure 2 As shown, the shock absorber 12 is a hydraulic shock absorber, and the shock absorber 12 includes a working cylinder 121, a piston assembly 122, and a piston rod 123. The piston body of the piston assembly 122 is slidably connected to the inner wall of the working cylinder 121, and the piston assembly 122 divides the inner cavity of the working cylinder 121 into an upper cavity 1211 and a lower cavity 1212. The piston rod 123 is connected to the piston body so as to move with the piston body. The piston rod 123 extends outward through the upper cavity of the working cylinder 121. The shock absorber 12 is connected to the vehicle body through the piston rod 123, and is connected to the wheel through the working cylinder 121. Here, the lower end of the spring 11 and the working cylinder 121 can be connected to the wheel through a connecting structure such as fixed to a swing arm or a steering knuckle.

[0077] exist Figure 2 In the embodiment, the shock absorber 12 further includes a two-way pump 124, which is connected to the upper chamber 1211 of the working cylinder 121 through a first pipeline, and is connected to the lower chamber 1212 of the working cylinder 121 through a second pipeline. The shock absorber 12 further includes a motor 125 that drives the two-way pump 124 to operate. For example, when the motor 125 rotates forward, it drives the two-way pump 124 to rotate forward, and the two-way pump 124 transports the liquid medium in the upper chamber of the working cylinder 121 to the lower chamber of the working cylinder 121 through the pipeline, thereby achieving the lifting of the shock absorber 12; correspondingly, when the motor 125 rotates reversely, it drives the two-way pump 124 to rotate reversely, and the two-way pump 124 transports the liquid medium in the lower chamber of the working cylinder 121 to the upper chamber of the working cylinder 121 through the pipeline, thereby achieving the compression of the shock absorber 12. Vice versa is also possible, which will not be elaborated here.

[0078] exist Figure 2In an embodiment, the piston assembly 122 may further include a compression relief valve 1221 and a lift relief valve 1222 disposed in the piston body to control the maximum hydraulic pressure within the shock absorber 12 via the compression relief valve 1221 and the lift relief valve 1222. Here, the hydraulic pressure refers to the pressure exerted on the piston assembly 122 by the liquid medium (e.g., hydraulic oil) within the shock absorber 12. When the hydraulic pressure within the shock absorber 12 exceeds a set maximum hydraulic pressure threshold, the relief valve will open, thereby protecting the shock absorber 12 from damage. For example, when the bidirectional pump 124 transfers the liquid medium from the lower chamber to the upper chamber to achieve a compression action, if the hydraulic pressure in the upper chamber exceeds the opening threshold of the compression relief valve 1221, the compression relief valve 1221 will open, thereby limiting the hydraulic pressure in the upper chamber from further increase. For another example, when the bidirectional pump 124 transports the liquid medium from the upper chamber to the lower chamber to realize the pulling action, if the hydraulic pressure of the lower chamber exceeds the opening threshold of the pulling overflow valve 1222, the pulling overflow valve 1222 will open, thereby limiting the hydraulic pressure of the lower chamber from continuing to increase.

[0079] The vehicle's active suspension system AS may also include a detection device. The detection device is used to detect the vehicle's state and output a detection signal reflecting the vehicle's state. The control device receives the detection signal output by the detection device and, based on the detection signal, outputs a control signal to control the operation of the active suspension 1, thereby enabling the vehicle to launch.

[0080] The vehicle state detected by the detection device includes, for example, at least one of the following: vehicle height, vehicle speed, vehicle acceleration, speed of the moving parts of the shock absorber, wheel height, wheel force, hydraulic pressure in the upper chamber of the shock absorber, hydraulic pressure in the lower chamber of the shock absorber, etc. The detection device includes at least one sensor, and the detection device includes, for example, an acceleration sensor, a speed sensor, a pressure sensor, a height sensor, a hydraulic pressure sensor, etc., and a sensor is used to detect at least one vehicle state of the vehicle. The type of sensor included in the detection device can be set according to the needs of the control device 2 to implement the control method according to the embodiment of the present disclosure, and is not limited here.

[0081] Figure 3 A flow chart of a vehicle take-off control method according to some embodiments is shown. The control method may be performed by Figure 1 The control device 2 in the embodiment is implemented as follows. Figure 1 The control method of this embodiment is described by taking the active suspension system AS of a vehicle as an example.

[0082] like Figure 3 As shown, the control method of this embodiment includes the following steps S310 and S320:

[0083] Step S310: When a take-off instruction is received, the accumulator is charged until the charged energy of the accumulator reaches a set first stored energy.

[0084] The jump instruction can be triggered by the user through a jump button set in the vehicle, or by the user through a touch screen of a vehicle-mounted terminal, etc., which is not limited here.

[0085] When receiving the jump-off instruction, the control device 2 will execute the control method of this embodiment according to the jump-off instruction to complete the vehicle jump-off through the active suspension 1 .

[0086] In step S310 , upon receiving the jump instruction, the control device 2 will store energy in the accumulator 3 in the first stage until the energy stored in the accumulator 3 reaches a set first stored energy, in preparation for driving the vehicle body to jump.

[0087] In an embodiment where the energy accumulator 3 is a spring of the active suspension 1, in step S310, the active suspension can be controlled to perform a first energy storage movement of compressing the spring until the energy stored in the spring of the active suspension reaches a set first stored energy, that is, the moving part of the shock absorber 12 connected to the vehicle body is controlled to contract, and the vehicle body is pulled downward toward the wheel through the shock absorber 12, thereby pulling the vehicle body to compress the spring 11 connected between the vehicle body and the wheel, thereby realizing spring energy storage.

[0088] In an embodiment where the accumulator 3 is independent of the active suspension, since both the accumulator 3 and the shock absorber 12 are connected between the vehicle body and the wheels, in step S310, the control device 2 can similarly control the active suspension 1 to perform a first energy storage movement, compressing the accumulator 3, until the energy stored in the accumulator 3 reaches a predetermined first stored energy. This means that the moving components of the shock absorber 12 are controlled to contract, thereby pulling the vehicle body downward toward the wheels through the shock absorber 12, thereby compressing the accumulator 3 and completing energy storage. In this embodiment, the control device 2 can also store energy in the accumulator 3 by controlling other power output devices independent of the active suspension 1, which are not limited here.

[0089] by Figure 2 Taking the hydraulic shock absorber 12 shown as an example, when the piston rod 123 of the shock absorber 12 is extended outward, the motor 125 and the two-way pump 124 are both steered in the positive direction; when the piston rod 123 is retracted inward, the motor 125 and the two-way pump 124 are both steered in the negative direction. The hydraulic pressure setting for the lifting relief valve 1222 is P02 MPa, and the hydraulic pressure setting for the compression relief valve 1221 is P01 MPa. The maximum stroke of the active suspension is L. In the first stage of step S310, the motor 125 is controlled to rotate in the reverse direction at a speed n1. At this time, the two-way pump 124 also reverses, transferring the liquid medium from the lower chamber 1212 of the working cylinder 121 to the upper chamber 1211 of the working cylinder 121, thereby driving the piston rod 123 to retract into the shock absorber. The movement velocity V1 of the piston rod 123 in the first energy storage motion is linearly positively correlated with the motor speed n1, namely:

[0090] V1=n1×C / A1(1)

[0091] Wherein, C is the displacement of the bidirectional pump 124, and A1 is the surface area of ​​the piston assembly 122 in the upper chamber.

[0092] According to formula (1), the greater the motor speed n1, the greater the movement speed V1 of the piston rod 123 in the first energy storage movement.

[0093] In some embodiments, the accumulator 3 includes multiple springs. This may mean that at least some of the multiple springs are springs of the active suspension 1, or the multiple springs are independent of the active suspension 1. In these embodiments, accumulating energy in the accumulator 3 until the energy stored in the accumulator 3 reaches a predetermined first stored energy in step S310 may include accumulating energy in the multiple springs until the collective stored energy of the multiple springs reaches the predetermined first stored energy. In other words, if the accumulator 3 includes multiple springs, it is sufficient as long as the collective stored energy of the multiple springs reaches the predetermined first stored energy. For ease of control, for example, the multiple springs in the accumulator can be configured to generate the same compression in the first stage. This allows the minimum required compression to be determined based on the spring constant of each spring and the predetermined first stored energy. Alternatively, different springs can be compressed differently based on the vehicle's body posture and the vehicle's motion system to ensure a smooth vehicle launch. In the first stage, the control device 2 compresses the accumulator 3 to accumulate energy, thereby generating an elastic deformation corresponding to the first stored energy.

[0094] During the energy storage phase of step S310, the shock absorber 12 applies a downward force to the vehicle body, and the accumulator 3 applies an upward force to the vehicle body due to compression. The shock absorber 12 and the accumulator 3 act together on the vehicle body, causing the vehicle body to move downward to complete the energy storage of the accumulator 3.

[0095] Step S320: When the energy stored in the accumulator reaches the first stored energy, the first stored energy is released, and the shock absorber and the accumulator of the active suspension work together to make the upward movement rate of the vehicle body greater than 0 when the wheel leaves the ground.

[0096] In step S320 , when the energy stored in the accumulator in the first stage reaches the set first stored energy, the control device 2 controls the active suspension 1 to drive the vehicle body to jump. At this time, the accumulator 3 releases the first stored energy.

[0097] After the control device 2 stores energy in the accumulator 3 in the first stage, for example, after controlling the shock absorber 12 of the active suspension 1 to compress the accumulator 3, it will control the active suspension 1 in the second stage to cause the vehicle body to jump. At this time, the accumulator 3 releases the first stored energy. The accumulator 3 and the shock absorber 12 work together to apply a jumping force to the vehicle body to cause the vehicle body to jump, so that the upward movement rate of the vehicle body when the wheels leave the ground is greater than 0, thereby completing the vehicle jump. In other words, the shock absorber 12 of the active suspension 1 and the accumulator 3 will apply a jumping force to the vehicle body in the second stage of jointly driving the vehicle body to jump. The initial jumping force applied by the two together to the vehicle body includes: the first force applied by the accumulator 3 corresponding to the first stored energy and the second force applied by the shock absorber 12. See Figure 5C At the initial moment when the accumulator 3 and shock absorber 12 jointly lift the vehicle body, causing it to jump, the force F1 applied by the accumulator 3 to the vehicle body can be greater than the force F2 applied by the shock absorber 12. In other words, the first force corresponding to the initial jump force can be greater than the second force. The initial jump force provides the maximum upward acceleration for the vehicle body. Given the same duration of the jump force, a greater initial jump force results in a higher jump height, facilitating vehicle jumps.

[0098] The initial jumping force should be able to make the upward movement rate of the vehicle body greater than 0 when the wheels leave the ground. In this way, the vehicle body can continue to move upward when the wheels leave the ground, and then the active suspension 1 can drive the corresponding wheels to completely leave the ground, thereby realizing vehicle jumping.

[0099] In an embodiment where the active suspension includes a plurality of shock absorbers 12 , the second force applied by the shock absorber of the active suspension 1 is a force applied jointly by the plurality of shock absorbers of the active suspension.

[0100] For independent suspension systems that include multiple suspension components, the control method according to the disclosed embodiments can enable a vehicle to launch with one wheel off the ground, two wheels off the ground, or all wheels off the ground. For non-independent suspension systems, the control method according to the disclosed embodiments can enable a vehicle to launch with all wheels off the ground.

[0101] In a single-wheel liftoff of a vehicle with independent suspension, taking the left front wheel as the target wheel, control device 2, in the first stage, charges the accumulator, at least in the accumulator assembly corresponding to the left front wheel. When charging the accumulator assemblies corresponding to the other wheels, the amount of energy stored in the accumulator assembly corresponding to the left front wheel must be greater than that in the accumulator assemblies corresponding to the other wheels. In the second stage, control device 2 can control the shock absorber corresponding to the left front wheel to lift the left front portion of the vehicle body upward. At this point, the accumulator assembly corresponding to the left front wheel releases its stored energy, and the shock absorber and accumulator assembly corresponding to the left front wheel apply a launching force to the left front portion of the vehicle body, causing it to lift and thereby lift the left front wheel off the ground. If the accumulator assemblies corresponding to the other wheels have also accumulated energy during the first phase, the shock absorbers corresponding to the other wheels can be controlled to lift the vehicle body upward in the second phase, but the amount of lift is less than that applied to the left front portion of the vehicle body. At this point, the accumulator assemblies corresponding to the other wheels release their stored energy, providing auxiliary force for the wheelie. During wheelie control, the initial launch force applied by the shock absorbers and accumulators ensures that the vehicle body's upward motion rate is greater than zero when the target wheel lifts off.

[0102] In a two-wheeled vehicle launch based on independent suspension, taking the left and right front wheels as the target wheels as an example, in the first phase, when controlling the accumulator, control device 2 must at least store energy in the accumulator assembly corresponding to the target wheel. When storing energy in the accumulator assemblies corresponding to the other wheels, the amount of energy stored in the accumulator assembly corresponding to the target wheel must be greater than that stored in the accumulator assemblies corresponding to the other wheels. In the second phase, control device 2 can control the shock absorber corresponding to the target wheel to lift the front half of the vehicle body upward. At this time, the accumulator assembly corresponding to the target wheel releases the stored energy, and the shock absorber and accumulator assembly corresponding to the target wheel apply a launching force to the front half of the vehicle body, causing it to launch and thereby lift the left and right front wheels off the ground. If the accumulator assemblies corresponding to the other wheels have also accumulated energy during the first phase, the shock absorbers corresponding to the other wheels can be controlled to lift the vehicle body upward in the second phase, but the amount of lift is less than that applied to the left front portion of the vehicle body. At this point, the accumulator assemblies corresponding to the other wheels release their stored energy, providing auxiliary force for the wheelie. During wheelie control, the initial launch force applied by the shock absorbers and accumulators ensures that the vehicle body's upward motion rate is greater than zero when the target wheel lifts off.

[0103] During a vehicle launch with all wheels off the ground, control device 2, in the first phase, stores energy in all energy storage assemblies corresponding to the multiple wheels in the accumulator. In the second phase, control device 2 controls all shock absorbers corresponding to the multiple wheels of active suspension 1 (independent suspensions may have multiple shock absorbers, while non-independent suspensions may have only one shock absorber) to lift the vehicle body upward. At this point, the accumulator releases stored energy, and the shock absorbers of active suspension 1 and accumulator 3 apply a launching force to the vehicle body, causing it to launch and, in turn, lift all wheels off the ground. During control of all wheels lifting off the ground, the initial launching force should be sufficient to ensure that the vehicle body's upward motion rate is greater than zero when the target wheel lifts off the ground. The initial launching force should also be greater than the vehicle's weight.

[0104] For example, consider the energy accumulator 3 formed by the spring 11 of the active suspension 1. To improve the stability and safety of the active suspension 1, the spring 11 is preloaded, ensuring that it remains compressed or in a free state without elastic deformation when the active suspension 1 reaches its maximum travel, rather than in a stretched state. Thus, during the second stage of control, the energy accumulator 3 continuously recovers its elastic deformation through the gradual extension of the active suspension 1, thereby releasing energy. Therefore, the maximum travel of the active suspension in the second stage determines the amount of energy it can release. The maximum travel of the active suspension is related to the elastic deformation recovery of the energy accumulator 3. Given a constant elastic coefficient, the greater the elastic deformation recovery, the more energy released. The maximum travel of the active suspension in the second stage is determined by the travel setting of the shock absorber 12. When the moving components of the shock absorber 12 reach their maximum outward travel, the spring 11 will also stop recovering its deformation.

[0105] To maximize the utilization of the first stored energy in the accumulator 3, in some embodiments, the active suspension 1 can be controlled to reach its maximum travel during the second stage of movement. At this point, the energy released by the accumulator 3 reaches its maximum value. This initial take-off force causes the vehicle body's upward movement rate to be greater than zero when the active suspension reaches its maximum travel. In other words, the combined action of the accumulator 3 and the shock absorber 12 ensures that the vehicle body's upward movement rate is greater than zero when the active suspension reaches its maximum travel. If the vehicle body continues to move upward when the active suspension 1 reaches its maximum travel, the active suspension can drive the wheels off the ground, causing the vehicle to take off.

[0106] Since the initial take-off force includes the first force applied by the accumulator 3 corresponding to the first stored energy and the second force applied by the shock absorber 12, the initial take-off force that satisfies the vehicle take-off can be obtained by designing the first stored energy and various parameters related to the output force of the shock absorber 12. Under the joint action of the shock absorber and the accumulator, the upward movement rate of the vehicle body when the wheel leaves the ground is greater than 0, thereby achieving vehicle take-off.

[0107] The control device 2 can detect whether the energy stored in the energy accumulator in the first energy storage movement reaches the first stored energy through the first detection signal reflecting the stored energy of the energy accumulator output by the detection device.

[0108] The first detection signal may be any detection signal associated with the stored energy of the accumulator, for example, it may be a detection signal regarding the spring force, or a detection signal regarding the upper chamber hydraulic pressure and the lower chamber hydraulic pressure of the shock absorber 12, or a detection signal regarding the movement rate of the moving parts of the shock absorber 12, or a detection signal regarding the vehicle body height between the vehicle body and the wheels, etc., and no limitation is made here.

[0109] When judging whether the energy stored in the accumulator 3 has reached the first stored energy through the detection signal of the movement rate of the moving parts of the shock absorber 12, the set opening hydraulic pressure P01 of the compression relief valve 1221 can be set to match the set first stored energy. When the shock absorber 12 performs the first energy storage movement, the upper chamber hydraulic pressure of the working cylinder 121 increases and the lower chamber hydraulic pressure decreases. When the upper chamber hydraulic pressure reaches the set opening hydraulic pressure P01 of the compression relief valve 1221, the compression relief valve 1221 opens, the upper chamber hydraulic pressure no longer increases, and the piston rod 123 of the shock absorber 12 stops moving. At this time, it means that the energy stored in the accumulator has reached the set first stored energy.

[0110] Since the initial take-off force also includes the second force applied by the shock absorber 12, the force output by the shock absorber 12 in releasing the first stored energy can be set according to the set force distribution ratio between the accumulator 3 and the shock absorber 12 to obtain the initial take-off force that satisfies the vehicle take-off.

[0111] In order to simplify the mechanical design and reduce the component loss of the shock absorber of the active suspension 1 under high-speed and high-torque operation, in some embodiments, the first force applied by the accumulator 3 can be set to be greater than the second force applied by the shock absorber 12. The accumulator 3 plays a leading role in driving the vehicle body to jump, and the shock absorber 12 can apply the second upward force in the initial stage of releasing the first stored energy.

[0112] Furthermore, when the energy accumulator 3 is set, the vehicle's jump height can be controlled by adjusting the force output by the shock absorber 12 when the vehicle body is launched. Therefore, in some embodiments, the user can be supported to set the jump height. If the jump instruction indicates a jump height, the control device 2 can determine the force that the shock absorber 12 needs to output corresponding to the indicated jump height based on preset mapping data. This mapping data reflects the force that the shock absorber 12 needs to output corresponding to different jump heights. If the jump instruction does not indicate a jump height, the shock absorber 12 can be controlled according to the default settings.

[0113] In some embodiments, the shock absorber 12 can be controlled to apply an upward force to the vehicle body during the process of the accumulator 3 releasing the first stored energy. For example, if the accumulator 3 is comprised of the spring 11 of the active suspension 1, since the amount of elastic deformation recovery of the accumulator 3 per unit time is correlated with the extension stroke of the shock absorber 12 per unit time, to prevent the shock absorber 12 from limiting the elastic deformation recovery of the accumulator 3, the upward movement rate of the moving component of the shock absorber 12 can be set to be no less than the deformation recovery rate of the spring 11 when independently lifting the vehicle body based on the first stored energy. In this way, the shock absorber 12 can assist the accumulator 3 in driving the vehicle body upward throughout the process of the accumulator 3 releasing the first stored energy, without consuming the energy released by the accumulator 3 by pulling the moving component of the shock absorber 12 along with the vehicle body. Consequently, while the energy stored in the accumulator in the first stage remains the same, the vehicle body can achieve a higher take-off height in the second stage.

[0114] As described above, since the moving components of the shock absorber 12 can move at a relatively high rate during the release of the first stored energy, this is beneficial for the active suspension 1 to drive the vehicle body into a jump. The primary purpose of the first energy storage movement is to store sufficient elastic potential energy in the accumulator 3. Therefore, in some embodiments, the movement rate of the active suspension 1 during the energy storage process (i.e., the aforementioned first energy storage movement) can be at least less than the initial movement rate of the active suspension 1 during the release of the first stored energy. This reduces component wear of the shock absorber 12 and switching devices in the control circuit of the active suspension 1 under high-speed operation, thereby extending the service life of the active suspension system.

[0115] Still Figure 2 Taking the hydraulic shock absorber 12 shown as an example, in the second stage of step S320, the motor 125 is controlled to rotate in the forward direction at a speed n2. At this time, the bidirectional pump 124 also rotates in the forward direction. The bidirectional pump 124 transports the medium from the upper chamber 1211 of the working cylinder 121 to the lower chamber 1212 of the working cylinder 121, thereby driving the piston rod 123 to extend outward relative to the working cylinder 121. The movement rate V2 of the piston rod 123 when releasing the first stored energy in the accumulator 3 is linearly positively correlated with the motor speed n2. When the torque output by the motor is constant, the motor speed n2 is positively correlated with the power output by the motor. Therefore, in order to obtain a larger movement rate V2, for example, in the second stage, the motor 125 can be controlled to work at a set maximum power.

[0116] When the liquid medium is transferred from the upper chamber 1211 of the working cylinder 121 to the lower chamber 1212, the hydraulic pressure in the lower chamber of the working cylinder 121 will be greater than the hydraulic pressure in the upper chamber. At this time, the hydraulic pressure P2 in the lower chamber will increase rapidly, and the hydraulic pressure P1 in the upper chamber will also decrease rapidly. The hydraulic pressure P2 in the lower chamber will reach the set opening hydraulic pressure P02 of the lifting relief valve 1222 in a short time. The force F2 applied by the piston rod of the shock absorber 12 to the vehicle body is:

[0117] F2=P2×A2-P1×A1(2)

[0118] Wherein, A2 is the surface area of ​​the piston assembly 122 in the lower chamber, and A1 is the surface area of ​​the piston assembly 122 in the upper chamber.

[0119] The force F2 exerted by the shock absorber 12 and the force F1 exerted by the accumulator 3 act together on the vehicle body, providing a jumping acceleration for the vehicle body. Figure 5C During the second stage of vehicle body lift and jump, the force F1 applied by the accumulator 3 to the vehicle body is, at least initially, greater than the force F2 applied by the shock absorber 12. As the vehicle body lifts upward, the force F1 applied by the accumulator 3 gradually decreases as the stored energy is released, while the force F1 applied by the shock absorber 12 rapidly increases. The force F1 decreases after the lower chamber hydraulic pressure P2 reaches the set opening hydraulic pressure P02 of the lifting relief valve 1222, due to the opening of the lifting relief valve 1222. Therefore, during the second stage, the force F1 applied by the accumulator 3 may be less than or equal to the force F1 applied by the shock absorber 12 for some time periods, or it may always be greater than the force F2 applied by the shock absorber 12, though this is not a limitation here.

[0120] According to step S310 and step S320, according to the control method of the embodiment of the present disclosure, the vehicle jumping function can be realized through the active suspension 1, which expands the application scenarios of the active suspension and enables the value of the active suspension to be more fully utilized.

[0121] In some embodiments, in order to enable the vehicle to complete a greater degree of take-off, the method may further include the following step S330 after releasing the first stored energy in the above step S320: when the wheel is off the ground, controlling the active suspension to perform a wheel-lifting movement to pull the wheel toward the vehicle body.

[0122] In these embodiments, when the detection device detects that the vehicle is off the ground, the control device performs the third stage of control, that is, controls the active suspension 1 to perform a wheel-lifting movement to pull the wheel toward the vehicle body.

[0123] The control device 2 can determine whether the wheel is off the ground through the second detection signal reflecting the wheel position output by the detection device.

[0124] The second detection signal can be any detection signal associated with the wheel position, for example, it can be a detection signal about the wheel height, or a detection signal about the tire pressure change, or a detection signal about the vehicle height. The reference vehicle height when the wheel is off the ground can be pre-calibrated to determine whether the wheel is off the ground based on the detection signal about the vehicle height, etc., which is not limited here.

[0125] When or after the wheel lifts off the ground, control device 2 can control active suspension 1 to perform a wheel-lifting motion, pulling the wheel toward the vehicle body. This involves controlling the moving components of shock absorber 12 to retract inward relative to the fixed components. At this point, shock absorber 12, through the fixed components connected to the wheel, pulls the wheel upward to increase its ground clearance. During the wheel-lifting phase, shock absorber 12 applies an upward force to the wheel, while accumulator 3, compressed and thus applying a downward force to the wheel, jointly acting on the wheel to move it toward the vehicle body.

[0126] Still Figure 2 Taking the hydraulic shock absorber 12 shown as an example, in the third stage of control, the control device 2 controls the motor 125 to rotate in the reverse direction at a speed n3. At this time, the two-way pump 124 also reverses. The two-way pump 124 transports the medium from the lower chamber 1212 of the working cylinder 121 to the upper chamber 1211 of the working cylinder 121, and then drives the piston rod 123 to contract toward the inside of the shock absorber, thereby achieving the control purpose of pulling the wheel upward.

[0127] Due to the time limit of the vehicle taking off in the air, the control device 2 can control the motor 125 to rotate in the reverse direction at a set maximum speed in the third stage to lift the wheel as quickly as possible.

[0128] In some embodiments, control device 2 controls active suspension 1 to perform the aforementioned wheel-lifting motion when the wheel is off the ground and the vehicle body's take-off speed drops to a set speed threshold, where the set speed threshold is greater than zero. When the vehicle body's take-off speed drops to the set speed threshold, it indicates that accumulator 3 has completed releasing the first stored energy. Controlling active suspension 1 to perform the wheel-lifting motion at this point maximizes utilization of the energy stored in active suspension 1 during the first energy-accumulation motion.

[0129] In these embodiments, the control device 2 can determine whether the take-off speed of the vehicle body drops to a set speed threshold based on the detection signal about the vehicle body speed output by the detection device.

[0130] In some embodiments, after controlling the active suspension to perform a wheel-lifting movement to pull the wheel toward the vehicle body, the method may further include the following steps S340 and S350:

[0131] Step S340 : When the wheel is on the ground, the movement speed of the moving part of the shock absorber connected to the vehicle body is obtained.

[0132] The moving speed of the moving component includes the moving rate and the moving direction.

[0133] In step S340 , the control device 2 may obtain the movement speed of the moving part of the shock absorber 12 through the detection device.

[0134] In step S340, when the wheel lands, the control device 2 can obtain the movement speed of the moving parts of the shock absorber 12 at a set sampling frequency, so as to actively adjust the resistance to vibration according to the real-time movement state of the active suspension 1 after the wheel lands.

[0135] Step S350: Controlling the shock absorber to output a force to resist the vibration of the vehicle body according to the movement speed of the moving component of the shock absorber.

[0136] In step S350, control device 2 can determine the force required to suppress the movement of the moving component based on its speed. After the wheel lands, the vehicle body vibrates along with accumulator 3, and the moving component of shock absorber 12 vibrates along with the vehicle body. Therefore, this is equivalent to determining the force required to resist the vibration of the vehicle body. Based on this force, control device 2 determines the torque and speed of the motor, completing the corresponding control to achieve rapid and stable vehicle body movement. In other words, in step S350, the combined action of shock absorber 12 and accumulator 3 ensures rapid and stable vehicle body movement.

[0137] In another embodiment, in step S350, the active force required to resist the vibration of the vehicle body can also be determined based on the movement speed of the moving parts of the shock absorber. When the required active force is greater than the maximum damping force that the shock absorber 12 can provide, the shock absorber is controlled to output the force to resist the vibration of the vehicle body. When the required active force is less than or equal to the maximum damping force that the shock absorber 12 can provide, the switch valve on the connecting pipeline of the shock absorber 12 can be closed to block the flow of medium between the upper and lower chambers, so as to suppress the vibration of the vehicle body by simply using the damping force, thereby reducing the external energy consumption for suppressing the vibration of the vehicle body.

[0138] Through step S340 and step S350, the vehicle body can be quickly and steadily stabilized after the wheels land on the ground, thereby improving the user's comfort during the end of the jump.

[0139] In some embodiments, in order to improve the impact resistance of the active suspension when the vehicle takes off and lands, thereby effectively protecting the active suspension and other vehicle components from damage, after controlling the active suspension to perform the wheel-lifting motion to pull the wheel toward the vehicle body in step S330, the following step may also be included: when the vehicle is descending, controlling the shock absorber to be in a passive state in which it does not actively adjust its output. In these embodiments, at the moment the vehicle lands, the active suspension will primarily provide cushioning based on spring 11, and the shock absorber 12 will be in a passive state in which it does not actively adjust its output, that is, in a passive state in which the power component is not operating.

[0140] In some embodiments, the control method can also drive the vehicle to jump multiple times through the active suspension 1. After controlling the active suspension to perform the wheel-lifting movement to pull the wheel toward the vehicle body in the above step S330, the method also includes the following steps: when the wheel falls to the ground, the accumulator is energized, for example, the active suspension is controlled to perform a second energy storage movement of the compression spring until the energy stored in the accumulator reaches the set second stored energy; and when the energy stored in the accumulator reaches the second stored energy, the active suspension is controlled to drive the vehicle body to jump and release the second stored energy.

[0141] In these embodiments, after the vehicle completes its first jump based on steps S310 to S330, it can control a second jump after the wheels touch the ground. During this second jump, because the vehicle body maintains downward inertia upon landing, the movement of the vehicle body can also store elastic potential energy in the accumulator 3. Therefore, the second stored energy can be greater than the first stored energy. This means that when the control device controls the active suspension to drive the vehicle body to jump in accordance with step S320 and releases the second stored energy, the vehicle will be able to achieve a higher jump height. Similarly, the control device 2 can control the vehicle to jump multiple times in succession according to the jump command. When the number of jumps corresponding to the jump command is reached, the landing adjustment control can be completed according to the above-mentioned steps S340 and S350, which will not be described in detail here.

[0142] In some embodiments, the control device 2 can control the movement rate of the active suspension 1 in the accumulator 3 to store the second stored energy (corresponding to the active suspension 1 performing the second energy storage movement) to be greater than the movement rate of the active suspension 1 in the accumulator 3 to store the first stored energy (corresponding to the active suspension 1 performing the first energy storage movement), so as to fully utilize the downward movement inertia of the vehicle body to complete energy storage.

[0143] Figure 4 FIG2 shows a flow chart of a vehicle jump control method according to other embodiments. In these embodiments, the energy accumulator 3 is composed of the spring 11 of the active suspension 1, which can be understood as the active suspension 1 including the energy accumulator 3, such as Figure 4 As shown, the control method may include the following steps:

[0144] Step S410: According to the received take-off instruction, the active suspension is controlled to perform a first energy storage movement of the compression spring until the stored energy of the spring reaches a set first stored energy.

[0145] Step S420: When the stored energy of the spring reaches the first stored energy, the active suspension is controlled to drive the vehicle body to jump and release the first stored energy; wherein the shock absorber and accumulator of the active suspension work together to make the upward movement rate of the vehicle body greater than 0 when the wheel leaves the ground.

[0146] The initial jumping force applied by the active suspension to the vehicle body based on the release of the first stored energy includes: a first force applied by the spring 11 corresponding to the first stored energy and a second force applied by the shock absorber 12. The initial jumping force makes the upward movement rate of the vehicle body greater than 0 when the wheel leaves the ground.

[0147] Step S430: When the wheel is off the ground, the active suspension is controlled to perform a wheel-lifting movement to pull the wheel toward the vehicle body.

[0148] Step S440: When the vehicle height drops, the shock absorber is controlled to be in a passive state in which the output is not actively adjusted.

[0149] Step S450: When the wheel falls to the ground, the movement speed of the moving part of the shock absorber connected to the vehicle body is obtained, and the shock absorber is controlled to output a force to resist the vibration of the vehicle body according to the movement speed of the moving part of the shock absorber.

[0150] Figure 5A A schematic diagram of the vehicle take-off process according to some embodiments is shown. Figure 5B A schematic diagram shows a force F exerted jointly on a vehicle body by a shock absorber and an accumulator during a process of controlling a vehicle's jump according to some embodiments. Figure 5B In the example, if the force F is greater than 0, the direction of the force F is upward, and if the force F is less than 0, the direction of the force F is downward. It should be understood by those skilled in the art that Figure 5B The purpose is to illustrate the basic changing trend of the force F in the process of controlling the vehicle to jump, and is not intended to reflect the actual characteristics of the force F changing with time. For example, Figure 5B It cannot reflect the specific value of the force at a certain moment, nor can it reflect the rate of change of the force at a certain moment.

[0151] Combine Figure 2 The active suspension 1 of FIG. 1 is an example of a spring 11 of the active suspension 1, as shown in FIG. Figure 5A and 5B As shown, the first stage is the energy storage stage. The control device 2 controls the shock absorber 12 to perform the first energy storage movement of compressing the spring 11. The shock absorber 12 applies a force to pull the vehicle body downward, while the spring 11 applies an upward force to the vehicle body. Through the combined action of the shock absorber 12 and the spring 11, the active suspension 1 (including the spring 11 and the shock absorber 12) is compressed to the following Figure 5A The first height h1 shown in (a) is when the shock absorber 12 and the energy accumulator 3 are compressed to the first height h1. At this time, the energy stored in the active suspension 1 reaches the set first stored energy.

[0152] See also Figure 5BAt the beginning of the energy storage phase, the vehicle body is typically in equilibrium. At this point, the force F exerted by the shock absorber 12 and spring 11 on the vehicle body is directed upward and is essentially equal to the vehicle's gravity G. After energy storage begins, the shock absorber 12 applies a downward force to the vehicle body, while the spring 11 maintains an upward force. The force F exerted by the shock absorber 12 and spring 11 decreases, and may even shift from an upward direction to a downward direction, causing the vehicle body to experience downward acceleration. At this point, the vehicle body accelerates downward, accumulating energy in the spring 11. After the downward force exerted by the shock absorber 12 increases to the maximum allowed by the system, the force F begins to increase as the accumulator 3 continues to accumulate energy. At this point, the vehicle body's downward velocity begins to decrease until it reaches zero, completing the energy storage in the spring 11. During the energy storage process, although the force F will decrease, it can always be greater than 0, that is, the direction remains upward; it can also be reduced to below 0, that is, the shock absorber 12 and the spring 11 can also apply a downward force to the vehicle body during the energy storage process. This can be set according to the energy storage needs.

[0153] The second stage is the take-off stage. Figure 5A In (b), (c) and (d) above, the control device 2 controls the shock absorber 12 to cancel the force pulling the vehicle body downward and apply a second force upward to the vehicle body when the stored energy of the spring 11 reaches the first stored energy. At this time, the spring 11 applies a first force corresponding to the first stored energy to the vehicle body, and the combined force of the two acts on the vehicle body. Since the shock absorber 12 begins to apply an upward force to the vehicle body during the take-off phase, the force F exerted by the shock absorber 12 and the spring 11 on the vehicle body increases rapidly during the take-off phase, causing the vehicle body to rise rapidly at an acceleration a. Figure 5C As shown, at least at the initial moment of the take-off phase, the force F1 applied by the accumulator 3 to the vehicle body is greater than the force F2 applied by the shock absorber 12. As the accumulator and shock absorber jointly lift the vehicle body upward, the active suspension 1 gradually extends. The take-off force F applied to the vehicle body by the combined action of the two gradually decreases as the energy stored in the spring 11 is released, as shown in FIG. Figure 5A As shown in (b), the height of the active suspension 1 reaches a second height h2, wherein the second height h2 is greater than the first height h1. At this time, the wheels have not yet left the ground.

[0154] When the active suspension 1 is extended to its maximum travel, the force applied to the vehicle body by the combined action of the two is reduced to the minimum value of the take-off stage, while the upward movement rate Vc1 of the vehicle body is still greater than 0. That is, the vehicle body still keeps moving upward, and the active suspension 1 can drive the wheels off the ground. At this time, the height of the active suspension 1 is Figure 5AThe third height h3 shown in (c) has a height difference of Δh31 from the first height h1. This means that the combined action of the shock absorber 12 and the spring 11 ensures that the vehicle's upward velocity is greater than zero when the wheels leave the ground, thereby enabling the vehicle to take off. Based on the gravity of the vehicle, the initial takeoff force required to maintain an upward velocity Vc1 greater than zero when the vehicle rises to a height of Δh31 can be calculated.

[0155] After the wheels leave the ground, as the vehicle body continues to move upward, Figure 5A As shown in (d), the wheels will continue to move away from the ground. At this time, the height of the active suspension 1 can still be maintained. Figure 5A At the third height h3 shown in (c), the force F exerted by the shock absorber 12 and the spring 11 on the vehicle body is substantially constant.

[0156] After the jumping force F applied by the active suspension 1 to the vehicle body is less than the gravity of the vehicle body, the upward movement speed of the vehicle body begins to decrease. When the upward movement speed of the vehicle body decreases to the set speed threshold Vc2, the control device 2 can control the active suspension 1 to perform a wheel lifting movement to pull the wheel toward the vehicle body. At this time, the active suspension 1 is lifted from Figure 5A The third height h3 shown in (d) is compressed to Figure 5A The fourth height h4 shown in (e) may be equal to the first height h1 or greater than the first height h1, which is not limited here.

[0157] See also Figure 5B In the wheel lifting stage, the shock absorber 12 is controlled to contract, and an upward force is applied to the wheel through the shock absorber 12. At this time, the spring 11 is compressed, and the spring 11 applies a downward force to the wheel, but the shock absorber 12 and the spring 11 jointly apply an upward force to the wheel to pull the wheel to move in a direction close to the vehicle body with a certain acceleration. Correspondingly, the shock absorber 12 and the spring 11 will jointly apply a downward force to the vehicle body, which causes the force of the two acting together on the vehicle body to quickly drop to below 0, that is, they begin to apply a downward force to the vehicle body. In the later stage of the wheel lifting stage, as the compression amount of the spring 11 continues to increase and the growth rate of the upward force applied by the shock absorber 12 to the wheel slows down, the two will jointly apply a downward force to the wheel, that is, the speed of pulling the wheel upward begins to decrease. Correspondingly, the shock absorber 12 and the spring 11 begin to jointly apply an upward force to the vehicle body until the wheel lifting is completed.

[0158] When the vehicle is lowered, the control device 2 controls the shock absorber 12 to be in a passive state without actively adjusting the output, so as to better alleviate the impact force when the vehicle lands. Figure 5BAs the shock absorber 12 is released, the spring 11 mainly applies force to the vehicle body. After the combined force of the two on the vehicle body increases instantaneously, it begins to fall back as the spring releases the stored energy until the wheel touches the ground.

[0159] After the wheel lands, the landing adjustment can be performed according to step S450, or the landing adjustment can be performed using the damping force of the shock absorber 12 itself. Figure 5B During the landing adjustment stage, the force exerted by the shock absorber 12 and the spring 11 on the vehicle body will change near the vehicle body's gravity until the vehicle body stabilizes and reaches a balanced state.

[0160] Figure 5A and Figure 5B The action process and corresponding control steps shown are applicable to the above-mentioned vehicle jump with one wheel off the ground, vehicle jump with two wheels off the ground and vehicle jump with all wheels off the ground. It is only necessary to control the corresponding suspension components and accumulators according to the corresponding control steps to complete the corresponding actions. No further details are given here.

[0161] According to the control method of steps S410 to S450, the vehicle can be driven to jump by the active suspension, and when jumping and landing, the vehicle body can be controlled to be fast and stable, thereby increasing the comfort, safety and controllability of the vehicle.

[0162] Figure 6 FIG. 1 shows a schematic diagram of the structure of a control device for an active suspension according to some embodiments. Figure 6 As shown, the control device 600 may include an energy storage control module 610 and a take-off control module 620 .

[0163] The energy storage control module 610 is configured to store energy in the energy accumulator upon receiving a take-off instruction, until the energy stored in the energy accumulator reaches a set first stored energy.

[0164] The take-off control module 620 is configured to release the first stored energy when the energy stored in the accumulator reaches a first stored energy, and the shock absorber and the accumulator of the active suspension work together to ensure that the upward movement rate of the vehicle body is greater than 0 when the wheel leaves the ground.

[0165] In some embodiments, as Figure 7 As shown, the control device 600 also includes a wheel lifting control module 630. After the take-off control module 620 releases the first stored energy, the wheel lifting control module 630 controls the active suspension to perform a wheel lifting movement to pull the wheel toward the vehicle body when the wheel is off the ground.

[0166] In some embodiments, the wheel lift control module 630 can control the active suspension to perform wheel lift movement when the wheel is off the ground and the take-off speed of the vehicle body drops to a set speed threshold, wherein the set speed threshold is greater than zero.

[0167] In some embodiments, the energy storage control module 610 is further configured to: after the wheel lift control module 630 controls the active suspension to perform a wheel lift motion to pull the wheel toward the vehicle body, if the wheel lands, store energy in the accumulator until the energy stored in the accumulator reaches a set second stored energy; wherein the second stored energy is greater than the first stored energy. In these embodiments, the take-off control module 620 is further configured to: when the energy stored in the accumulator reaches the second stored energy, control the active suspension to cause the vehicle body to take off, releasing the second stored energy.

[0168] In some embodiments, as Figure 7 As shown, the control device 600 also includes a landing adjustment module 640. After the wheel lifting control module 630 controls the active suspension to perform a wheel lifting movement to pull the wheel toward the vehicle body, the landing adjustment module 640 obtains the movement speed of the moving part of the shock absorber connected to the vehicle body when the wheel falls to the ground, and controls the shock absorber to output a force to resist the vibration of the vehicle body according to the movement speed of the moving part of the shock absorber.

[0169] In some embodiments, the landing adjustment module 640 is also used to control the shock absorber to be in a passive state without actively adjusting the output when the vehicle height drops after the wheel lifting control module 630 controls the active suspension to perform a wheel lifting movement to pull the wheel toward the vehicle body.

[0170] Figure 8 FIG. 1 shows a schematic diagram of the hardware structure of a control device according to some further embodiments. Figure 8 As shown, the control device 800 includes a memory 820 and a processor 810. The memory 820 stores a computer program, which is used to control the processor to operate to execute the control method according to any embodiment of the present disclosure.

[0171] Figure 11 FIG. 1 shows a schematic diagram of the structure of an active suspension according to some embodiments. Figure 11 As shown, the active suspension 1100 includes a shock absorber 1112, an accumulator 1111, and a control device 1120. Both the shock absorber 1112 and the accumulator 1111 are used to connect the vehicle body and the wheels. That is, the accumulator 1111 and the shock absorber 1112 are components of the active suspension 1100 that connect the vehicle body and the wheels. The control device 1120 is used to control the shock absorber 1112 to implement the vehicle launch control method according to any embodiment of the present disclosure. The control device 1120 can output a control signal to control the operation of the shock absorber 1112 based on the detection signal output by the detection device to complete the vehicle launch.

[0172] The control device 1120 may be such as Figure 6 or Figure 7 The control device 600 in the embodiment may also be as follows Figure 8 The control device 800 in FIG. The shock absorber 1112 may be as follows Figure 2 The shock absorber 12 shown can also be a shock absorber of other structures, which is not limited here. The accumulator 1111 can be an elastic member of any shape. Figure 9 Shown are vehicles according to other embodiments, such as Figure 9 As shown, the vehicle 900 includes Figure 11 The active suspension 1100 shown, the shock absorber 1112 and the accumulator 1111 of the active suspension 1100 are connected between the body and the wheels of the vehicle 900. In another embodiment, the vehicle 900 may also include, for example, Figure 1 The active suspension system AS shown, ie the energy accumulator, is independent of the active suspension configuration and is not limited here.

[0173] Figure 10 FIG. 1 shows a schematic diagram of the structure of a vehicle according to some embodiments. Figure 10 As shown, vehicle 1000 includes a shock absorber 1012, an accumulator 1030, and a control device 1020. Shock absorber 1012 connects the vehicle body and the wheels and is a component of the active suspension. Accumulator 1030 connects the vehicle body and the wheels and can be a component of the active suspension or independent of the active suspension, without limitation. Control device 1020 is used to control shock absorber 1012 to implement the vehicle launch control method according to any embodiment of the present disclosure.

[0174] The control device 1020 may be Figure 6 or Figure 7 The control device 600 in the embodiment may also be as follows Figure 8 The control device 800 in FIG. The shock absorber 1012 may be as follows Figure 2 The shock absorber 12 shown may also be a shock absorber of other structures, which is not limited here. The energy accumulator 1030 may be a device of any form that can store and release elastic energy.

[0175] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0176] A computer-readable storage medium can be a tangible device that can hold and store instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination thereof. As used herein, a computer-readable storage medium is not to be construed as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through an electrical wire.

[0177] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to be stored in the computer-readable storage medium in each computing / processing device.

[0178] The computer program instructions for performing the operation of the present invention can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, and conventional procedural programming languages ​​such as "C" language or similar programming languages. The computer readable program instructions can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), is personalized by utilizing the state information of the computer readable program instructions, and the electronic circuit can execute the computer readable program instructions, thereby realizing various aspects of the present invention.

[0179] Various aspects of the present invention are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present invention. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0180] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0181] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0182] The flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of an instruction, and the module, program segment or part of the instruction contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.

[0183] While various embodiments of the present invention have been described above, the foregoing description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technical improvements to existing technologies, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A vehicle take-off control method, characterized in that: The method comprises: When a take-off instruction is received, the accumulator is charged with energy until the energy stored in the accumulator reaches a set first stored energy; When the energy stored in the accumulator reaches the first stored energy, the first stored energy is released, and the shock absorber of the active suspension and the accumulator work together to apply a jumping force to the vehicle body to drive the vehicle body to jump, so that the upward movement rate of the vehicle body when the wheel leaves the ground is greater than 0.

2. The control method according to claim 1, characterized in that: The energy accumulator includes a plurality of springs, the active suspension includes a plurality of shock absorbers, and the step of storing energy in the energy accumulator until the energy stored in the energy accumulator reaches a set first stored energy comprises: storing energy in the plurality of springs until the total stored energy of the plurality of springs reaches a set first stored energy; The force applied by the shock absorber of the active suspension to the vehicle body is a force applied jointly by multiple shock absorbers of the active suspension.

3. The control method according to claim 1 or 2, characterized in that: The accumulator is a spring of the active suspension, and the step of storing energy in the accumulator until the energy stored in the accumulator reaches a set first stored energy includes: The active suspension is controlled to perform a first energy storage movement of the compression spring until the stored energy of the spring reaches a set first stored energy.

4. The control method according to claim 1, wherein: A first force applied by the accumulator to the vehicle body is greater than a second force applied by the shock absorber to the vehicle body.

5. The control method according to claim 1, characterized in that: The shock absorber and the energy accumulator work together to ensure that the upward movement rate of the vehicle body is greater than 0 when the active suspension reaches the maximum stroke.

6. The control method according to claim 1, characterized in that: The shock absorber applies an upward force to the vehicle body during the process of the accumulator releasing the first stored energy.

7. The control method according to claim 1, characterized in that: A movement rate of the active suspension in storing energy in the accumulator is smaller than an initial movement rate of the active suspension in releasing the first stored energy in the accumulator.

8. The control method according to claim 1, characterized in that: The method further comprises: When the wheel is off the ground, the active suspension is controlled to perform a wheel-lifting movement to pull the wheel toward the vehicle body.

9. The control method according to claim 8, characterized in that: When the wheel is off the ground, controlling the active suspension to perform a wheel-lifting movement to pull the wheel toward the vehicle body includes: When the wheel leaves the ground and the take-off speed of the vehicle body drops to a set speed threshold, the active suspension is controlled to perform the wheel lifting movement, wherein the set speed threshold is greater than zero.

10. The control method according to claim 9, characterized in that: After controlling the active suspension to perform a wheel-lifting movement to pull the wheel toward the vehicle body, the method further includes: When the wheel falls to the ground, the accumulator is charged until the charged energy of the accumulator reaches a set second stored energy; wherein the second stored energy is greater than the first stored energy; When the stored energy of the accumulator reaches the second stored energy, the active suspension is controlled to drive the vehicle body to jump, thereby releasing the second stored energy.

11. The control method according to claim 10, characterized in that: A rate of movement of the active suspension in storing the second stored energy in the accumulator is greater than a rate of movement of the active suspension in storing the first stored energy in the accumulator.

12. The control method according to any one of claims 8 to 11, characterized in that: After controlling the active suspension to perform a wheel-lifting movement to pull the wheel toward the vehicle body, the method further includes: When the vehicle height drops, the shock absorber is controlled to be in a passive state in which the output is not actively adjusted.

13. A vehicle take-off control device, characterized in that: include: an energy storage control module, configured to store energy in the energy accumulator upon receiving a take-off instruction, until the energy stored in the energy accumulator reaches a set first stored energy; The take-off control module is configured to release the first stored energy when the energy stored in the accumulator reaches the first stored energy, so that the shock absorber of the active suspension and the accumulator work together to apply a take-off force to the vehicle body to cause the vehicle body to jump, so that the upward movement rate of the vehicle body when the wheel leaves the ground is greater than zero.

14. A vehicle take-off control device, characterized in that: The method comprises a memory and a processor, wherein the memory stores executable instructions, and the instructions are used to control the processor to operate so as to execute the control method according to any one of claims 1 to 12.

15. An active suspension, characterized in that: include: a shock absorber, the shock absorber being used to connect the vehicle body and the wheels; an accumulator, the accumulator being used to connect the vehicle body and the wheels; as well as, The control device is the control device according to claim 13 or 14.

16. A vehicle, characterized in that: include: a shock absorber connecting the vehicle body and the wheels; an accumulator, the accumulator being used to connect the vehicle body and the wheels; as well as, The control device is the control device according to claim 13 or 14.

17. A vehicle, characterized in that: The active suspension according to claim 15 is comprised of the shock absorber and the energy accumulator connected between the vehicle body and the wheels.

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