A suspension height control method, apparatus, device, storage medium, and computer program product.

Abstract

This application provides a suspension height control method, device, equipment, storage medium, and computer program product, relating to the field of automotive technology. The suspension height control method obtains parameters such as the first target control height corresponding to each suspension of the vehicle at the previous moment to represent the first limit state of each suspension at the previous moment and the second limit state of each suspension at the current moment. It then obtains the second target control height that each suspension needs to maintain within the current height maintenance set time. This allows the actual control height of each suspension to be buffered based on the second target control height, maintaining at least the corresponding height maintenance set time at the maximum or minimum allowable height. Furthermore, it allows each suspension to adjust its height through corresponding height change steps, preventing the suspension from generating forces exceeding the upper limit due to rapid adjustment of the actual control height at the upper and lower limit positions. This reduces the stress on each suspension during operation and extends its service life.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and in particular to a suspension height control method, device, equipment, storage medium, and computer program product. Background Technology

[0002] In existing technology, a vehicle can have four suspensions: left front, right front, left rear, and right rear. The suspension height can be adjusted according to different road conditions to reduce vehicle vibration and ensure ride comfort. For rough or steep roads, the vehicle controller needs to repeatedly adjust the suspension height to distribute pressure on the tires and body. However, if the suspension height is immediately reversed during adjustment, the internal hydraulic system and mechanical mechanisms will experience significant instantaneous stress, especially when the suspension height is just adjusted to its maximum or minimum allowable height. Repeatedly performing this operation over a long period can easily damage the internal hydraulic system and mechanical structure of the suspension, or significantly reduce its service life. Summary of the Invention

[0003] The main objective of this application is to provide a suspension height control method, device, equipment, storage medium, and computer program product, which aims to solve the technical problem of how to prevent the suspension of a vehicle from generating a force exceeding the upper limit of force when the actual control height of each suspension is immediately adjusted at the moment it is adjusted to the upper or lower limit of the height.

[0004] To achieve the above objectives, this application provides a suspension height control method, the steps of which include:

[0005] Based on the first target control height corresponding to each suspension of the vehicle at the previous moment, the maximum allowable height corresponding to each suspension, and the minimum allowable height corresponding to each suspension, the first limit state of each suspension at the previous moment is determined, and the duration of each first state in maintaining each first limit state is recorded.

[0006] Based on each of the first target control heights, each of the steady-state target control heights corresponding to each of the suspensions, each of the maximum allowable heights, each of the minimum allowable heights, and the preset height change step size, the theoretical second limit states corresponding to each of the suspensions at the current moment are determined;

[0007] Based on each of the first extreme states, each of the second extreme states, each of the first state durations, and each height maintenance set time, obtain each of the second target control heights corresponding to the current moment of each suspension.

[0008] Based on the second target control height, the actual control height of each suspension is adjusted to prevent damage to each suspension caused by an excessive force generated when the actual control height is adjusted to the corresponding maximum or minimum allowable height.

[0009] In one embodiment, the step of determining the theoretically corresponding second limit states of each suspension at the current moment based on each first target control height, each steady-state target control height corresponding to each suspension, each maximum allowable height, each minimum allowable height, and a preset height change step size includes:

[0010] Based on each of the first target control heights and each of the steady-state target control heights, multiple values ​​among the sum of each of the first target control heights and the height change step size, the difference between each of the first target control heights and the height change step size, each of the minimum allowable heights, each of the maximum allowable heights, and each of the steady-state target control heights are selected as each of the theoretically corresponding second target control heights of each suspension.

[0011] Each second limit state is obtained based on each second target control height, each minimum allowable height, and each maximum allowable height.

[0012] In one embodiment, before the step of obtaining the second target control height corresponding to the current moment of each suspension based on each first limit state, each second limit state, each first state maintenance time, and each height maintenance setting time, the method further includes:

[0013] Obtain the control height of each second target at the previous moment, the duration of each upper limit height at the previous moment, and the duration of each lower limit height at the previous moment;

[0014] Based on the control height of each second target at the previous moment, each maximum allowable height, each minimum allowable height, each first state maintenance time, each height maintenance setting time, task execution cycle, each upper limit height maintenance time at the previous moment, and each lower limit height maintenance time at the next moment, obtain the theoretical upper limit height maintenance time and the theoretical lower limit height maintenance time of each suspension at the current moment.

[0015] Based on the theoretical maximum height maintenance time and the theoretical minimum height maintenance time, the height maintenance setting time is obtained.

[0016] In one embodiment, the step of obtaining the theoretical maximum height maintenance time and the theoretical lower limit height maintenance time of each suspension at the current moment based on the second target control height at the previous moment, the maximum allowable height, the minimum allowable height, the first state maintenance time, the height maintenance setting time, the task execution cycle, the upper limit height maintenance time at the previous moment, and the lower limit height maintenance time at the next moment includes:

[0017] Based on the duration of each first state and the task execution cycle, obtain the estimated duration of each upper limit height and the estimated duration of each lower limit height theoretically corresponding to each suspension.

[0018] Based on the estimated upper limit height maintenance time, the estimated lower limit height maintenance time, and the set height maintenance time, the theoretical limit height maintenance time and the theoretical lower limit height maintenance time are obtained.

[0019] In one embodiment, before the step of determining each first limit state of each suspension at the previous moment based on each first target control height corresponding to each suspension of the vehicle at the previous moment, each maximum allowable height corresponding to each suspension, and each minimum allowable height corresponding to each suspension, and recording the duration of each first state maintaining each first limit state, the method further includes:

[0020] When the vehicle controller is powered on, the height sensors installed on each of the suspensions are initialized.

[0021] The control height of each of the first targets is obtained by using the height sensors after initialization.

[0022] In one embodiment, after the step of adjusting the actual control height of each of the suspensions based on the second target control height, the method further includes:

[0023] The control heights of the first targets corresponding to the previous time step will be updated and replaced based on the currently acquired control heights of the second targets.

[0024] Furthermore, to achieve the above objectives, this application also provides a suspension height control device, the suspension height control device comprising:

[0025] The first state acquisition module is used to determine the first limit states of each suspension at the previous moment based on the first target control heights corresponding to each suspension of the whole vehicle at the previous moment, the maximum allowable heights corresponding to each suspension, and the minimum allowable heights corresponding to each suspension, and to record the duration of each first state for maintaining each first limit state.

[0026] The second state acquisition module is used to determine the theoretically corresponding second limit states of each suspension at the current moment based on each first target control height, each steady-state target control height corresponding to each suspension, each maximum allowable height, each minimum allowable height, and a preset height change step size.

[0027] The suspension target height acquisition module is used to acquire each second target control height corresponding to the current moment of each suspension based on each first limit state, each second limit state, each first state maintenance time, and each height maintenance setting time.

[0028] The suspension height adjustment module is used to adjust the actual control height of each suspension based on the second target control height, so as to prevent each suspension from being damaged by the force exceeding the upper limit of force generated by the immediate adjustment of the actual control height when it is adjusted to the corresponding maximum allowable height or minimum allowable height.

[0029] In addition, to achieve the above objectives, this application also provides a suspension height control device, the suspension height control device comprising: a memory, a processor, and a suspension height control program stored in the memory and executable on the processor, the suspension height control program being configured to implement the steps of the suspension height control method as described above.

[0030] In addition, to achieve the above objectives, this application also provides a storage medium, which is a computer-readable storage medium, on which a suspension height control program is stored, and when the suspension height control program is executed by a processor, it implements the steps of the suspension height control method as described above.

[0031] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the suspension height control method described above.

[0032] This application provides a suspension height control method, device, equipment, storage medium, and computer program product. The suspension height control method includes the following steps: determining each first limit state of each suspension at the previous moment based on each first target control height corresponding to each suspension of the vehicle at the previous moment, each maximum allowable height corresponding to each suspension, and each minimum allowable height corresponding to each suspension, and recording the maintenance time of each first state for each first limit state; determining each second limit state theoretically corresponding to each suspension at the current moment based on each first target control height, each steady-state target control height corresponding to each suspension, each maximum allowable height, each minimum allowable height, and a preset height change step size; obtaining each second target control height corresponding to each suspension at the current moment based on each first limit state, each second limit state, each first state maintenance time, and each height maintenance setting time; and adjusting the actual control height of each suspension based on the second target control height to prevent damage to each suspension due to excessive force generated by immediately adjusting the actual control height at the moment of adjustment to the corresponding maximum allowable height or minimum allowable height. By obtaining parameters such as the first target control height corresponding to each suspension of the vehicle at the previous moment, the first limit state of each suspension at the previous moment and the second limit state of each suspension at the current moment are obtained. This allows the second target control height that each suspension needs to maintain within the current height maintenance set time to be obtained. This enables the actual control height of each suspension to be buffered based on the second target control height, maintaining at least the corresponding height maintenance set time at the maximum or minimum allowable height. Furthermore, each suspension adjusts its height through corresponding height change steps, preventing the suspension from generating forces exceeding the upper limit due to rapid adjustment of the actual control height at the upper and lower limit positions. This reduces the stress on each suspension during operation and extends the service life of the suspension. Attached Figure Description

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0035] Figure 1 This is a flowchart illustrating an embodiment of the suspension height control method of this application.

[0036] Figure 2This is a flowchart illustrating Embodiment 2 of the suspension height control method of this application;

[0037] Figure 3 This is a flowchart illustrating Embodiment 3 of the suspension height control method of this application;

[0038] Figure 4 This is a schematic diagram of the module structure of the suspension height control device according to an embodiment of this application;

[0039] Figure 5 This is a schematic diagram of the suspension height control device according to an embodiment of this application.

[0040] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0041] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0042] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0043] The main solution of this application is as follows: Based on the first target control height, the maximum allowable height, and the minimum allowable height of each suspension at the previous moment, determine the first limit state of each suspension at the previous moment, and record the maintenance time of each first limit state; Based on the first target control height, the steady-state target control height, the maximum allowable height, the minimum allowable height, and a preset height change step, determine the theoretical second limit state of each suspension at the current moment; Based on the first limit state, the second limit state, the maintenance time of each first state, and the height maintenance setting time, obtain the second target control height of each suspension at the current moment; Based on the second target control height, adjust the actual control height of each suspension to prevent damage caused by the force exceeding the upper limit of force generated by immediately adjusting the actual control height at the moment when adjusting to the corresponding maximum allowable height or minimum allowable height.

[0044] Currently, existing technology allows for four suspensions in a vehicle: front left, front right, rear left, and rear right. The suspension height can be adjusted according to different road conditions to reduce vehicle vibration and ensure ride comfort. However, on rough or steep roads, the vehicle controller needs to repeatedly adjust the suspension height to distribute pressure across the tires and body. But if the suspension height is immediately reversed during adjustment, the internal hydraulic system and mechanical mechanisms will experience significant instantaneous stress, especially when the suspension height is just adjusted to its maximum or minimum allowable height. Repeatedly performing this operation over a long period can easily damage the internal hydraulic system and mechanical structures, or significantly reduce their service life. Therefore, preventing the suspension from experiencing excessive stress when the actual control height of each suspension is immediately adjusted to its upper or lower limit is a problem that urgently needs to be solved.

[0045] This application obtains parameters such as the first target control height corresponding to each suspension of the vehicle at the previous moment to represent the first limit state of each suspension at the previous moment and the second limit state of each suspension at the current moment. It then obtains the second target control height that each suspension needs to maintain within the current height maintenance set time. This allows the actual control height of each suspension to be buffered based on the second target control height at the maximum or minimum allowable height for at least the corresponding height maintenance set time. This prevents the suspension from generating forces exceeding the upper limit due to rapid adjustment of the actual control height at the upper and lower limit positions, reduces the stress on each suspension during operation, and extends the service life of the suspension.

[0046] It should be noted that the executing entity in this embodiment can be a suspension height control device, or a suspension height control device with data processing, network communication, and program execution functions, etc. This embodiment does not specifically limit it. The following uses a suspension height control device as the executing entity to describe this embodiment and the following embodiments.

[0047] Based on this, this application proposes a suspension height control method according to a first embodiment, please refer to... Figure 1 The suspension height control method includes steps S10-S40:

[0048] Step S10: Based on the first target control height corresponding to each suspension of the vehicle at the previous moment, the maximum allowable height corresponding to each suspension, and the minimum allowable height corresponding to each suspension, determine the first limit state of each suspension at the previous moment, and record the maintenance time of each first state for maintaining each first limit state.

[0049] It should be noted that, in this embodiment, the first target control height refers to the height that the vehicle controller needs to control a certain suspension in the vehicle to reach at the previous moment. Since the vehicle generally has four suspensions, each suspension should correspond to a first target control height. That is, each first target control height can generally be one of the four values ​​corresponding to the four suspensions. Correspondingly, each suspension has a maximum allowable height and a minimum allowable height. Therefore, each maximum allowable height and each minimum allowable height can also be one of the four values ​​corresponding to the four suspensions.

[0050] It is easy to understand that, in this embodiment, the first limit state refers to the state corresponding to each first target control height of each suspension at the previous moment. For a certain suspension, it can be divided into three states according to the first target control height and its corresponding maximum and minimum allowable heights: when the first target control height is equal to the maximum allowable height, it is the upper limit height state; when the first target control height is equal to the minimum allowable height, it is the lower limit height state; and when the first target control height is neither equal to the maximum nor the minimum allowable height, it is the non-limit height state. When the corresponding suspension is in the above three first limit states, the maintenance time of the first limit state can also be recorded, that is, the first state maintenance time. Specifically, the maintenance time of the first state corresponding to each of the above three first limit states can be recorded separately.

[0051] Wherein, if the upper limit height state is represented by "1", the lower limit height state by "-1", and the non-limit height state by "0", then the calculation formula for each first limit state corresponding to each suspension is as follows:

[0052]

[0053] Among them, SH fl This represents the first limit state of the left front suspension, SH fr This represents the first extreme state of the right front suspension, SH rl This represents the first limit state of the left rear suspension, SH rr This represents the first extreme state of the right rear suspension; H(k-1) fl The first target control height for the left front suspension is H(k-1). fr The first target control height for the right front suspension is H(k-1). rl The first target control height for the left rear suspension is H(k-1). rr The first target control height for the right rear suspension; Hmax fl Hmax is the maximum permissible height of the left front suspension. fr Hmax is the maximum permissible height of the right front suspension. rl Hmax is the maximum permissible height of the left rear suspension. rrHmin is the maximum permissible height of the right rear suspension. fl Hmin is the minimum permissible height for the left front suspension. fr Hmin is the minimum permissible height for the right front suspension. rl Hmin is the minimum permissible height for the left rear suspension. rr This is the minimum permissible height for the right rear suspension.

[0054] Step S20: Based on each of the first target control heights, each of the steady-state target control heights corresponding to each of the suspensions, each of the maximum allowable heights, each of the minimum allowable heights, and the preset height change step size, determine each of the theoretically corresponding second limit states of each of the suspensions at the current moment;

[0055] It is easy to understand that since the first target control height of the suspension is always adjusted according to road conditions, the first target control height of each suspension will change dynamically. In this embodiment, the theoretically corresponding second limit states of each suspension at the current moment can be obtained based on the first target control height at the previous moment, the steady-state target control height corresponding to each suspension under ideal conditions, the maximum allowable height corresponding to each suspension, the minimum allowable height corresponding to each suspension, and the height change step size corresponding to each suspension height adjustment preset by the operator.

[0056] It is easy to understand that, in this embodiment, each second limit state can also be divided into an upper limit height state, a lower limit height state, and a non-limit height state.

[0057] Step S30: Based on each of the first limit states, each of the second limit states, each of the first state maintenance times, and each height maintenance setting time, obtain each of the second target control heights corresponding to the current moment of each suspension.

[0058] It should be noted that, in this embodiment, the second target control height that needs to be controlled for each suspension can be determined based on the first limit state corresponding to each suspension at the previous moment and the corresponding first state maintenance time, the calculated second limit state corresponding to each suspension at the current moment, and the height maintenance setting time used to limit each suspension to remain unchanged at any height.

[0059] It is easy to understand that in this embodiment, when the road conditions do not change significantly, the actual control height of each suspension does not need to change, and the second target control height can be the same as the first target control height at the previous moment; when the road conditions change, the actual control height of each suspension needs to change, and the second target control height is different from the first target control height at the previous moment.

[0060] It is worth noting that, due to the existence of a height maintenance setting time, for a certain suspension, when its actual control height has just reached the maximum or minimum allowable height, even if there is a reverse control requirement, that is, it is necessary to control its actual control height to be immediately adjusted to the opposite minimum or maximum allowable height, its corresponding second target control height will remain unchanged within the corresponding height maintenance setting time, and the corresponding operation will be executed only after the corresponding height maintenance setting time.

[0061] Step S40: Based on the second target control height, adjust the actual control height of each suspension to prevent damage to each suspension caused by an excessive force generated when adjusting the actual control height immediately upon reaching the corresponding maximum or minimum allowable height.

[0062] It is easy to understand that in this embodiment, in the time dimension, the second target control height is adaptively adjusted based on whether the first target control height at the previous moment is at the maximum or minimum allowable height. If the first target control height at the previous moment is at the maximum or minimum allowable height, then even if an adjustment to the opposite minimum or maximum allowable height is required, the second target control height at the current moment can remain unchanged for the corresponding height maintenance set time. Each acquired second target control height can be distributed and adjusted according to the height change step size. Thus, when adjusting the actual control height of each suspension using the second target control height, whether the suspension is at the limit position of the maximum or minimum allowable height or not, it will not cause the suspension to generate a force exceeding its maximum withstand capacity, effectively protecting the suspension and increasing its service life.

[0063] This application provides a suspension height control method, the steps of which include: determining each first limit state of each suspension at the previous moment based on each first target control height corresponding to each suspension of the vehicle at the previous moment, each maximum allowable height corresponding to each suspension, and each minimum allowable height corresponding to each suspension, and recording the maintenance time of each first state for maintaining each first limit state; determining each second limit state theoretically corresponding to each suspension at the current moment based on each first target control height, each steady-state target control height corresponding to each suspension, each maximum allowable height, each minimum allowable height, and a preset height change step size; obtaining each second target control height corresponding to each suspension at the current moment based on each first limit state, each second limit state, each first state maintenance time, and each height maintenance setting time; and adjusting the actual control height of each suspension based on the second target control height to prevent damage to each suspension due to an excessive force generated by immediately adjusting the actual control height at the moment of adjustment to the corresponding maximum allowable height or minimum allowable height. By obtaining parameters such as the first target control height corresponding to each suspension of the vehicle at the previous moment, the first limit state of each suspension at the previous moment and the second limit state of each suspension at the current moment are obtained. This allows the second target control height that each suspension needs to maintain within the current height maintenance set time to be obtained. This enables the actual control height of each suspension to be buffered based on the second target control height, maintaining at least the corresponding height maintenance set time at the maximum or minimum allowable height. Furthermore, each suspension adjusts its height through corresponding height change steps, preventing the suspension from generating forces exceeding the upper limit due to rapid adjustment of the actual control height at the upper and lower limit positions. This reduces the stress on each suspension during operation and extends the service life of the suspension.

[0064] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in Embodiment 1 above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 The step of determining the theoretically corresponding second limit states of each suspension at the current moment based on each first target control height, each steady-state target control height corresponding to each suspension, each maximum allowable height, each minimum allowable height, and a preset height change step size includes:

[0065] Step S21: Based on each of the first target control heights and each of the steady-state target control heights, select multiple values ​​from the sum of each of the first target control heights and the height change step size, the difference between each of the first target control heights and the height change step size, each of the minimum allowable heights, each of the maximum allowable heights, and each of the steady-state target control heights as each of the theoretically corresponding second target control heights of each suspension.

[0066] It is easy to understand that, in this embodiment, for any suspension, when its steady-state target control height is not less than its first target control height, its corresponding second target control height can be the minimum of the following three cases: ① the sum of the first target control height and the height change step size corresponding to the suspension; ② the maximum allowable height corresponding to the suspension; ③ the steady-state target control height corresponding to the suspension.

[0067] When its steady-state target control height is less than its first target control height, its corresponding second target control height can be the maximum value of the following three cases: ① the difference between the first target control height and the height change step size corresponding to the suspension; ② the minimum allowable height corresponding to the suspension; ③ the steady-state target control height corresponding to the suspension.

[0068] The specific calculation formula for the second target control height mentioned above is as follows:

[0069]

[0070] Where, H(k-1) fl The first target control height for the left front suspension is H(k-1). fr The first target control height for the right front suspension is H(k-1). rl The first target control height for the left rear suspension is H(k-1). rr The first target control height for the right rear suspension; H1(k) fl The second target control height for the left front suspension is H1(k). fr The second target control height for the right front suspension is H1(k). rl The second target control height for the left rear suspension is H1(k). rr The second target control height for the right rear suspension; Hmax fl Hmax is the maximum permissible height of the left front suspension. fr Hmax is the maximum permissible height of the right front suspension. rl Hmax is the maximum permissible height of the left rear suspension. rr Hmin is the maximum permissible height of the right rear suspension. fl Hmin is the minimum permissible height for the left front suspension. fr Hmin is the minimum permissible height for the right front suspension.rl Hmin is the minimum permissible height for the left rear suspension. rr H1 is the minimum permissible height for the right rear suspension. fl H1 is the steady-state target control height for the left front suspension. fr H1 is the steady-state target control height for the right front suspension. rl H1 is the steady-state target control height for the left rear suspension. rr ΔH represents the steady-state target control height of the right rear suspension; ΔH represents the step size of the height change.

[0071] Step S22: Based on each of the second target control heights, each of the minimum allowable heights, and each of the maximum allowable heights, obtain each of the second limit states.

[0072] It is easy to understand that, similar to the first limit state mentioned above, the second target control height can also be divided into three states based on its corresponding maximum and minimum allowable heights: when the second target control height is equal to the maximum allowable height, it is the upper limit height state; when the second target control height is equal to the minimum allowable height, it is the lower limit height state; and when the second target control height is neither equal to the maximum nor the minimum allowable height, it is the non-limit height state.

[0073] Where the upper limit height state is represented by "1", the lower limit height state by "-1", and the non-limit height state by "0", the calculation formula for each second limit state is as follows:

[0074]

[0075] Among them, SH1 fl This represents the second extreme state of the left front suspension, SH1. fr This represents the second extreme state of the right front suspension, SH1. rl This represents the second extreme state of the left rear suspension, SH1. rr This represents the second extreme state of the right rear suspension; H1(k) fl The second target control height for the left front suspension is H1(k). fr The second target control height for the right front suspension is H1(k). rl The second target control height for the left rear suspension is H1(k). rr The second target control height for the right rear suspension; Hmax fl Hmax is the maximum permissible height of the left front suspension. fr Hmax is the maximum permissible height of the right front suspension. rl Hmax is the maximum permissible height of the left rear suspension. rr Hmin is the maximum permissible height of the right rear suspension. flHmin is the minimum permissible height for the left front suspension. fr Hmin is the minimum permissible height for the right front suspension. rl Hmin is the minimum permissible height for the left rear suspension. rr This is the minimum permissible height for the right rear suspension.

[0076] Furthermore, in this embodiment, before the step of obtaining the second target control height corresponding to the current moment of each suspension based on each first limit state, each second limit state, each first state maintenance time, and each height maintenance setting time, the method further includes:

[0077] Step S301: Obtain the control height of each second target at the previous moment, the duration of each upper limit height at the previous moment, and the duration of each lower limit height at the previous moment.

[0078] Step S302: Based on the second target control height, the maximum allowable height, the minimum allowable height, the first state maintenance time, the height maintenance setting time, the task execution cycle, the upper limit height maintenance time of the previous time, and the lower limit height maintenance time of the next time, obtain the theoretical limit height maintenance time and the theoretical lower limit height maintenance time of the suspension at the current time.

[0079] It should be noted that, in this embodiment, before obtaining the second target control height at the current moment, the theoretical maximum height maintenance time and the theoretical lower limit height maintenance time of each suspension can be obtained based on the previously obtained second target control heights corresponding to each suspension, the maximum allowable heights and minimum allowable heights of each suspension, the currently recorded height maintenance time for each suspension, and the task execution cycle required by the calculation process. The calculation formulas for the theoretical maximum height maintenance time and the theoretical lower limit height maintenance time are as follows:

[0080]

[0081] Among them, Timemax fl Timemax is the theoretical maximum height maintenance time for the left front suspension. fr Timemax is the theoretical maximum height maintenance time for the right front suspension. rl Timemax is the theoretical maximum height maintenance time for the left rear suspension. rr This refers to the theoretical maximum height maintenance time for the right rear suspension; Timemaxlast fl Timemaxlast represents the duration of the upper limit height maintained by the left front suspension at the previous moment. frTimemaxlast represents the duration of the upper limit height maintained by the right front suspension at the previous moment. rl Timemaxlast represents the duration of the upper limit height maintained by the left rear suspension at the previous moment. rr Timemin represents the duration of the upper limit height maintained by the right rear suspension at the previous moment. fl Timemin is the theoretical lower limit height maintenance time of the left front suspension. fr Timemin is the theoretical lower limit height maintenance time of the right front suspension. rl Timemin is the theoretical lower limit height maintenance time for the left rear suspension. rr The theoretical lower limit height maintenance time for the right rear suspension; Timeminlast fl Timeminlast represents the duration of the lower limit height maintained by the left front suspension at the previous moment. fr Timeminlast represents the duration of the lower limit height maintained by the right front suspension at the previous moment. rl Timeminlast represents the duration of the lower limit height maintained by the left rear suspension at the previous moment. rr Time1 represents the lower limit height maintenance time of the right rear suspension at the previous moment; Time1 is the set of height maintenance setting times for each suspension, which can be set to different values ​​depending on the suspension; H1(k) fl 'H1(k) represents the second target control height of the left front suspension at the previous moment. fr 'H1(k) represents the second target control height of the right front suspension at the previous moment. rl 'H1(k) represents the second target control height of the left rear suspension at the previous moment. rr 'The second target control height for the right rear suspension at the previous moment; Hmax' fl Hmax is the maximum permissible height of the left front suspension. fr Hmax is the maximum permissible height of the right front suspension. rl Hmax is the maximum permissible height of the left rear suspension. rr Hmin is the maximum permissible height of the right rear suspension. fl Hmin is the minimum permissible height for the left front suspension. fr Hmin is the minimum permissible height for the right front suspension. rl Hmin is the minimum permissible height for the left rear suspension. rr This is the minimum permissible height for the right rear suspension.

[0082] Step S303: Based on the theoretical maximum height maintenance time and the theoretical minimum height maintenance time, obtain the height maintenance setting time for each of the above.

[0083] It is easy to understand that, in this embodiment, the height maintenance setting time corresponding to each suspension can be the sum of its corresponding upper limit height maintenance time and lower limit height maintenance time. The calculation formula for each height maintenance setting time is:

[0084]

[0085] Among them, Timemax fl Timemax is the theoretical maximum height maintenance time for the left front suspension. fr Timemax is the theoretical maximum height maintenance time for the right front suspension. rl Timemax is the theoretical maximum height maintenance time for the left rear suspension. rr This refers to the theoretical maximum height maintenance time of the right rear suspension; Timemin fl Timemin is the theoretical lower limit height maintenance time of the left front suspension. fr Timemin is the theoretical lower limit height maintenance time of the right front suspension. rl Timemin is the theoretical lower limit height maintenance time for the left rear suspension. rr Time1 represents the theoretical lower limit height maintenance time for the right rear suspension; Time2 is the set of height maintenance settings for each suspension, which can be set to different values ​​depending on the suspension. fl Set the time for maintaining the height of the left front suspension. fr Set the time for maintaining the height of the right front suspension. rl Set the time for maintaining the height of the left rear suspension. rr Set the time for maintaining the height of the right rear suspension.

[0086] Further, in this embodiment, the step of obtaining the theoretical maximum height maintenance time and theoretical lower limit height maintenance time of each suspension at the current moment based on the second target control height, the maximum allowable height, the minimum allowable height, the first state maintenance time, the height maintenance setting time, the task execution cycle, the upper limit height maintenance time of each previous moment, and the lower limit height maintenance time of each next moment includes:

[0087] Step S3021: Based on the maintenance time of each first state and the task execution cycle, obtain the estimated maintenance time of each upper limit height and the estimated maintenance time of each lower limit height corresponding to each suspension in theory.

[0088] It is easy to understand that, in this embodiment, the calculation formulas for the theoretical maximum height maintenance time and the theoretical lower maximum height maintenance time can be referred to. The maintenance time of each upper maximum height and the maintenance time of each lower maximum height can be obtained by replacing the maintenance time of each first state and adding it to the task execution cycle.

[0089] Step S3022: Based on the estimated upper limit height maintenance time, the estimated lower limit height maintenance time, and the set height maintenance time, obtain the theoretical limit height maintenance time and the theoretical lower limit height maintenance time.

[0090] It is easy to understand that, in this embodiment, the theoretical maximum height maintenance time and the theoretical lower maximum height maintenance time can be obtained by referring to the calculation formulas of the above theoretical maximum height maintenance time and the theoretical lower maximum height maintenance time. The minimum value of the estimated upper maximum height maintenance time or the estimated lower maximum height maintenance time obtained by adding the maintenance time of each first state to the task execution cycle and the height maintenance setting time can be taken.

[0091] Based on the first and / or second embodiments of this application, in the third embodiment of this application, the content that is the same as or similar to that in embodiments one and two above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 3 Before the step of determining the first limit states of each suspension at the previous moment based on the first target control heights, the maximum allowable heights, and the minimum allowable heights of each suspension at the previous moment, and recording the duration of each first limit state, the method further includes:

[0092] Step S01: When the vehicle controller is powered on, the height sensors installed on each of the suspensions are initialized.

[0093] It should be noted that in this embodiment, after the vehicle controller is powered on, the height sensors installed on each suspension can be initialized, so that the data of each first target control height collected by each height sensor is cleared to zero. At the same time, the duration of each first state corresponding to each previously recorded first target control height is also cleared to zero.

[0094] Step S02: Obtain the control height of each first target by using each of the height sensors after initialization.

[0095] It is easy to understand that after initializing each height sensor, each height sensor can collect the actual control height corresponding to each suspension at the previous moment, and use it as the new first target control height for each of them.

[0096] Furthermore, in this embodiment, after the step of adjusting the actual control height of each suspension based on the second target control height, the method further includes:

[0097] Step S50: Update and replace the control heights of the first targets corresponding to the previous time step based on the currently acquired control heights of the second targets.

[0098] It should be noted that in this embodiment, the second target control heights corresponding to each suspension can be obtained at the current time to update the first target control heights at the previous time, so that each suspension can dynamically adjust its actual control height based on the new second target control heights corresponding to each subsequent time.

[0099] This application also provides a suspension height control device; please refer to... Figure 4 The suspension height control device includes:

[0100] The first state acquisition module 10 is used to determine the first limit states of each suspension at the previous moment based on the first target control height, the maximum allowable height and the minimum allowable height of each suspension at the previous moment, and to record the duration of each first state for maintaining each first limit state.

[0101] The second state acquisition module 20 is used to determine the theoretically corresponding second limit states of each suspension at the current moment based on each first target control height, each steady-state target control height corresponding to each suspension, each maximum allowable height, each minimum allowable height and a preset height change step size;

[0102] The suspension target height acquisition module 30 is used to acquire each second target control height corresponding to the current moment of each suspension based on each first limit state, each second limit state, each first state maintenance time and each height maintenance setting time.

[0103] The suspension height adjustment module 40 is used to adjust the actual control height of each suspension based on the second target control height, so as to prevent each suspension from being damaged by the force exceeding the upper limit of force generated by the immediate adjustment of the actual control height when it is adjusted to the corresponding maximum allowable height or minimum allowable height.

[0104] The suspension height control device provided in this application, employing the suspension height control method described in the above embodiments, can solve the technical problem of preventing the suspensions of the vehicle from generating forces exceeding their maximum load capacity when the actual control height of each suspension is immediately adjusted after being adjusted to its upper or lower limit height. Compared with the prior art, the beneficial effects of the suspension height control device provided in this application are the same as those of the suspension height control method provided in the above embodiments, and other technical features of the suspension height control device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0105] This application provides a suspension height control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the suspension height control method in Embodiment 1 above.

[0106] The following is for reference. Figure 5 The diagram illustrates a structure suitable for implementing a suspension height control device according to embodiments of this application. The suspension height control device in these embodiments may include, but is not limited to, fixed terminals such as vehicle-mounted terminals. Figure 5 The suspension height control device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0107] like Figure 5As shown, the suspension height control device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the suspension height control device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the suspension height control device to communicate wirelessly or wiredly with other devices to exchange data. Although the figures show suspension height control devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0108] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0109] The suspension height control device provided in this application, employing the suspension height control method described in the above embodiments, solves the technical problem of preventing the suspensions of the vehicle from generating forces exceeding their maximum load capacity when the actual control height of each suspension is immediately adjusted just after reaching its upper or lower limit height. Compared with the prior art, the beneficial effects of the suspension height control device provided in this application are the same as those of the suspension height control method provided in the above embodiments, and other technical features of this suspension height control device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0110] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0111] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0112] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the suspension height control method in the above embodiments.

[0113] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0114] The aforementioned computer-readable storage medium may be included in the suspension height control device; or it may exist independently and not assembled into the suspension height control device.

[0115] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the suspension height control device, cause the suspension height control device to: determine the first limit states of each suspension at the previous moment based on the first target control heights corresponding to each suspension of the vehicle at the previous moment, the maximum allowable heights corresponding to each suspension, and the minimum allowable heights corresponding to each suspension, and record the duration of each first state for maintaining each first limit state; determine the theoretically corresponding second limit states of each suspension at the current moment based on the first target control heights, the steady-state target control heights corresponding to each suspension, the maximum allowable heights, the minimum allowable heights, and a preset height change step size; obtain the second target control heights corresponding to each suspension at the current moment based on the first limit states, the second limit states, the duration of each first state, and the height maintenance setting time; and adjust the actual control height of each suspension based on the second target control heights to prevent damage to each suspension caused by immediately adjusting the actual control height to the corresponding maximum allowable height or minimum allowable height, which would generate a force exceeding the upper limit of force.

[0116] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via 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., via the Internet using an Internet service provider).

[0117] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession 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 flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0118] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0119] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described suspension height control method. This solves the technical problem of preventing the suspensions of a vehicle from generating forces exceeding their maximum load capacity when the actual control height of each suspension is immediately adjusted after reaching its upper or lower limit height. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the suspension height control method provided in the above embodiments, and will not be repeated here.

[0120] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the suspension height control method described above.

[0121] The computer program product provided in this application solves the technical problem of preventing the suspensions of a vehicle from generating forces exceeding their maximum load capacity when the actual control height of each suspension is immediately adjusted immediately after being adjusted to its upper or lower limit height. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the suspension height control method provided in the above embodiments, and will not be repeated here.

[0122] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.

Claims

1. A suspension height control method, characterized in that, The steps of the suspension height control method include: Based on the first target control height corresponding to each suspension of the vehicle at the previous moment, the maximum allowable height corresponding to each suspension, and the minimum allowable height corresponding to each suspension, the first limit state of each suspension at the previous moment is determined, and the duration of each first state in maintaining each first limit state is recorded. Based on each of the first target control heights, each of the steady-state target control heights corresponding to each of the suspensions, each of the maximum allowable heights, each of the minimum allowable heights, and the preset height change step size, the theoretical second limit states corresponding to each of the suspensions at the current moment are determined; Based on each of the first extreme states, each of the second extreme states, each of the first state durations, and each height maintenance set time, obtain each of the second target control heights corresponding to the current moment of each suspension. Based on the second target control height, the actual control height of each suspension is adjusted to prevent damage to each suspension caused by an excessive force generated when the actual control height is adjusted to the corresponding maximum or minimum allowable height.

2. The suspension height control method as described in claim 1, characterized in that, The step of determining the theoretically corresponding second limit states of each suspension at the current moment based on each first target control height, each steady-state target control height corresponding to each suspension, each maximum allowable height, each minimum allowable height, and a preset height change step size includes: Based on each of the first target control heights and each of the steady-state target control heights, multiple values ​​among the sum of each of the first target control heights and the height change step size, the difference between each of the first target control heights and the height change step size, each of the minimum allowable heights, each of the maximum allowable heights, and each of the steady-state target control heights are selected as each of the theoretically corresponding second target control heights of each suspension. Each second limit state is obtained based on each second target control height, each minimum allowable height, and each maximum allowable height.

3. The suspension height control method as described in claim 1, characterized in that, Before the step of obtaining the second target control height corresponding to the current moment of each suspension based on each first limit state, each second limit state, each first state maintenance time, and each height maintenance setting time, the method further includes: Obtain the control height of each second target at the previous moment, the duration of each upper limit height at the previous moment, and the duration of each lower limit height at the previous moment; Based on the control height of each second target at the previous moment, each maximum allowable height, each minimum allowable height, each first state maintenance time, each height maintenance setting time, task execution cycle, each upper limit height maintenance time at the previous moment, and each lower limit height maintenance time at the next moment, obtain the theoretical upper limit height maintenance time and the theoretical lower limit height maintenance time of each suspension at the current moment. Based on the theoretical maximum height maintenance time and the theoretical minimum height maintenance time, the height maintenance setting time is obtained.

4. The suspension height control method as described in claim 3, characterized in that, The step of obtaining the theoretical maximum height maintenance time and theoretical lower limit height maintenance time of each suspension at the current moment based on the second target control height, the maximum allowable height, the minimum allowable height, the first state maintenance time, the height maintenance setting time, the task execution cycle, the upper limit height maintenance time of each previous moment, and the lower limit height maintenance time of each next moment includes: Based on the maintenance time of each first state and the task execution cycle, obtain the estimated maintenance time of each upper limit height and the estimated maintenance time of each lower limit height corresponding to each suspension in theory. Based on the estimated upper limit height maintenance time, the estimated lower limit height maintenance time, and the set height maintenance time, the theoretical limit height maintenance time and the theoretical lower limit height maintenance time are obtained.

5. The suspension height control method as described in claim 1, characterized in that, Before the step of determining the first limit states of each suspension at the previous moment based on the first target control height, the maximum allowable height, and the minimum allowable height of each suspension at the previous moment, and recording the duration of each first limit state, the method further includes: When the vehicle controller is powered on, the height sensors installed on each of the suspensions are initialized. The control height of each of the first targets is obtained by using the height sensors after initialization.

6. The suspension height control method as described in claim 1, characterized in that, After the step of adjusting the actual control height of each suspension based on the second target control height, the method further includes: The control heights of the first targets corresponding to the previous time step will be updated and replaced based on the currently acquired control heights of the second targets.

7. A suspension height control device, characterized in that, The suspension height control device includes: The first state acquisition module is used to determine the first limit states of each suspension at the previous moment based on the first target control heights corresponding to each suspension of the whole vehicle at the previous moment, the maximum allowable heights corresponding to each suspension, and the minimum allowable heights corresponding to each suspension, and to record the duration of each first state for maintaining each first limit state. The second state acquisition module is used to determine the theoretically corresponding second limit states of each suspension at the current moment based on each first target control height, each steady-state target control height corresponding to each suspension, each maximum allowable height, each minimum allowable height, and a preset height change step size. The suspension target height acquisition module is used to acquire each second target control height corresponding to the current moment of each suspension based on each first limit state, each second limit state, each first state maintenance time, and each height maintenance setting time. The suspension height adjustment module is used to adjust the actual control height of each suspension based on the second target control height, so as to prevent each suspension from being damaged by the force exceeding the upper limit of force generated by the immediate adjustment of the actual control height when it is adjusted to the corresponding maximum allowable height or minimum allowable height.

8. A suspension height control device, characterized in that, The suspension height control device includes: a memory, a processor, and a suspension height control program stored in the memory and executable on the processor, the suspension height control program being configured to implement the steps of the suspension height control method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and the computer-readable storage medium stores a suspension height control program, which, when executed by a processor, implements the steps of the suspension height control method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the suspension height control method as described in any one of claims 1 to 6.

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