Vehicle suspension damping control method, device, equipment and readable storage medium

Abstract

The application provides a vehicle suspension damping control method, device, equipment and readable storage medium, and the method comprises the following steps: calculating the wheel weighted acceleration according to the acceleration of the wheel in the longitudinal direction, the lateral direction and the vertical direction and the corresponding weighting coefficient; if the peak value of the wheel weighted acceleration in the current statistical period is greater than the first acceleration threshold value, heating the target suspension bushing to reduce the stiffness of the target suspension bushing, wherein the target suspension bushing is a rubber bushing. Through the application, the riding comfort is accurately estimated according to the wheel weighted acceleration, the heating timing judgment accuracy of the rubber bushing is high, and the riding comfort is significantly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle damping, in particular to a vehicle suspension damping control method, device, equipment and readable storage medium. BACKGROUND

[0002] With the development of automobile technology, people's requirements for riding comfort are also getting higher and higher. Among them, the damping effect of the automobile is one of the indicators to measure the riding comfort. In order to improve the riding comfort, the automobile is usually controlled to be damped when it is jolted. The rubber bushing in the vehicle suspension has low cost and can isolate vibration and reduce noise. There are mainly two problems in the use of the rubber bushing. One is that the stiffness of the rubber bushing is easily affected by temperature, and the actual stiffness is significantly improved compared with the designed stiffness when the temperature is low, resulting in reduced riding comfort. The second is that the designed stiffness cannot meet the damping requirements under extreme impact conditions. In related technologies, the rubber bushing in the vehicle suspension is heated when the vibration frequency of the automobile is high, so as to reduce the stiffness of the rubber bushing, thereby realizing vehicle damping. However, the heating timing judged according to the vibration frequency has insufficient accuracy, and the improvement of the riding comfort is small. SUMMARY

[0003] The present application provides a vehicle suspension damping control method, device, equipment and readable storage medium, which can solve the technical problem of insufficient accuracy of the heating timing of the rubber bushing in the prior art.

[0004] In a first aspect, an embodiment of the present application provides a vehicle suspension damping control method, which comprises:

[0005] The wheel weighted acceleration is calculated according to the acceleration of the wheel in the longitudinal direction, the lateral direction and the vertical direction and the corresponding weighting coefficients.

[0006] If the peak value of the wheel weighted acceleration in the current statistical period is greater than the first acceleration threshold, the target suspension bushing is heated to reduce the stiffness of the target suspension bushing, wherein the target suspension bushing is a rubber bushing.

[0007] Further, in an embodiment, the calculation formula of the wheel weighted acceleration is:

[0008]

[0009] wherein a x , a y , a z are the longitudinal acceleration of the wheel, the lateral acceleration of the wheel and the vertical acceleration of the wheel respectively, and a, b, g are the longitudinal weighting coefficient, the lateral weighting coefficient and the vertical weighting coefficient respectively.

[0010] Further, in an embodiment, α, β, γ are respectively 0.45, 0.2, 0.35.

[0011] Further, in an embodiment, the target suspension bushing comprises a bushing shell, rubber and resistance wire.

[0012] The rubber is arranged between the inner shell and the outer shell of the bushing shell, and the resistance wire is spirally arranged in the rubber to heat the rubber when powered.

[0013] Further, in an embodiment, the calculation formulae of the winding diameter, the cross-sectional diameter and the winding pitch of the resistance wire are as follows:

[0014]

[0015] B = (D - d) x μ / 2 x ω

[0016] b = L / Bρ

[0017] wherein, is the winding diameter of the resistance wire, D is the outer diameter of the rubber, d is the inner diameter of the rubber, B is the cross-sectional diameter of the resistance wire, μ is the excess coefficient, ω is the number of turns coefficient, b is the winding pitch of the resistance wire, L is the length of the resistance wire in the axial direction of the bushing, and ρ is the winding density.

[0018] Further, in an embodiment, the vehicle suspension damping control method further comprises:

[0019] If the peak value of the wheel weighted acceleration in the current statistical period is less than or equal to the first acceleration threshold, or the temperature of the target suspension bushing at the current moment is greater than the temperature threshold, or the peak value of any one of the accelerations of the vehicle body in the longitudinal direction, the lateral direction and the vertical direction in the current statistical period is greater than the second acceleration threshold, the heating of the target suspension bushing is stopped.

[0020] Further, in an embodiment, the vehicle suspension damping control method further comprises:

[0021] If the average deformation amount of the target suspension bushing in the current statistical period is greater than the deformation amount threshold, the user is reminded to replace the target suspension bushing.

[0022] In a second aspect, the embodiments of the present application also provide a vehicle suspension damping control device, which comprises:

[0023] The weighting calculation module is configured to calculate the wheel weighted acceleration according to the accelerations of the wheels in the longitudinal direction, the lateral direction and the vertical direction and the corresponding weighting coefficients.

[0024] The heating module is configured to heat the target suspension bushing to reduce the stiffness of the target suspension bushing if a peak value of the wheel weighted acceleration in a current statistical period is greater than a first acceleration threshold, wherein the target suspension bushing is a rubber bushing.

[0025] In a third aspect, an embodiment of the present application further provides a vehicle suspension damping control device, which comprises a processor, a memory, and a vehicle suspension damping control program stored in the memory and executable by the processor, wherein the vehicle suspension damping control program, when executed by the processor, implements the steps of the vehicle suspension damping control method.

[0026] In a fourth aspect, an embodiment of the present application further provides a readable storage medium, which stores a vehicle suspension damping control program, wherein the vehicle suspension damping control program, when executed by a processor, implements the steps of the vehicle suspension damping control method.

[0027] In the present application, the wheel weighted acceleration is calculated according to the acceleration of the wheel in the longitudinal direction, the lateral direction and the vertical direction and the corresponding weighting coefficients; if a peak value of the wheel weighted acceleration in a current statistical period is greater than a first acceleration threshold, the target suspension bushing is heated to reduce the stiffness of the target suspension bushing, wherein the target suspension bushing is a rubber bushing. Through the present application, the ride comfort is accurately estimated according to the wheel weighted acceleration, the accuracy of the heating timing of the rubber bushing is high, and thus the ride comfort is significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 FIG. 1 is a flowchart of a vehicle suspension damping control method according to an embodiment of the present application;

[0029] Figure 2 FIG. 2 is a structural diagram of a target suspension bushing according to an embodiment of the present application;

[0030] Figure 3 FIG. 3 is a flowchart of a vehicle suspension damping control method according to another embodiment of the present application;

[0031] Figure 4 FIG. 4 is a functional module diagram of a vehicle suspension damping control device according to an embodiment of the present application;

[0032] Figure 5 FIG. 5 is a hardware structure diagram of a vehicle suspension damping control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0033] In order to make the personnel in the technical field better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0034] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings.

[0035] In a first aspect, the embodiments of the present application provide a vehicle suspension damping control method.

[0036] Figure 1 A flowchart of the vehicle suspension damping control method in an embodiment of the present application is shown.

[0037] With reference to Figure 1 In an embodiment, the vehicle suspension damping control method comprises the following steps:

[0038] S11, calculating the wheel weighted acceleration according to the acceleration of the wheel in the longitudinal, lateral and vertical directions and the corresponding weighting coefficients.

[0039] In the present embodiment, the acceleration sensor installed at the connection between the wheel rim and the steering knuckle is used to collect the acceleration of the wheel in the longitudinal, lateral and vertical directions. The weighting coefficients are used to feedback the force sensitivity difference of the driver in the longitudinal, lateral and vertical directions, which is determined based on the subjective evaluation data analysis. In this way, the ride comfort can be accurately estimated by the wheel weighted acceleration.

[0040] Optionally, the frequency of the weighting calculation can be consistent with the collection frequency of the sensor, or can be lower than the collection frequency of the sensor, which is not limited in the present application.

[0041] Optionally, the weighting coefficients can be determined by a linear regression modeling method, based on the sample of objective data measurement and the subjective evaluation result of the professional personnel, to solve the coefficients and constant term of the linear regression equation.

[0042] S12, if the peak value of the wheel weighted acceleration in the current statistical period is greater than the first acceleration threshold, heating the target suspension bushing to reduce the stiffness of the target suspension bushing, wherein the target suspension bushing is a rubber bushing.

[0043] In the present embodiment, when the peak value of the wheel weighted acceleration in the current statistical period is greater than the first acceleration threshold, it is judged that there is a certain impact feeling under the current motion excitation, and the stiffness of the target suspension bushing needs to be reduced to buffer the impact, so as to improve the ride comfort.

[0044] Optionally, any number of bushings in any position of the wheel suspension are selected as the target suspension bushing according to needs, for example, the swing arm bushing is selected as the target suspension bushing.

[0045] Optionally, the statistical period can be updated by a sliding window method, that is, each time a new wheel weighted acceleration value is generated, it is added to the current statistical array, and the earliest wheel weighted acceleration value is removed, or each time the statistical period is updated, all wheel weighted acceleration values in the current statistical array are removed, and new wheel weighted acceleration values are added one by one.

[0046] Therefore, in the embodiment, the wheel weighted acceleration is calculated according to the acceleration of the wheel in the longitudinal direction, the lateral direction and the vertical direction and the corresponding weighting coefficients; if the peak value of the wheel weighted acceleration in the current statistical period is greater than the first acceleration threshold, the target suspension bushing is heated to reduce the stiffness of the target suspension bushing, wherein the target suspension bushing is a rubber bushing. Through the embodiment, the ride comfort is accurately estimated according to the wheel weighted acceleration, the judgment accuracy of the heating time of the rubber bushing is high, and thus the ride comfort is significantly improved.

[0047] Further, in an embodiment, the calculation formula of the wheel weighted acceleration is:

[0048]

[0049] wherein a x , a y , and a z are the longitudinal acceleration of the wheel, the lateral acceleration of the wheel and the vertical acceleration of the wheel respectively, and α, β, γ are the longitudinal weighting coefficient, the lateral weighting coefficient and the vertical weighting coefficient respectively.

[0050] In the embodiment, the wheel weighted acceleration is the weighted root mean square of the longitudinal acceleration of the wheel, the lateral acceleration of the wheel and the vertical acceleration of the wheel, which is helpful to accurately evaluate the vehicle ride comfort.

[0051] Further, in an embodiment, α, β, γ take values of 0.45, 0.2 and 0.35 respectively.

[0052] In the embodiment, the reference values of the longitudinal weighting coefficient, the lateral weighting coefficient and the vertical weighting coefficient are provided, which can be directly used or adjusted according to the actual vehicle model and subjective evaluation data analysis.

[0053] Further, in an embodiment, the target suspension bushing comprises a bushing shell, rubber and resistance wire, the rubber is arranged between the inner shell and the outer shell of the bushing shell, and the resistance wire is spirally wound in the rubber to heat the rubber when powered.

[0054] In the embodiment, the rubber in the target suspension bushing is heated by the resistance wire spirally wound in the rubber, so as to improve the heating speed and the heating uniformity.

[0055] Figure 2 A structure diagram of the target suspension bushing in an embodiment of the application is shown.

[0056] With reference to Figure 2 , the target suspension bushing comprises a bushing shell 1, a rubber 2, a resistance wire 3, a current input end 4 and a current output end 5. The inner diameter of the rubber 2 is d, the outer diameter is D, the cross-sectional diameter of the resistance wire 3 is B, the winding diameter is , the winding pitch is b, and the length in the axial direction of the bushing 2 is L.

[0057] Further, in an embodiment, the calculation formulas of the winding diameter, the cross-sectional diameter and the winding pitch of the resistance wire are as follows:

[0058]

[0059] B = (D - d) x μ / 2 x ω

[0060] b = L / Bρ

[0061] wherein, is the winding diameter of the resistance wire, D is the outer diameter of the rubber, d is the inner diameter of the rubber, B is the cross-sectional diameter of the resistance wire, μ is the excess coefficient, ω is the number of turns coefficient, b is the winding pitch of the resistance wire, L is the length of the resistance wire in the axial direction of the bushing, and ρ is the winding density.

[0062] In the embodiment, the resistance wire is arranged at the center of the rubber thickness, and the heating uniformity is further improved. The cross-sectional diameter of the resistance wire is set according to the inner diameter of the rubber, the outer diameter of the rubber, the excess coefficient and the number of turns coefficient, so as to ensure the uniform distribution of the resistance wire in the rubber and the effectiveness of the function of the bushing. The winding pitch of the resistance wire is set according to the length of the resistance wire in the axial direction of the bushing, the cross-sectional diameter of the resistance wire and the winding density, so as to avoid the dense contact winding of the resistance wire.

[0063] For example, the value of μ is 0.9, the value of ω is 0.25, and the value of ρ is 30%-90%.

[0064] Figure 3 A flowchart of a vehicle suspension damping control method in another embodiment of the application is shown.

[0065] With reference to Figure 3 , further, in an embodiment, after the step of heating the target suspension bushing to reduce the rigidity of the target suspension bushing, the method further comprises:

[0066] If the peak value of the wheel weighted acceleration in the current statistical period is less than or equal to the first acceleration threshold, or the temperature of the target suspension bushing at the current moment is greater than the temperature threshold, or the peak value of any one of the accelerations of the vehicle body in the longitudinal direction, the lateral direction and the vertical direction in the current statistical period is greater than the second acceleration threshold, the heating of the target suspension bushing is stopped.

[0067] In the embodiment, if the peak value of the wheel weighted acceleration in the current statistical period is less than or equal to the first acceleration threshold, it indicates that the stiffness of the target suspension bushing meets the damping requirement under the current working condition; if the temperature of the target suspension bushing at the current moment is greater than the temperature threshold, the continuous heating will exceed the normal function range of the rubber and cause irreversible damage; if the peak value of any one of the accelerations of the vehicle body in the longitudinal direction, the lateral direction and the vertical direction in the current statistical period is greater than the second acceleration threshold, it indicates that the stiffness change of the target suspension bushing affects the stability of the vehicle body. When any of the above three conditions occurs, the heating of the target suspension bushing needs to be stopped.

[0068] Further, in an embodiment, the vehicle suspension damping control method further comprises:

[0069] If the average deformation amount of the target suspension bushing in the current statistical period is greater than the deformation amount threshold, the user is reminded to replace the target suspension bushing.

[0070] In the embodiment, if the average deformation amount of the target suspension bushing in the current statistical period is greater than the deformation amount threshold, it indicates that the target suspension bushing has obvious plastic deformation due to aging, and the user is reminded to replace the target suspension bushing in time to ensure the normal performance of the wheel suspension damping control.

[0071] In a second aspect, the embodiment of the application further provides a vehicle suspension damping control device.

[0072] Figure 4 A functional module schematic diagram of the vehicle suspension damping control device in an embodiment of the application is shown.

[0073] With reference to Figure 4 In an embodiment, the vehicle suspension damping control device comprises:

[0074] The weighted calculation module 10 is configured to calculate the wheel weighted acceleration according to the accelerations of the wheels in the longitudinal direction, the lateral direction and the vertical direction and the corresponding weighting coefficients.

[0075] The heating module 20 is configured to heat the target suspension bushing if the peak value of the wheel weighted acceleration in the current statistical period is greater than the first acceleration threshold, so as to reduce the stiffness of the target suspension bushing, wherein the target suspension bushing is a rubber bushing.

[0076] Further, in an embodiment, the formula for calculating the wheel weighted acceleration is:

[0077]

[0078] wherein a x , a y , and a z are the wheel longitudinal acceleration, the wheel lateral acceleration, and the wheel vertical acceleration, respectively, and a, b, g are the longitudinal weighting coefficient, the lateral weighting coefficient, and the vertical weighting coefficient, respectively.

[0079] Further, in an embodiment, a, b, g take values of 0.45, 0.2, and 0.35, respectively.

[0080] Further, in an embodiment, the target suspension bushing comprises a bushing shell, rubber, and resistance wire;

[0081] The rubber is arranged between the inner shell and the outer shell of the bushing shell, and the resistance wire is spirally wound in the rubber to heat the rubber when energized.

[0082] Further, in an embodiment, the formula for calculating the winding diameter, the cross-sectional diameter, and the winding pitch of the resistance wire is:

[0083]

[0084] B = (D - d) x m / 2 x w

[0085] b = L / Bp

[0086] wherein is the winding diameter of the resistance wire, D is the outer diameter of the rubber, d is the inner diameter of the rubber, B is the cross-sectional diameter of the resistance wire, m is the excess coefficient, w is the number of turns coefficient, b is the winding pitch of the resistance wire, L is the length of the resistance wire in the axial direction of the bushing, and p is the winding density.

[0087] Further, in an embodiment, the vehicle suspension damping control device further comprises a stopping module 30 for:

[0088] If the peak value of the wheel weighted acceleration in the current statistical period is less than or equal to the first acceleration threshold, or the temperature of the target suspension bushing at the current time is greater than the temperature threshold, or the peak value of any one of the accelerations of the vehicle body in the longitudinal, lateral, and vertical directions in the current statistical period is greater than the second acceleration threshold, the heating of the target suspension bushing is stopped.

[0089] Further, in an embodiment, the vehicle suspension damping control device further comprises a reminding module 40 for:

[0090] If the average deformation of the target suspension bushing in the current statistical period is greater than the deformation threshold, the user is reminded to replace the target suspension bushing.

[0091] The functions of the modules in the vehicle suspension damping control device correspond to the steps in the vehicle suspension damping control method, and the functions and implementation processes are not repeated here.

[0092] In a third aspect, the embodiments of the present application provide a vehicle suspension damping control device, which can be a personal computer (PC), a notebook computer, a server, or other device with data processing function.

[0093] Figure 5 A hardware structure schematic diagram of the vehicle suspension damping control device involved in the embodiments of the present application is shown.

[0094] Referring to Figure 5 In the embodiments of the present application, the vehicle suspension damping control device can include a processor, a memory, a communication interface, and a communication bus. The device calls the vehicle suspension damping control program stored in the memory through the processor, and performs the following operations:

[0095] The wheel weighted acceleration is calculated according to the acceleration of the wheel in the longitudinal, lateral and vertical directions and the corresponding weighting coefficients;

[0096] If the peak value of the wheel weighted acceleration in the current statistical period is greater than the first acceleration threshold, the target suspension bushing is heated to reduce the stiffness of the target suspension bushing, wherein the target suspension bushing is a rubber bushing.

[0097] Further, in an embodiment, the calculation formula of the wheel weighted acceleration is:

[0098]

[0099] wherein a x , a y , and a z are the longitudinal, lateral and vertical accelerations of the wheel, and α, β, γ are the longitudinal, lateral and vertical weighting coefficients, respectively.

[0100] Further, in an embodiment, α, β, γ take values of 0.45, 0.2, and 0.35, respectively.

[0101] Further, in an embodiment, the target suspension bushing includes a bushing shell, rubber and resistance wire;

[0102] The rubber is arranged between the inner shell and the outer shell of the bushing housing, and the resistance wire is spirally arranged in the rubber to heat the rubber when powered.

[0103] Further, in an embodiment, the calculation formula of the winding diameter, the cross-sectional diameter and the winding pitch of the resistance wire is as follows:

[0104]

[0105] B=(D-d) x mu / 2 x omega

[0106] b=L / Bp

[0107] wherein, is the winding diameter of the resistance wire, D is the outer diameter of the rubber, d is the inner diameter of the rubber, B is the cross-sectional diameter of the resistance wire, mu is the excess coefficient, omega is the number of turns coefficient, b is the winding pitch of the resistance wire, L is the length of the resistance wire in the axial direction of the bushing, and p is the winding density.

[0108] Further, in an embodiment, the vehicle suspension damping control device further performs the following operation by calling the vehicle suspension damping control program stored in the memory through the processor:

[0109] If the peak value of the wheel weighted acceleration in the current statistical period is less than or equal to the first acceleration threshold value, or the temperature of the target suspension bushing at the current moment is greater than the temperature threshold value, or the peak value of any one of the accelerations of the vehicle body in the longitudinal direction, the lateral direction and the vertical direction in the current statistical period is greater than the second acceleration threshold value, the heating of the target suspension bushing is stopped.

[0110] Further, in an embodiment, the vehicle suspension damping control device further performs the following operation by calling the vehicle suspension damping control program stored in the memory through the processor:

[0111] If the average deformation amount of the target suspension bushing in the current statistical period is greater than the deformation amount threshold value, the user is reminded to replace the target suspension bushing.

[0112] The communication bus can be of any type, for interconnecting the processor, the memory and the communication interface. The communication interface includes an input / output (I / O) interface, a physical interface and a logical interface, etc. for interconnecting the devices inside the vehicle suspension damping control device, and an interface for interconnecting the vehicle suspension damping control device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber interface, an ATM interface, etc.; the user device can be a display (Display), a keyboard (Keyboard), etc.

[0113] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0114] The processor can be a general-purpose processor, which can call the vehicle suspension damping control program stored in the memory and execute the vehicle suspension damping control method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU).

[0115] Those skilled in the art will understand that Figure 5 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0116] Fourthly, embodiments of this application also provide a readable storage medium.

[0117] This application has a readable storage medium storing a vehicle suspension damping control program, wherein when the vehicle suspension damping control program is executed by a processor, it performs the following operations:

[0118] The wheel weighted acceleration is calculated based on the wheel's acceleration in the longitudinal, lateral, and vertical directions and the corresponding weighting coefficients.

[0119] If the peak value of the wheel weighted acceleration in the current statistical period is greater than the first acceleration threshold, the target suspension bushing is heated to reduce the stiffness of the target suspension bushing, wherein the target suspension bushing is a rubber bushing.

[0120] Furthermore, in one embodiment, the formula for calculating the wheel weighted acceleration is:

[0121]

[0122] Among them, a x a y a z These represent the longitudinal acceleration, lateral acceleration, and vertical acceleration of the wheel, respectively, with α, β, and γ being the longitudinal weighting coefficient, lateral weighting coefficient, and vertical weighting coefficient, respectively.

[0123] Further, in an embodiment, α, β, γ are respectively 0.45, 0.2, 0.35.

[0124] Further, in an embodiment, the target suspension bushing comprises a bushing shell, rubber and resistance wire.

[0125] The rubber is arranged between the inner shell and the outer shell of the bushing shell, and the resistance wire is spirally arranged in the rubber to heat the rubber when powered.

[0126] Further, in an embodiment, the calculation formulae of the winding diameter, the cross-sectional diameter and the winding pitch of the resistance wire are as follows:

[0127]

[0128] B=(D-d)×μ / 2×ω

[0129] b=L / Bρ

[0130] wherein, is the winding diameter of the resistance wire, D is the outer diameter of the rubber, d is the inner diameter of the rubber, B is the cross-sectional diameter of the resistance wire, μ is the excess coefficient, ω is the number of turns coefficient, b is the winding pitch of the resistance wire, L is the length of the resistance wire in the axial direction of the bushing, and ρ is the winding density.

[0131] Further, in an embodiment, the vehicle suspension damping control program, when executed by the processor, further implements the following operations:

[0132] If the peak value of the wheel weighted acceleration in the current statistical period is less than or equal to the first acceleration threshold, or the temperature of the target suspension bushing at the current moment is greater than the temperature threshold, or the peak value of any one of the accelerations of the vehicle body in the longitudinal direction, the lateral direction and the vertical direction in the current statistical period is greater than the second acceleration threshold, the heating of the target suspension bushing is stopped.

[0133] Further, in an embodiment, the vehicle suspension damping control program, when executed by the processor, further implements the following operations:

[0134] If the average deformation amount of the target suspension bushing in the current statistical period is greater than the deformation amount threshold, the user is reminded to replace the target suspension bushing.

[0135] The method implemented by the vehicle suspension damping control program when executed can refer to each embodiment of the vehicle suspension damping control method of the present application, which will not be described here.

[0136] It should be noted that the serial numbers of the embodiments of the present application described above are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0137] The terms "comprise", "comprising", "include", "including", "have" and "having" and any variations thereof in the specification and in the claims are intended to cover both the singular and the plural unless otherwise indicated. For example, a process, method, system, product, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but can include other steps or elements not expressly listed or inherent to such process, method, system, product, or apparatus. The terms "first", "second", and "third" and the like, are used merely as labels, and are not intended to impose numerical requirements on their objects.

[0138] In the description of the present embodiments, "exemplary", "for example", "e.g." or "for instance" are used on an example basis to illustrate more clearly some of the embodiments of the present embodiments. Any embodiment or design scheme described as "exemplary", "for example", or "for instance" in the present embodiments should not be interpreted as being more preferred or advantageous than other embodiments or design schemes. In fact, the words "exemplary", "for example", or "for instance" are used in the sense of "by way of example", not "by way of limitation". Any embodiment or design scheme described as "exemplary", "for example", or "for instance" in the present embodiments is not necessarily to be construed as preferred or advantageous over other embodiments or design schemes.

[0139] In the description of the present embodiments, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in the text only describes the relationship of associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the present embodiments, "multiple" means two or more than two.

[0140] In some of the processes described in the present embodiments, a plurality of operations or steps are included in a specific order, but it should be understood that these operations or steps can be executed or performed in parallel or in an order different from their appearance in the present embodiments. The serial number of the operation is only used to distinguish different operations, and the serial number itself does not represent any execution order. In addition, these processes can include more or fewer operations, and these operations or steps can be executed in sequence or in parallel, and these operations or steps can be combined.

[0141] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by software plus a necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, an optical disk) as described above, and includes a plurality of instructions for causing a terminal device to execute the methods described in the various embodiments of the present application.

[0142] The preferred embodiments of the present application have been described above with the illustrated embodiments, and are not intended to limit the scope of patent protection for the present application. Any equivalent structure or equivalent process variations, which directly or indirectly incorporate the contents of the specification and drawings of the present application, are also intended to be included within the scope of patent protection for the present application.

Claims

1. A vehicle suspension damping control method characterized by, The vehicle suspension damping control method comprises: The wheel weighted acceleration is calculated according to the acceleration of the wheel in the longitudinal direction, the lateral direction and the vertical direction and corresponding weighting coefficients; If the peak value of the wheel weighted acceleration in the current statistical period is greater than a first acceleration threshold, the target suspension bushing is heated to reduce the stiffness of the target suspension bushing, wherein the target suspension bushing is a rubber bushing; If the peak value of the wheel weighted acceleration in the current statistical period is less than or equal to the first acceleration threshold, or the temperature of the target suspension bushing at the current moment is greater than a temperature threshold, or the peak value of any one of the accelerations of the vehicle body in the longitudinal direction, the lateral direction and the vertical direction in the current statistical period is greater than a second acceleration threshold, the heating of the target suspension bushing is stopped; If the average deformation amount of the target suspension bushing in the current statistical period is greater than a deformation amount threshold, the user is reminded to replace the target suspension bushing; The target suspension bushing comprises a bushing shell, rubber and resistance wire; The rubber is arranged between the inner shell and the outer shell of the bushing shell, and the resistance wire is spirally wound in the rubber to heat the rubber when powered on; The calculation formulae of the winding diameter, the cross-sectional diameter and the winding pitch of the resistance wire are: wherein, is the winding diameter of the resistance wire, D is the outer diameter of the rubber, d is the inner diameter of the rubber, B is the cross-sectional diameter of the resistance wire, is the excess coefficient, is the number of turns coefficient, is the winding pitch of the resistance wire, L is the length of the resistance wire in the axial direction of the bushing, is the winding density.

2. The vehicle suspension damping control method according to claim 1, characterized by, The calculation formula of the wheel weighted acceleration is: wherein , are the wheel longitudinal, lateral and vertical accelerations, respectively, , , are the longitudinal, lateral and vertical weighting factors, respectively.

3. The vehicle suspension damping control method according to claim 2, characterized by, , , respectively take the values 0.45, 0.2, 0.

35.

4. A vehicle suspension damping control device characterized by comprising: The vehicle suspension damping control device comprises: The weighting calculation module is configured to calculate the wheel weighted acceleration according to the acceleration of the wheel in the longitudinal direction, the lateral direction and the vertical direction and corresponding weighting coefficients; The heating module is configured to heat the target suspension bushing to reduce the stiffness of the target suspension bushing if the peak value of the wheel weighted acceleration in the current statistical period is greater than a first acceleration threshold, wherein the target suspension bushing is a rubber bushing; The stopping module is configured to stop the heating of the target suspension bushing if the peak value of the wheel weighted acceleration in the current statistical period is less than or equal to the first acceleration threshold, or the temperature of the target suspension bushing at the current moment is greater than a temperature threshold, or the peak value of any one of the accelerations of the vehicle body in the longitudinal direction, the lateral direction and the vertical direction in the current statistical period is greater than a second acceleration threshold; The reminding module is configured to remind the user to replace the target suspension bushing if the average deformation amount of the target suspension bushing in the current statistical period is greater than a deformation amount threshold; The target suspension bushing comprises a bushing shell, rubber and resistance wire; The rubber is arranged between the inner shell and the outer shell of the bushing shell, and the resistance wire is spirally wound in the rubber to heat the rubber when powered on; The calculation formulae of the winding diameter, the cross-sectional diameter and the winding pitch of the resistance wire are: wherein, is the winding diameter of the resistance wire, D is the outer diameter of the rubber, d is the inner diameter of the rubber, B is the cross-sectional diameter of the resistance wire, is the excess coefficient, is the number of turns coefficient, is the winding pitch of the resistance wire, L is the length of the resistance wire in the axial direction of the bushing, is the winding density.

5. A vehicle suspension damping control apparatus characterized by comprising: The vehicle suspension damping control device comprises a processor, a memory and a vehicle suspension damping control program stored in the memory and executable by the processor, wherein the vehicle suspension damping control program is executed by the processor to implement the steps of the vehicle suspension damping control method according to any one of claims 1 to 3.

6. A readable storage medium characterized by, The readable storage medium stores a vehicle suspension damping control program, wherein the vehicle suspension damping control program is executed by the processor to implement the steps of the vehicle suspension damping control method according to any one of claims 1 to 3.

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