Vehicle suspension system, vehicle data generation method and vehicle

Abstract

The embodiment of the invention discloses a vehicle suspension system, a vehicle data generation method and a vehicle, and belongs to the field of carriers. The vehicle suspension system comprises a vehicle frame; a wheel bracket; the height adjusting part is respectively connected with the frame and the wheel bracket and is used for adjusting the distance between the frame and the wheel bracket; the angular displacement sensor is respectively connected with the frame and the wheel bracket, and when the distance between the frame and the wheel bracket is changed, the angular displacement sensor generates angular displacement; the controller is configured to obtain the angle value of the angular displacement sensor; and calculating the height and the vertical acceleration of the frame according to the angle value. The embodiment of the invention has the technical effects that the monitoring of the height and the vertical acceleration of the frame is completed only by using one sensor, and the cost of the vehicle is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a vehicle suspension system, a method for generating vehicle data, and a vehicle. Background Art

[0002] The vehicle suspension plays a role in stabilizing the vehicle body. During the operation of the vehicle, the monitoring of the frame height and vertical acceleration is particularly important. It not only affects the stability of the vehicle operation, but also affects the comfort of the vehicle.

[0003] Currently, many vehicles are equipped with a large number of sensor devices, which monitor the vehicle's operating status in real time, and then use the data obtained to calculate the frame height and vertical acceleration. However, this monitoring method easily increases the cost of the vehicle. Summary of the invention

[0004] The embodiments of the present application provide a vehicle suspension system, a method for generating vehicle data, and a vehicle, so as to at least solve the technical problem of high vehicle costs.

[0005] According to a first aspect of an embodiment of the present application, a vehicle suspension system is provided, comprising:

[0006] The frame, which forms the chassis of the vehicle;

[0007] A wheel bracket, used for connecting the wheel;

[0008] A height adjustment member, disposed between the vehicle frame and the wheel bracket and connected to the vehicle frame and the wheel bracket respectively, for adjusting the distance between the vehicle frame and the wheel bracket;

[0009] an angular displacement sensor, arranged between the vehicle frame and the wheel bracket and connected to the vehicle frame and the wheel bracket respectively, wherein when the distance between the vehicle frame and the wheel bracket changes, the angular displacement sensor undergoes angular displacement, and when the angular displacement sensor undergoes angular displacement, a target parameter value associated with the angular displacement changes, wherein the target parameter value is used to characterize an angle value of the angular displacement sensor;

[0010] The controller is configured as:

[0011] Acquiring the angle value of the angular displacement sensor;

[0012] The frame height and vertical acceleration of the frame are calculated according to the angle value.

[0013] According to this embodiment, by arranging the angular displacement sensor between the vehicle frame and the wheel bracket, if the height of the vehicle changes during operation, the angular displacement of the angular displacement sensor will change accordingly, and the controller can obtain the angle value calculated based on the target parameter value, and then calculate the frame height and vertical acceleration according to the angle value. Only one sensor is used to complete the monitoring of the frame height and vertical acceleration, thereby reducing the cost of the vehicle.

[0014] In combination with the first aspect, in an optional implementation of the embodiment of the present application, the height adjustment member includes an air spring, the air spring can be controllably extended or compressed, one end of the air spring is fixedly connected to the frame, and the other end is fixedly connected to the wheel bracket;

[0015] The vehicle suspension system further includes an air tank for storing gas for the air spring;

[0016] An air circuit, connecting the air storage tank and the air inlet end of the air spring;

[0017] A solenoid valve is arranged on the air circuit, and is used to control the on-off of the air circuit, so as to control the inflation and deflation of the air spring, wherein the air spring is extended or compressed when inflating and deflation;

[0018] The controller is configured to:

[0019] The power-on and power-off time of the solenoid valve is adjusted according to the height of the frame, so that the air spring is extended or compressed, so as to change the distance between the frame and the wheel bracket.

[0020] By adopting this implementation method, the controller can directly control the air spring to change the distance between the frame and the wheel bracket, so that during the operation of the vehicle, the controller can use the air spring to adjust the frame height in real time, thereby buffering the height change of the vehicle itself, which helps to improve the comfort of the vehicle.

[0021] In combination with the first aspect, in an optional implementation of the embodiment of the present application, the angular displacement sensor includes an iron core, a coil corresponding to the iron core, a crossbar connected to the iron core, and a signal output end;

[0022] One end of the cross bar away from the iron core is hinged with a connecting rod, and one end of the connecting rod away from the cross bar is hinged with the wheel bracket;

[0023] When the distance between the vehicle frame and the wheel bracket changes, the connecting rod drives the crossbar to swing, and the crossbar drives the iron core to rotate, so that the electrical signal in the coil changes, wherein different electrical signals correspond to different target parameter values;

[0024] The signal output end is electrically connected to the controller, and is used to transmit the target parameter value to the controller, so that the controller determines the angle value of the angular displacement sensor according to the target parameter value;

[0025] The rotation of the iron core indicates that the angular displacement of the angular displacement sensor occurs.

[0026] By adopting this implementation method, through the arrangement of the crossbar and the connecting rod, when the distance between the frame and the wheel bracket changes, the angular displacement sensor can definitely undergo angular displacement, which helps to improve the monitoring effect of the vehicle.

[0027] In combination with the first aspect, in an optional implementation of the embodiment of the present application, when the cross bar is in an initial position, the cross bar is horizontally arranged, and when the connecting rod is in the initial position, the connecting rod is vertically arranged.

[0028] The implementation method helps to maximize the angular displacement of the angular displacement sensor when the distance between the vehicle frame and the wheel bracket changes, thereby helping to improve the monitoring effect of the vehicle.

[0029] In combination with the first aspect, in an optional implementation of the embodiment of the present application, the angular displacement sensor includes an inductive angular displacement sensor;

[0030] When the angular displacement sensor is the inductive angular displacement sensor, the electrical signal is inductance, and when the inductance changes, the charging and discharging time of the angular displacement sensor changes accordingly;

[0031] Wherein, the charging time and / or discharging time in the charging and discharging time are used as the target parameter value;

[0032] The controller is configured to:

[0033] The angle value of the angular displacement sensor is determined according to a preset corresponding relationship between the charging time and / or the discharging time and the angle value.

[0034] By adopting this implementation, the operating principle of the inductive angular displacement sensor is used to obtain the angle value, which makes the angle value easy to calculate, helps to reduce the amount of calculation and save computing resources.

[0035] In combination with the first aspect, in an optional implementation of the embodiment of the present application, at least one wheel bracket is provided, and each wheel bracket is connected to at least one wheel;

[0036] A height adjustment member and an angular displacement sensor are provided on the wheel bracket corresponding to each wheel;

[0037] The controller is configured to:

[0038] Determining the angle value of the corresponding angular displacement sensor according to the target parameter value of each angular displacement sensor;

[0039] The frame height and the vertical acceleration of the frame are calculated according to each of the angle values, or the corresponding frame height and the corresponding vertical acceleration are calculated according to each of the angle values.

[0040] With this implementation, the number of angular displacement sensors is the same as the number of wheels, which not only controls the number of sensors in the vehicle for monitoring the frame height and vertical acceleration, but also ensures the influence of the corresponding position of each wheel on the frame height and vertical acceleration, thereby controlling the cost of the vehicle while ensuring the effect of vehicle monitoring.

[0041] In combination with the first aspect, in an optional implementation manner of the embodiment of the present application, the controller is configured as follows:

[0042] The angle value is used to calculate the frame height and vertical acceleration of the frame by using differential and trigonometric functions.

[0043] This implementation method simplifies the calculation method, helps to improve the calculation efficiency, and reduces the occupation of calculation resources.

[0044] In combination with the first aspect, in an optional implementation manner of the embodiment of the present application, the controller is configured as follows:

[0045] An evaluation result representing the vehicle comfort is generated according to the frame height and / or the vertical acceleration.

[0046] By adopting this implementation method, the comfort level of the vehicle can be evaluated, which helps to monitor the quality of the vehicle in terms of comfort level.

[0047] According to a second aspect of an embodiment of the present application, there is provided a method for generating vehicle data, which is applied to a vehicle, wherein the vehicle comprises a frame for forming a chassis of the vehicle;

[0048] A wheel bracket, used for connecting the wheel;

[0049] A height adjustment member, disposed between the vehicle frame and the wheel bracket and connected to the vehicle frame and the wheel bracket respectively, for adjusting the distance between the vehicle frame and the wheel bracket;

[0050] an angular displacement sensor, arranged between the vehicle frame and the wheel bracket and connected to the vehicle frame and the wheel bracket respectively, wherein when the distance between the vehicle frame and the wheel bracket changes, the angular displacement sensor undergoes angular displacement, and when the angular displacement sensor undergoes angular displacement, a target parameter value associated with the angular displacement changes, wherein the target parameter value is used to characterize an angle value of the angular displacement sensor;

[0051] The method comprises:

[0052] Acquiring the angle value of the angular displacement sensor;

[0053] The frame height and vertical acceleration of the frame are calculated according to the angle value.

[0054] By adopting this embodiment, the target parameter value of the angular displacement sensor can be obtained, thereby obtaining the angle value, and the frame height and vertical acceleration can be calculated according to the angle value. The frame height and vertical acceleration can be monitored by using only one sensor, thereby reducing the cost of the vehicle.

[0055] In combination with the second aspect, in an optional implementation of the embodiment of the present application, when the angular displacement sensor undergoes angular displacement, the charge and discharge time of the angular displacement sensor changes accordingly;

[0056] The obtaining the angle value of the angular displacement sensor comprises:

[0057] The angle value of the angular displacement sensor is determined according to a preset correspondence between the charging time and / or the discharging time of the charging and discharging time and the angle value, wherein the target parameter value includes the charging time and / or the discharging time.

[0058] With this implementation, the corresponding relationship is preset, and the angle value is determined using the corresponding relationship, which is convenient and quick, helps to improve efficiency, and reduces the occupation of computing resources.

[0059] In combination with the second aspect, in an optional implementation manner of the embodiment of the present application, before obtaining the angle value of the angular displacement sensor, the method further includes:

[0060] Determining whether the charging time and / or discharging time is within a preset time interval;

[0061] If yes, then determining the angle value of the angular displacement sensor according to the preset correspondence between the charging time and / or the discharging time and the angle value according to the charging and discharging time;

[0062] If not, re-obtain the target parameter value;

[0063] The charging time and / or discharging time within the time interval has the corresponding relationship with the angle value.

[0064] By adopting this implementation, the validity of the target parameter value is limited by presetting the time interval, which is beneficial to improving the accuracy of the frame height and vertical acceleration.

[0065] In conjunction with the second aspect, in an optional implementation manner of the embodiment of the present application, the method further includes:

[0066] In response to the vehicle data capture signal, acquiring a capture period, a preset target duration, and a charge and discharge signal of the angular displacement sensor within the capture period;

[0067] The charging time or discharging time is calculated according to the capture period, the target duration, and the potential duration of the potential representing the charging or discharging in the charge and discharge signal.

[0068] By adopting this implementation, the calculation process of the charging time and / or discharging time is simple and uses less data, which helps to reduce the occupation of computing resources and improve computing efficiency.

[0069] In conjunction with the second aspect, in an optional implementation of the embodiment of the present application, calculating the frame height of the frame according to the angle value includes:

[0070] The sine value of the angle is calculated to obtain the frame height.

[0071] By adopting this implementation method, the calculation process of the frame height is simple, and the amount of data used is small, which helps to reduce the occupation of computing resources and improve computing efficiency.

[0072] In conjunction with the second aspect, in an optional implementation of the embodiment of the present application, calculating the vertical acceleration according to the angle value includes:

[0073] Differentiating the angle value with time to obtain an angular velocity; Differentiating the angular velocity with time to obtain an angular acceleration; Calculating the sine value of the angular acceleration to obtain the vertical acceleration;

[0074] Alternatively, the vertical velocity is obtained by differentiating the frame height with respect to time; and the vertical acceleration is obtained by differentiating the vertical velocity with respect to time.

[0075] By adopting this implementation, there are multiple ways to calculate the vertical acceleration, which helps to improve the calculation flexibility of the vertical acceleration.

[0076] In combination with the second aspect, in an optional implementation of the embodiment of the present application, after calculating the frame height and the vertical acceleration of the frame according to the angle value, the method further includes:

[0077] Taking a weighted average of the frame heights obtained through multiple calculations to obtain a final frame height;

[0078] And / or, weighted averaging is performed on the vertical accelerations obtained through multiple calculations to obtain a final vertical acceleration.

[0079] The implementation method is adopted to help improve the accuracy of the frame height and vertical acceleration.

[0080] According to a third aspect of an embodiment of the present application, a method for evaluating vehicle comfort is provided, the method comprising:

[0081] Using the above-mentioned method for generating vehicle data to obtain the frame height and / or vertical acceleration;

[0082] An evaluation result of the comfort level of the vehicle is generated according to the frame height and / or the vertical acceleration.

[0083] According to a fourth aspect of an embodiment of the present application, a vehicle is provided, comprising the vehicle suspension system described above, a method for generating vehicle data described above, or a method for evaluating vehicle comfort described above.

[0084] The technical effects obtained by the above-mentioned third to fourth aspects are similar to the technical effects obtained by the corresponding technical means in the first and second aspects, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] Figure 1 is a structural schematic diagram of a vehicle suspension system provided in an embodiment of the present application;

[0086] Figure 2 is a flow chart of a method for generating vehicle data provided by an embodiment of the present application;

[0087] Figure 3 is an air spring control flow chart provided in an embodiment of the present application;

[0088] Figure 4 It is a flow chart of determining vertical acceleration provided in an embodiment of the present application.

[0089] Marking instructions: 1. Frame; 2. Wheel bracket; 3. Wheel; 4. Air spring; 5. Shock absorber; 6. Inductive angular displacement sensor; 7. Connecting rod; 8. Solenoid valve; 9. Air tank; 10. Controller; 11. Air circuit; 12. Signal line; 13. Crossbar; 14. Bluetooth module; 15. Software APP. DETAILED DESCRIPTION

[0090] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0091] It should be understood that the "plurality" mentioned in this article refers to two or more. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and so on are used to distinguish between the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the words "first", "second" and so on do not limit the quantity and execution order, and the words "first", "second" and so on do not limit certain different

[0092] In addition, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, product, or apparatus.

[0093] The vehicle suspension plays the role of stabilizing the vehicle body. During vehicle operation, the vehicle suspension stabilizes the vehicle body, measures the height through sensors and feeds back to the controller, controls the charging and discharging of the solenoid valve and then controls the charging and deflating of the air spring, thereby suppressing the body roll and pitch, improving ride comfort, and taking into account the vehicle's sportiness and comfort.

[0094] Currently, the acquisition of automobile comfort evaluation data requires multiple different sensors, and the installation and use process is cumbersome, increasing the cost of the vehicle.

[0095] Based on this, an embodiment of the present application provides a vehicle suspension system, and the vehicle suspension system includes the following contents.

[0096] A vehicle frame 1, used to form a chassis of the vehicle;

[0097] A wheel bracket 2, used for connecting a wheel 3;

[0098] A height adjustment member is disposed between the vehicle frame 1 and the wheel bracket 2 and is connected to the vehicle frame 1 and the wheel bracket 2 respectively, and is used to adjust the distance between the vehicle frame 1 and the wheel bracket 2;

[0099] An angular displacement sensor is arranged between the vehicle frame 1 and the wheel bracket 2 and is connected to the vehicle frame 1 and the wheel bracket 2 respectively. When the distance between the vehicle frame 1 and the wheel bracket 2 changes, the angular displacement sensor undergoes angular displacement. When the angular displacement sensor undergoes angular displacement, a target parameter value of the angular displacement sensor associated with the angular displacement changes, wherein the target parameter value is used to characterize an angle value of the angular displacement sensor;

[0100] The controller 10 is configured to:

[0101] Get the angle value of the angular displacement sensor;

[0102] The frame height and vertical acceleration of the frame 1 are calculated according to the angle value.

[0103] In one embodiment, the vehicle suspension is a general term for all force transmission connection devices between the vehicle frame 1 (or load-bearing body) and the axle (or wheel 3) of the vehicle, and its function is to transmit the force and torque acting between the wheel 3 and the frame 1, and to buffer the impact force transmitted to the frame 1 or the vehicle body by the uneven road surface, and reduce the vibration caused thereby, so as to ensure that the vehicle can run smoothly.

[0104] In one embodiment, the frame 1 refers to a part of the chassis of the vehicle, that is, the chassis of the vehicle includes the frame 1, and the frame 1 mainly serves to connect and fix, that is, to connect parts such as the height adjustment member and the angular displacement sensor, and this embodiment does not specifically limit the shape and structure of the frame 1. In one embodiment, the frame 1 refers to the entire chassis of the vehicle, that is, the chassis of the vehicle is the frame 1 in this embodiment.

[0105] In one embodiment, the wheel bracket 2 is used to mount the wheel 3, and the wheel 3 may include a wheel hub and a tire, which is not specifically limited in this embodiment.

[0106] In one embodiment, the height adjustment member can adjust the distance between the frame 1 and the wheel bracket 2. Specifically, the height adjustment member is used to adjust the distance between the frame 1 and the wheel 3 in the vertical direction. This embodiment does not specifically limit the height adjustment member, as long as it can adjust the distance, such as an electrically controllable telescopic bracket, an air spring 4, etc.

[0107] In one embodiment, the angular displacement sensor is used to detect the distance between the frame 1 and the wheel bracket 2 and output a target parameter value when the distance changes. The target parameter value may be a value related to an electrical signal or other values ​​(such as a digital signal). This embodiment does not specifically limit this, and it is specifically determined according to the type of the angular displacement sensor. It should be noted that the target parameter value generated by the angular displacement sensor can reflect the angle value, that is, the angle value detected by the angular displacement sensor. This angle value may be output after calculation by a calculator inside the angular displacement sensor, or it may be output after calculation by other chips or devices with calculation functions. This embodiment does not specifically limit this. Preferably, the angular displacement sensor adopts an inductive angular displacement sensor 6.

[0108] The controller 10 refers to a device with communication and computing functions, such as an MCU, PLC, smart chip, smart computer and other electronic devices, which is not specifically limited in this embodiment. The controller 10 can obtain the angle value detected by the angular displacement sensor. It should be noted that the controller 10 can directly obtain the angle value calculated by the angular displacement sensor according to the target parameter value from the angular displacement sensor, and the controller 10 can obtain the angle value calculated according to the target parameter value generated by the angular displacement sensor from other electronic devices with computing functions, or the controller 10 obtains the target parameter value and then obtains the angle value through calculation. This embodiment does not specifically limit the calculation process and acquisition process of the angle value.

[0109] According to this embodiment, by arranging the angular displacement sensor between the vehicle frame 1 and the wheel bracket 2, if the height of the vehicle changes during operation, the angular displacement of the angular displacement sensor will change accordingly, and the controller 10 can obtain the angle value calculated based on the target parameter value, and then calculate the frame height and vertical acceleration according to the angle value. Only one sensor is used to complete the monitoring of the frame height and vertical acceleration, thereby reducing the cost of the vehicle.

[0110] In a possible embodiment of the present application, Figure 1 As shown, the height adjustment member includes an air spring 4, which can be extended or compressed in a controlled manner, one end of the air spring 4 is fixedly connected to the frame 1, and the other end is fixedly connected to the wheel bracket 2;

[0111] The vehicle suspension system further includes an air tank 9 for storing gas for the air spring 4;

[0112] An air circuit 11 connects the air storage tank 9 with the air inlet end of the air spring 4;

[0113] The solenoid valve 8 is arranged on the air circuit 11 and is used to control the on-off of the air circuit 11 to control the inflation and deflation of the air spring 4, wherein the air spring 4 is extended or compressed when inflating and deflation;

[0114] The controller 10 is configured to:

[0115] The power-on and power-off time of the solenoid valve 8 is adjusted according to the height of the frame, so that the air spring 4 is extended or compressed, so as to change the distance between the frame 1 and the wheel bracket 2.

[0116] Specifically, the solenoid valve 8 has a power-on time and a power-off time. For example, when it is in the power-on time, the solenoid valve 8 opens the air path 11, and the compressed air in the air tank 9 enters the air spring 4 through the air path 11, so that the air spring 4 extends; when the solenoid valve 8 is in the power-off time, the solenoid valve 8 blocks the air path 11, and the compressed air in the air tank 9 cannot enter the air spring 4, and the air spring 4 is compressed.

[0117] Preferably, when the air spring 4 is extended, the distance between the vehicle frame 1 and the wheel bracket 2 increases, and when the air spring 4 is compressed, the distance between the vehicle frame 1 and the wheel bracket 2 decreases. This embodiment does not specifically limit the specific control process.

[0118] With this embodiment, the controller 10 can directly control the air spring 4 to change the distance between the frame 1 and the wheel bracket 2, so that during the operation of the vehicle, the controller 10 can use the air spring 4 to adjust the frame height in real time, thereby buffering the changed height of the vehicle itself, which helps to improve the comfort of the vehicle.

[0119] Optionally, in an implementation of this embodiment, the angular displacement sensor includes an iron core, a coil corresponding to the iron core, a crossbar 13 connected to the iron core, and a signal output terminal;

[0120] One end of the cross bar 13 away from the iron core is hinged with a connecting rod 7, and one end of the connecting rod 7 away from the cross bar 13 is hinged with the wheel bracket 2;

[0121] When the distance between the vehicle frame 1 and the wheel bracket 2 changes, the connecting rod 7 drives the cross bar 13 to swing, and the cross bar 13 drives the iron core to rotate, so that the electrical signal in the coil changes, wherein different electrical signals correspond to different target parameter values;

[0122] The signal output terminal is electrically connected to the controller 10 and is used to transmit the target parameter value to the controller 10;

[0123] Among them, the rotation of the iron core represents the angular displacement of the angular displacement sensor.

[0124] That is, the controller 10 can obtain the target parameter value in real time, and then use the target parameter value to calculate the angle value, so that the controller 10 can calculate the frame height and vertical acceleration according to the angle value.

[0125] With this implementation, by setting the cross bar 13 and the connecting rod 7, when the distance between the frame 1 and the wheel bracket 2 changes, the angular displacement sensor can definitely undergo angular displacement, which helps to improve the monitoring effect of the vehicle.

[0126] Optionally, in an implementation of this embodiment, when the cross bar 13 is located at the initial position, the cross bar 13 is horizontally arranged, and when the connecting rod 7 is located at the initial position, the connecting rod 7 is vertically arranged.

[0127] It should be noted that the angle value that the angular displacement sensor can detect is limited. Therefore, the installation position and installation angle of the cross bar 13 and the connecting rod 7 are different, and the angle range that the angular displacement sensor can detect is also different. For example, in an application scenario, the angular displacement sensor is affected by the installation angle of the cross bar 13 and the connecting rod 7, and the detected angle range is between 0-120 degrees. In the process of the connecting rod 7 following the movement of the wheel bracket 2, it may move to a certain position or a certain area, so that the angle value of the angular displacement sensor is not between 0-120 degrees. At this time, the angle value cannot be obtained or an invalid angle value is obtained. Based on this feature, the initial position of the cross bar 13 is determined according to the specific use of the angular displacement sensor. In this embodiment, the initial position is the position when the cross bar 13 is in a horizontal state. When the cross bar 13 is in a horizontal state, the connecting rod 7 is in a vertical state, that is, the connecting rod 7 is also in its initial position.

[0128] The implementation method is adopted to help maximize the angular displacement of the angular displacement sensor when the distance between the vehicle frame 1 and the wheel bracket 2 changes, thereby helping to improve the monitoring effect of the vehicle.

[0129] Optionally, in an implementation of this embodiment, the angular displacement sensor includes an inductive angular displacement sensor 6;

[0130] When the angular displacement sensor is an inductive angular displacement sensor 6, the electrical signal is inductance, and when the inductance changes, the charge and discharge time of the angular displacement sensor changes accordingly;

[0131] The charging time and / or discharging time in the charging and discharging time are used as target parameter values;

[0132] The controller 10 is configured to:

[0133] The angle value of the angular displacement sensor is determined according to a preset corresponding relationship between the charging time and / or the discharging time and the angle value.

[0134] In one embodiment, the controller 10 is configured to determine the angle value of the angular displacement sensor according to the target parameter value. Preferably, the target parameter value includes charging time and / or discharging time.

[0135] By adopting this implementation, the angle value is obtained by utilizing the operating principle of the inductive angular displacement sensor 6, so that the angle value is easy to calculate, which helps to reduce the amount of calculation and save computing resources.

[0136] Optionally, in an implementation of this embodiment, at least one wheel bracket 2 is provided, and each wheel bracket 2 is connected to at least one wheel 3;

[0137] A height adjustment member and an angular displacement sensor are provided on the wheel bracket 2 corresponding to each wheel 3;

[0138] The controller 10 is configured to:

[0139] Determine the angle value of the corresponding angular displacement sensor according to the target parameter value of each angular displacement sensor;

[0140] The frame height and vertical acceleration of the frame 1 are calculated according to each angle value, or the corresponding frame height and the corresponding vertical acceleration are calculated according to each angle value.

[0141] For example, four angular displacement sensors are provided, one for each wheel 3. The four angular displacement sensors transmit the target parameter values ​​detected by themselves to the controller 10, so that the controller 10 can receive the target parameter values ​​transmitted by the four angular displacement sensors, and determine the angle value of the corresponding angular displacement sensor according to the obtained target parameter value, that is, each detection node has four angle values. Then the controller 10 calculates the frame height and vertical acceleration of the frame 1 of the detection node according to the four angle values ​​of the same detection node.

[0142] By adopting this implementation method, the number of angular displacement sensors is the same as the number of wheels 3, which not only controls the number of sensors used to monitor the frame height and vertical acceleration in the vehicle, but also ensures the influence of the corresponding position of each wheel 3 on the frame height and vertical acceleration, thereby controlling the cost of the vehicle while ensuring the effect of vehicle monitoring.

[0143] Optionally, in an implementation of this embodiment, the controller 10 is configured as follows:

[0144] The frame height and vertical acceleration of the frame 1 are calculated by using the angle value and differential and trigonometric function calculation methods.

[0145] Preferably, the angle value is differentiated with time to obtain the angular velocity, the angular velocity is differentiated with time to obtain the angular acceleration, and finally the sine value of the angular acceleration is calculated to obtain the vertical acceleration.

[0146] Preferably, the sine value of the angle value is calculated to obtain the frame height, and then the frame height is differentiated with time to obtain the vertical velocity, and the vertical velocity is differentiated with time to obtain the vertical acceleration.

[0147] This implementation method simplifies the calculation method, helps to improve the calculation efficiency, and reduces the occupation of calculation resources.

[0148] Optionally, in an implementation of this embodiment, the controller 10 is configured as follows:

[0149] An evaluation result representing the vehicle comfort is generated based on the frame height and / or the vertical acceleration.

[0150] For ease of understanding, for example, the frame height is divided into different zones, and different zones correspond to different comfort evaluation results. When the evaluation result needs to be generated, the calculated frame height is used to determine the zone it belongs to, and then the comfort corresponding to the zone is used as the evaluation result.

[0151] By adopting this implementation method, the comfort level of the vehicle can be evaluated, which helps to monitor the quality of the vehicle in terms of comfort level.

[0152] The embodiment of the present application also provides a method for generating vehicle data, which is applied to a vehicle, wherein the vehicle includes a frame 1 for forming a chassis of the vehicle;

[0153] A wheel bracket 2, used for connecting a wheel 3;

[0154] A height adjustment member is disposed between the vehicle frame 1 and the wheel bracket 2 and is connected to the vehicle frame 1 and the wheel bracket 2 respectively, and is used to adjust the distance between the vehicle frame 1 and the wheel bracket 2;

[0155] An angular displacement sensor is arranged between the vehicle frame 1 and the wheel bracket 2 and is connected to the vehicle frame 1 and the wheel bracket 2 respectively. When the distance between the vehicle frame 1 and the wheel bracket 2 changes, the angular displacement sensor undergoes angular displacement. When the angular displacement sensor undergoes angular displacement, a target parameter value of the angular displacement sensor associated with the angular displacement changes, wherein the target parameter value is used to characterize an angle value of the angular displacement sensor;

[0156] like Figure 2 As shown, the method includes:

[0157] S100, obtaining the angle value of the angular displacement sensor.

[0158] This has been explained in the previous article and will not be repeated here.

[0159] S102, calculating the frame height and vertical acceleration of the frame 1 according to the angle value.

[0160] This has been explained in the previous article and will not be repeated here.

[0161] By adopting this embodiment, the target parameter value of the angular displacement sensor can be obtained, thereby obtaining the angle value, and the frame height and vertical acceleration can be calculated according to the angle value. The frame height and vertical acceleration can be monitored by using only one sensor, thereby reducing the cost of the vehicle.

[0162] Optionally, in an implementation of this embodiment, when the angular displacement sensor undergoes angular displacement, the charge and discharge time of the angular displacement sensor changes accordingly;

[0163] Get the angle value of the angular displacement sensor, including:

[0164] The angle value of the angular displacement sensor is determined according to a preset corresponding relationship between the charging time and / or the discharging time of the charging and discharging time and the angle value.

[0165] The target parameter value includes charging time and / or discharging time.

[0166] Preferably, the angular displacement sensor is an inductive angular displacement sensor 6 or a capacitive angular displacement sensor.

[0167] With this implementation, the corresponding relationship is preset, and the angle value is determined using the corresponding relationship, which is convenient and quick, helps to improve efficiency, and reduces the occupation of computing resources.

[0168] Optionally, in an implementation of this embodiment, before obtaining the angle value of the angular displacement sensor, the method further includes:

[0169] Determine whether the charging time and / or discharging time is within a preset time interval;

[0170] If yes, then determining the angle value of the angular displacement sensor according to a preset correspondence between the charging time and / or the discharging time of the charging and discharging time and the angle value;

[0171] If not, re-obtain the target parameter value;

[0172] The charging time and / or discharging time within the time interval has a corresponding relationship with the angle value.

[0173] By adopting this implementation, the validity of the target parameter value is limited by presetting the time interval, which is beneficial to improving the accuracy of the frame height and vertical acceleration.

[0174] Optionally, in an implementation of this embodiment, the method further includes:

[0175] In response to the vehicle data capture signal, acquiring a capture period, a preset target duration, and a charge and discharge signal of the angular displacement sensor within the capture period;

[0176] The charging time or the discharging time is calculated according to the capture period, the target duration, and the potential duration of the potential representing the charging or discharging in the charge and discharge signal.

[0177] The preset target duration is the design duration. Because the charge and discharge time width is calculated by the formula Cw = capture cycle time - capture low level time - target duration, this target duration can be any reasonable value. Cw represents the inductor charge and discharge time.

[0178] For example, the preset target duration is 20s to control the inductor to disconnect, and the entire cycle time is set to 25s. Cw = captured cycle time 25s - fixed time 20s - captured low level time. The calculated time is the inductor charging and discharging time.

[0179] By adopting this implementation, the calculation process of the charging time and / or discharging time is simple and uses less data, which helps to reduce the occupation of computing resources and improve computing efficiency.

[0180] Optionally, in an implementation of this embodiment, calculating the frame height of the frame 1 according to the angle value includes:

[0181] Calculate the sine of the angle to get the height of the frame.

[0182] By adopting this implementation method, the calculation process of the frame height is simple, and the amount of data used is small, which helps to reduce the occupation of computing resources and improve computing efficiency.

[0183] Optionally, in an implementation of this embodiment, calculating the vertical acceleration according to the angle value includes:

[0184] Differentiate the angle value with time to get the angular velocity; Differentiate the angular velocity with time to get the angular acceleration; Calculate the sine value of the angular acceleration to get the vertical acceleration;

[0185] Alternatively, the vertical velocity can be obtained by differentiating the frame height with respect to time; the vertical acceleration can be obtained by differentiating the vertical velocity with respect to time.

[0186] The minimum differential time for time differentiation may be the sampling time width, or may be greater than the sampling time width.

[0187] By adopting this implementation, there are multiple ways to calculate the vertical acceleration, which helps to improve the calculation flexibility of the vertical acceleration.

[0188] Optionally, in an implementation of this embodiment, after calculating the frame height and vertical acceleration of the frame 1 according to the angle value, the method further includes:

[0189] The frame heights obtained by multiple calculations are weighted and averaged to obtain the final frame height;

[0190] And / or, weighted averaging is performed on the vertical accelerations obtained by multiple calculations to obtain a final vertical acceleration.

[0191] The implementation method is adopted to help improve the accuracy of the frame height and vertical acceleration.

[0192] The embodiment of the present application also provides a method for evaluating vehicle comfort, the method comprising:

[0193] The vehicle frame height and / or vertical acceleration are obtained by using the above-mentioned vehicle data generation method;

[0194] Generates evaluation results based on vehicle frame height and / or vertical acceleration.

[0195] For ease of understanding, taking the air suspension on a car as the vehicle suspension system in the above embodiment, the inductive angular displacement sensor 6 as the angular displacement sensor in the above embodiment, and the air spring 4 as the height adjustment member in the above embodiment as an example, the specific application process of the above embodiment is explained as follows.

[0196] like Figure 1 As shown, the air suspension is mainly composed of an inductive angular displacement sensor 6, a solenoid valve 8, an air spring 4, an electronic control unit ECU (i.e., a controller 10), a Bluetooth module 14, a shock absorber 5, an air tank 9, a signal line 12, etc. The front and rear axles of the car are respectively supported by the air spring 4, and the inductive angular displacement sensors 6 are installed at four places: the left front axle, the right front axle, the left rear axle, and the right rear axle.

[0197] like Figure 3 As shown, when the vehicle is running, the height of the vehicle body changes, and the vibration of the vehicle body causes the connecting rod 7 to drive the cross bar 13 to move up and down, driving the iron core of the inductive angular displacement sensor 6 to rotate, so that the rotation angle changes, and the magnetic field of the iron core changes, causing the coil inductance value to change, and the charging and discharging time curves are different, and the charging time is different; since the charging and discharging time of the inductive angular displacement sensor 6 and the iron core rotation angle have a strong linear relationship within a certain angle range, the changing angle value is obtained from the charging time; the electronic control unit ECU is fed back to process the data and generates a control signal, which controls the charging and discharging of the solenoid valve 8, and then controls the charging and deflating of the air spring 4, so as to cyclically collect data and control the solenoid valve 8 to adjust the vehicle body height. The user can send a control signal to control the suspension through the software APP15, and can also receive relevant data from the system to complete the free lifting and lowering of the suspension, thereby improving ride comfort.

[0198] like Figure 4As shown, since the charging and discharging time of the inductive angular displacement sensor 6 has a strong linear relationship with the core rotation angle within a certain angle range, the measurement method is to measure the inductance charging and discharging time, and then obtain other information such as the angle. By inputting the capture interrupt, the interrupt flag position is set to 1, the inductance related parameters are captured, the capture cycle time, low level time and program set fixed time (this time is to control when the inductance is charged and discharged PWM waveform), and the inductance charging time width Cw is calculated = capture cycle time-capture low level time-fixed time, and it is determined whether Cw is within the angle range (there is a strong linear correlation). If it is within the range, the rotation angle θ (i.e., the angle value) is obtained, and if it is not within the range, it will be re-collected.

[0199] There are two ways to get the vertical acceleration a after getting the rotation angle θ. Solution 1: convert the angle θ into angular velocity ω, then into angular acceleration α, and finally into vertical acceleration a. Solution 2: convert the angle θ into height change h, then into vertical velocity v, and finally into vertical acceleration a. The weighted average smoothed data is obtained through the array multiple groups of data cache, and it meets the high-frequency data acquisition. Finally, the capture ends, the interrupt flag position is 0, and the data is collected in this way.

[0200] In this way, the real-time vehicle height and real-time vertical acceleration can be obtained, which is applicable to the vehicle at rest and in motion. The static vertical acceleration and dynamic vertical acceleration of the vehicle are collected as parameters for evaluating the comfort of the vehicle. Only inductive angular displacement sensors are used to collect the vehicle height and vertical acceleration of the air suspension system, and this is used to evaluate the comfort of the vehicle's air suspension system.

[0201] The invention is not limited to using a single sensor, namely the inductive angular displacement sensor 6 , and other similar sensors may be used without making specific requirements on the sensor type.

[0202] An embodiment of the present application also provides a vehicle, comprising the above-mentioned vehicle suspension system, a method for generating vehicle data using the above-mentioned method, or a method for evaluating vehicle comfort using the above-mentioned method.

[0203] In the above-mentioned embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The steps shown in the relevant flow chart can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flow chart, in some cases, the steps shown or described can be executed in an order different from that here. In other words, the order of steps described in the foregoing embodiments is only an example, and it is also within the scope of protection of the embodiments of the present application to reasonably adjust the order of steps based on the content of the embodiments of the present application.

[0204] The sequence of serial numbers or introduction of the embodiments of the present application is for description only and does not represent the superiority or inferiority of the embodiments.

[0205] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0206] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0207] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0208] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital versatile disc (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)). It is worth noting that the computer-readable storage medium mentioned in the embodiment of the present application may be a non-volatile storage medium, in other words, a non-transient storage medium.

[0209] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals involved in the embodiments of this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions. For example, the scene data of the current frame in the three-dimensional virtual scene, the device information of the client, and the scene interaction information involved in the embodiments of this application are all obtained with full authorization.

[0210] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A vehicle suspension system, It is characterized in that include: The frame, which forms the chassis of the vehicle; A wheel bracket, used for connecting the wheel; A height adjustment member, disposed between the vehicle frame and the wheel bracket and connected to the vehicle frame and the wheel bracket respectively, for adjusting the distance between the vehicle frame and the wheel bracket; an angular displacement sensor, arranged between the vehicle frame and the wheel bracket and connected to the vehicle frame and the wheel bracket respectively, wherein when the distance between the vehicle frame and the wheel bracket changes, the angular displacement sensor undergoes angular displacement, and when the angular displacement sensor undergoes angular displacement, a target parameter value associated with the angular displacement changes, wherein the target parameter value is used to characterize an angle value of the angular displacement sensor; The controller is configured as: Acquiring the angle value of the angular displacement sensor; The frame height and vertical acceleration of the frame are calculated according to the angle value.

2. The vehicle suspension system according to claim 1, It is characterized in that The height adjustment member comprises an air spring, which can be controlled to extend or compress, one end of the air spring is fixedly connected to the vehicle frame, and the other end of the air spring is fixedly connected to the wheel bracket; The vehicle suspension system further includes an air tank for storing gas for the air spring; An air circuit, connecting the air storage tank and the air inlet end of the air spring; A solenoid valve is arranged on the air circuit, and is used to control the on-off of the air circuit, so as to control the inflation and deflation of the air spring, wherein the air spring is extended or compressed when inflating and deflation; The controller is configured to: The power-on and power-off time of the solenoid valve is adjusted according to the height of the frame, so that the air spring is extended or compressed, so as to change the distance between the frame and the wheel bracket.

3. The vehicle suspension system according to claim 1, It is characterized in that The angular displacement sensor comprises an iron core, a coil corresponding to the iron core, a crossbar connected to the iron core, and a signal output end; One end of the cross bar away from the iron core is hinged with a connecting rod, and one end of the connecting rod away from the cross bar is hinged with the wheel bracket; When the distance between the vehicle frame and the wheel bracket changes, the connecting rod drives the crossbar to swing, and the crossbar drives the iron core to rotate, so that the electrical signal in the coil changes, wherein different electrical signals correspond to different target parameter values; The signal output end is electrically connected to the controller, and is used to transmit the target parameter value to the controller, so that the controller determines the angle value of the angular displacement sensor according to the target parameter value; The rotation of the iron core indicates that the angular displacement of the angular displacement sensor occurs.

4. The vehicle suspension system according to claim 3, It is characterized in that When the cross bar is located at the initial position, the cross bar is arranged horizontally, and when the connecting rod is located at the initial position, the connecting rod is arranged vertically.

5. The vehicle suspension system according to claim 3, It is characterized in that The angular displacement sensor comprises an inductive angular displacement sensor; When the angular displacement sensor is the inductive angular displacement sensor, the electrical signal is inductance, and when the inductance changes, the charging and discharging time of the angular displacement sensor changes accordingly; Wherein, the charging time and / or discharging time in the charging and discharging time are used as the target parameter value; The controller is configured to: The angle value of the angular displacement sensor is determined according to a preset corresponding relationship between the charging time and / or the discharging time and the angle value.

6. The vehicle suspension system according to any one of claims 1 to 5, It is characterized in that At least one wheel bracket is provided, and each wheel bracket is connected to at least one wheel; A height adjustment member and an angular displacement sensor are provided on the wheel bracket corresponding to each wheel; The controller is configured to: Determining the angle value of the corresponding angular displacement sensor according to the target parameter value of each angular displacement sensor; The frame height and the vertical acceleration of the frame are calculated according to each of the angle values, or the corresponding frame height and the corresponding vertical acceleration are calculated according to each of the angle values.

7. The vehicle suspension system according to any one of claims 1 to 5, It is characterized in that The controller is configured to: The angle value is used to calculate the frame height and vertical acceleration of the frame by using differential and trigonometric functions.

8. The vehicle suspension system according to any one of claims 1 to 5, It is characterized in that The controller is configured to: An evaluation result representing the vehicle comfort is generated according to the frame height and / or the vertical acceleration.

9. A method for generating vehicle data, It is characterized in that Applied to a vehicle, the vehicle comprises a frame for forming a chassis of the vehicle; A wheel bracket, used for connecting the wheel; A height adjustment member, disposed between the vehicle frame and the wheel bracket and connected to the vehicle frame and the wheel bracket respectively, for adjusting the distance between the vehicle frame and the wheel bracket; an angular displacement sensor, arranged between the vehicle frame and the wheel bracket and connected to the vehicle frame and the wheel bracket respectively, wherein when the distance between the vehicle frame and the wheel bracket changes, the angular displacement sensor undergoes angular displacement, and when the angular displacement sensor undergoes angular displacement, a target parameter value associated with the angular displacement changes, wherein the target parameter value is used to characterize an angle value of the angular displacement sensor; The method comprises: Acquiring the angle value of the angular displacement sensor; The frame height and vertical acceleration of the frame are calculated according to the angle value.

10. The method for generating vehicle data according to claim 9, It is characterized in that When the angular displacement sensor undergoes angular displacement, the charging and discharging time of the angular displacement sensor changes accordingly; The obtaining the angle value of the angular displacement sensor comprises: The angle value of the angular displacement sensor is determined according to a preset correspondence between the charging time and / or the discharging time of the charging and discharging time and the angle value, wherein the target parameter value includes the charging time and / or the discharging time.

11. The method for generating vehicle data according to claim 10, It is characterized in that Before acquiring the angle value of the angular displacement sensor, the method further includes: Determining whether the charging time and / or discharging time is within a preset time interval; If yes, then determining the angle value of the angular displacement sensor according to the preset correspondence between the charging time and / or the discharging time and the angle value according to the charging and discharging time; If not, re-obtain the target parameter value; The charging time and / or discharging time within the time interval has the corresponding relationship with the angle value.

12. The method for generating vehicle data according to claim 10, It is characterized in that The method further comprises: In response to the vehicle data capture signal, acquiring a capture period, a preset target duration, and a charge and discharge signal of the angular displacement sensor within the capture period; The charging time or discharging time is calculated according to the capture period, the target duration, and the potential duration of the potential representing the charging or discharging in the charge and discharge signal.

13. The method for generating vehicle data according to claim 9, It is characterized in that Calculating the frame height of the frame according to the angle value includes: The sine value of the angle is calculated to obtain the frame height.

14. The method for generating vehicle data according to claim 9, It is characterized in that Calculating the vertical acceleration according to the angle value includes: Differentiating the angle value with time to obtain an angular velocity; Differentiating the angular velocity with time to obtain an angular acceleration; Calculating the sine value of the angular acceleration to obtain the vertical acceleration; Alternatively, the vertical velocity is obtained by differentiating the frame height with respect to time; and the vertical acceleration is obtained by differentiating the vertical velocity with respect to time.

15. The method for generating vehicle data according to claim 9, It is characterized in that After calculating the frame height and vertical acceleration of the frame according to the angle value, the method further includes: Taking a weighted average of the frame heights obtained through multiple calculations to obtain a final frame height; And / or, weighted averaging is performed on the vertical accelerations obtained through multiple calculations to obtain a final vertical acceleration.

16. A method for evaluating vehicle comfort. It is characterized in that The method comprises: The vehicle frame height and / or vertical acceleration are obtained by using the vehicle data generation method described in any one of claims 9 to 15; An evaluation result of the comfort level of the vehicle is generated according to the frame height and / or the vertical acceleration.

17. A vehicle, It is characterized in that It comprises the vehicle suspension system described in any one of claims 1 to 8, the method for generating vehicle data described in any one of claims 9 to 15, or the method for evaluating vehicle comfort described in claim 16.

Images