Vehicle suspension control method, device, vehicle, medium, and program

Abstract

The invention relates to the technical field of vehicles, in particular to a control method and device for a vehicle suspension, a vehicle, a medium and a program.The method comprises the steps that running data of the vehicle at the current moment and adjustment parameters, predicted at the last moment, of the vehicle suspension are obtained; according to the driving data of the vehicle at the current moment and the predicted adjusting parameters of the vehicle suspension at the previous moment, the adjusting parameters of the vehicle suspension at the current moment are determined; and controlling the vehicle suspension based on the adjustment parameter of the vehicle suspension at the current moment. Therefore, the problems that in related technologies, passive adjustment of the suspension parameters is prone to causing poor riding smoothness and comfort and poor user experience, and preview adjustment of the suspension parameters is high in overall cost are solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, vehicle, medium and program for controlling a vehicle suspension. Background Art

[0002] The passive suspension of traditional cars has fixed performance from the beginning of its design, requiring drivers and passengers to adapt to different road conditions while driving. With the development of semi-active suspension and active suspension in recent years, more vehicles are equipped with high-configuration suspension systems such as CDC (Continuous Damping Control), electromagnetic suspension, and hydraulic suspension.

[0003] In related technologies, the adjustment of suspension parameters can generally be divided into two categories: passive and preview. The passive type requires the vehicle to adjust the suspension parameters through signals collected by various sensors after driving on a certain section of road. The preview type relies on a high-precision visual system to scan road information and adjust the suspension parameters in advance.

[0004] However, these two types have their own disadvantages. For passive adjustment of suspension parameters, since the vehicle has already passed the road, the driver and passengers will have already felt the impact brought by the road surface, and the user experience is poor; for preview adjustment of suspension parameters, the high-precision vision system relied on is usually a binocular camera or lidar, which is expensive. Summary of the invention

[0005] The present application provides a vehicle suspension control method, device, vehicle, medium and program to solve the problems in the related art that passive adjustment of suspension parameters easily leads to poor driving smoothness and comfort, poor user experience, and high overall cost of preview adjustment of suspension parameters.

[0006] The first aspect of the present application provides a method for controlling a vehicle suspension, comprising the following steps: obtaining the current vehicle driving data and the vehicle suspension adjustment parameters predicted at the previous moment; determining the vehicle suspension adjustment parameters at the current moment according to the current vehicle driving data and the vehicle suspension adjustment parameters predicted at the previous moment; and controlling the vehicle suspension based on the vehicle suspension adjustment parameters at the current moment.

[0007] Optionally, the adjustment parameters of the vehicle suspension at multiple future moments are predicted based on the map navigation information of the vehicle at the current moment, and the prediction method of the adjustment parameters of the vehicle suspension at the previous moment is the same as the prediction method of the adjustment parameters of the vehicle suspension at multiple future moments at the current moment.

[0008] Optionally, predicting the adjustment parameters of the vehicle suspension at multiple future moments based on the map navigation information of the vehicle at the current moment includes: determining route characteristics of a preset time duration in the future based on the map navigation information of the vehicle at the current moment; and predicting the adjustment parameters of the vehicle suspension at multiple future moments based on the road characteristics.

[0009] Optionally, predicting the adjusting parameters of the vehicle suspension at multiple moments in the future based on the route characteristics includes: if the route characteristic is a straight section, predicting the adjusting parameters of the vehicle suspension at multiple moments in the future based on the current vehicle speed; if the route characteristic is a turning section, predicting the adjusting parameters of the vehicle suspension at multiple moments in the future based on the turning direction and curvature of the turning section; if the route characteristic is a congested section or a frequent braking and starting section, predicting the adjusting parameters of the vehicle suspension at multiple moments in the future based on the congestion situation and the duration of frequent braking and starting.

[0010] Optionally, predicting the adjustment parameters of the vehicle suspension at multiple moments in the future according to the turning direction and curvature of the turning section includes: adjusting the adjustment parameters of the inner and outer suspensions of the vehicle respectively according to the turning direction and curvature of the turning section.

[0011] Optionally, the adjusting parameters of the vehicle suspension at the current moment are determined based on the driving data of the vehicle at the current moment and the adjusting parameters of the vehicle suspension predicted at the previous moment, including: identifying the vehicle speed and steering angle in the driving data of the vehicle at the current moment; if the vehicle speed and the steering angle are both within the safety boundary, using the adjusting parameters of the vehicle suspension predicted at the previous moment as the adjusting parameters of the vehicle suspension at the current moment; if the vehicle speed and the steering angle exceed the safety boundary, correcting the adjusting parameters of the vehicle suspension predicted at the previous moment based on the driving data of the vehicle at the current moment to obtain the adjusting parameters of the vehicle suspension at the current moment.

[0012] The second aspect of the present application provides a control device for a vehicle suspension, including: an acquisition module for acquiring the driving data of the vehicle at the current moment and the adjustment parameters of the vehicle suspension predicted at the previous moment; a determination module for determining the adjustment parameters of the vehicle suspension at the current moment according to the driving data of the vehicle at the current moment and the adjustment parameters of the vehicle suspension predicted at the previous moment; and a control module for controlling the vehicle suspension based on the adjustment parameters of the vehicle suspension at the current moment.

[0013] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform the vehicle suspension control method as described in the above embodiment.

[0014] A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to perform the vehicle suspension control method as described in the above embodiment.

[0015] The fifth aspect of the present application provides a computer program product, including a computer program or instructions, characterized in that when the computer program or instructions are executed, the vehicle suspension control method as described in the above embodiment is implemented.

[0016] Therefore, this application has at least the following beneficial effects:

[0017] The embodiment of the present application predicts the adjustment parameters of the vehicle suspension at the previous moment based on the vehicle's current driving data and the vehicle's map navigation information, determines the adjustment parameters of the vehicle suspension at the current moment, and controls the vehicle suspension based on the adjustment parameters of the vehicle suspension at the current moment, comprehensively considering the vehicle's driving section status and current driving status, improving the smoothness and comfort of driving, and improving user experience, with lower overall cost.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0020] Figure 1 A flow chart of a vehicle suspension control method provided according to an embodiment of the present application;

[0021] Figure 2 A flow chart of a method for controlling a vehicle suspension according to an embodiment of the present application;

[0022] Figure 3 A block diagram of a control device for a vehicle suspension provided according to an embodiment of the present application;

[0023] Figure 4 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0025] With the development of vehicle navigation technology in recent years, the navigation system can already obtain information about the lanes the vehicle is traveling in, the congestion of the route, and even the real-time status of traffic lights. Based on the navigation information, the vehicle can know its own driving status for a period of time in the future, whether to go straight or turn, and can also judge the braking and starting behaviors caused by traffic lights. At the same time, this solution does not require the addition of additional perception hardware. As long as the vehicle suspension is adjustable and controllable, it can achieve the purpose of automatic control to improve driving comfort to a certain extent, and can be adapted to cheaper models.

[0026] The suspension of the present application is a semi-active suspension or an active suspension, wherein the semi-active suspension can adjust the suspension stiffness but cannot adjust the suspension height, and the active suspension can actively adjust the suspension stiffness and suspension height at the same time; a higher suspension stiffness can improve the vehicle's response and reduce the shaking of the vehicle body during start-stop, steering, and the like, but at the same time more road impacts will be transmitted to the cockpit, on the contrary, a lower suspension stiffness can filter out more road bumps, but reduce handling stability. Active adjustment of the suspension height generally appears on higher-configuration models. In the present application, if the vehicle is equipped with relevant hardware, the driving experience under steering or start-stop conditions can be improved by changing the suspension height at different wheels, and the pitch and roll of the vehicle body can be suppressed.

[0027] The following describes the vehicle suspension control method, device, vehicle, medium and program of the embodiment of the present application with reference to the accompanying drawings. Specifically, Figure 1 A schematic flow chart of a vehicle suspension control method provided in an embodiment of the present application.

[0028] like Figure 1 As shown, the vehicle suspension control method includes the following steps:

[0029] In step S101, the current vehicle driving data and the vehicle suspension adjustment parameters predicted at the previous moment are obtained.

[0030] It can be understood that the embodiment of the present application can obtain the current vehicle driving data and the vehicle suspension adjustment parameters predicted at the previous moment, so as to subsequently determine the current vehicle suspension adjustment parameters based on the current vehicle driving data and the vehicle suspension adjustment parameters predicted at the previous moment.

[0031] It should be noted that the adjustment parameters of the vehicle suspension at multiple future moments are predicted based on the map navigation information of the vehicle at the current moment. The prediction method of the adjustment parameters of the vehicle suspension at the previous moment is the same as the prediction method of the adjustment parameters of the vehicle suspension at multiple future moments at the current moment.

[0032] In an embodiment of the present application, adjustment parameters of the vehicle suspension at multiple future moments are predicted based on the map navigation information of the vehicle at the current moment, including: determining route characteristics of a preset time period in the future based on the map navigation information of the vehicle at the current moment; and predicting adjustment parameters of the vehicle suspension at multiple future moments based on the road characteristics.

[0033] Among them, the preset duration can be set according to actual needs, for example: 1min or 5min, without specific limitation.

[0034] It can be understood that the embodiments of the present application can determine the route characteristics of a preset time period in the future based on the map navigation information of the vehicle at the current moment; and predict the adjustment parameters of the vehicle suspension at multiple moments in the future based on the road characteristics, thereby improving the smoothness and comfort of subsequent driving and enhancing the user experience.

[0035] In an embodiment of the present application, adjusting parameters of the vehicle suspension at multiple moments in the future are predicted based on route characteristics, including: if the route characteristic is a straight section, then the adjusting parameters of the vehicle suspension at multiple moments in the future are predicted based on the current vehicle speed; if the route characteristic is a turning section, then the adjusting parameters of the vehicle suspension at multiple moments in the future are predicted based on the turning direction and curvature of the turning section; if the route characteristic is a congested section or a frequent braking and starting section, then the adjusting parameters of the vehicle suspension at multiple moments in the future are predicted based on the congestion situation and the duration of frequent braking and starting.

[0036] Among them, the frequent braking start time can be 1 minute or 2 minutes, which can be set according to actual conditions without specific limitation.

[0037] It can be understood that the embodiments of the present application can select different methods to predict the adjustment parameters of the vehicle suspension at multiple moments in the future according to different route characteristics. For example: the straight section is predicted based on the current vehicle speed; the turning section is predicted based on the turning direction and the curvature of the turn; the congested section or the frequent braking and starting section is predicted based on the congestion situation and the frequent braking and starting time, so as to improve the smoothness and comfort of the subsequent driving and enhance the user experience.

[0038] For example, on a straight road section: if the current vehicle speed exceeds the safety boundary, the suspension will automatically increase its stiffness; if the current vehicle speed is within the safety boundary, the suspension stiffness will automatically adjust to a soft state; on congested sections or sections with frequent braking and starting, the suspension stiffness of the section can be appropriately increased based on the calibration results, without specific limitations.

[0039] In an embodiment of the present application, adjustment parameters of the vehicle suspension at multiple moments in the future are predicted based on the turning direction and curvature of the turning section, including: adjusting the adjustment parameters of the inner and outer suspensions of the vehicle respectively according to the turning direction and curvature of the turning section.

[0040] It can be understood that the embodiments of the present application can adjust the adjustment parameters of the inner and outer suspensions of the vehicle respectively according to the turning direction and curvature of the turning section, thereby improving the smoothness and comfort of subsequent driving and improving the user experience.

[0041] For example, if the turning direction of the turning section is left, the outer suspension will be raised and the inner suspension will be lowered to achieve the effect of a level vehicle body; due to the large turning curvature, the outer suspension bears a greater lateral force, and the stiffness of the outer suspension needs to be increased, while the inner suspension can maintain a lower stiffness. The specific setting is based on the actual vehicle model and actual conditions, and there is no specific limitation.

[0042] In step S102, the adjustment parameters of the vehicle suspension at the current moment are determined according to the driving data of the vehicle at the current moment and the adjustment parameters of the vehicle suspension predicted at the previous moment.

[0043] It can be understood that the embodiment of the present application can determine the adjustment parameters of the vehicle suspension at the current moment according to the vehicle's driving data at the current moment and the adjustment parameters of the vehicle suspension predicted at the previous moment, so as to facilitate the subsequent control of the vehicle suspension based on the adjustment parameters of the vehicle suspension at the current moment.

[0044] In an embodiment of the present application, the adjusting parameters of the vehicle suspension at the current moment are determined based on the driving data of the vehicle at the current moment and the adjusting parameters of the vehicle suspension predicted at the previous moment, including: identifying the vehicle speed and steering angle in the driving data of the vehicle at the current moment; if the vehicle speed and the steering angle are both within the safety boundary, the adjusting parameters of the vehicle suspension predicted at the previous moment are used as the adjusting parameters of the vehicle suspension at the current moment; if the vehicle speed and the steering angle exceed the safety boundary, the adjusting parameters of the vehicle suspension predicted at the previous moment are corrected according to the driving data of the vehicle at the current moment to obtain the adjusting parameters of the vehicle suspension at the current moment.

[0045] It can be understood that the embodiments of the present application can adjust the adjustment parameters of the vehicle suspension at the current moment according to whether the vehicle speed and steering angle in the vehicle's driving data at the current moment are within the safety boundary. For example: when the vehicle speed and the steering angle are both within the safety boundary, the adjustment parameters of the vehicle suspension predicted at the previous moment are used as the adjustment parameters of the vehicle suspension at the current moment; if the vehicle speed and the steering angle exceed the safety boundary, the adjustment parameters of the vehicle suspension predicted at the previous moment are corrected according to the vehicle's driving data at the current moment to obtain the adjustment parameters of the vehicle suspension at the current moment, thereby improving the smoothness and comfort of driving and improving user experience, without the need to use high-precision sensors, etc., to reduce overall costs.

[0046] In step S103 , the vehicle suspension is controlled based on the adjustment parameters of the vehicle suspension at the current moment.

[0047] It can be understood that the embodiments of the present application can control the vehicle suspension based on the adjustment parameters of the vehicle suspension at the current moment, thereby improving the smoothness and comfort of driving and improving the user experience, without the need to use high-precision sensors, etc., to reduce overall costs.

[0048] According to the vehicle suspension control method proposed in the embodiment of the present application, the adjustment parameters of the vehicle suspension at the previous moment are predicted based on the vehicle's current driving data and the vehicle's map navigation information to determine the adjustment parameters of the vehicle suspension at the current moment, and the vehicle suspension is controlled based on the adjustment parameters of the vehicle suspension at the current moment. The vehicle's driving section status and current driving status are comprehensively considered, thereby improving the smoothness and comfort of driving and the user experience, and the overall cost is relatively low.

[0049] The following will be combined Figure 2 The control method of the vehicle suspension of the present application is described in detail as follows:

[0050] 1. Get the vehicle's map navigation information

[0051] 1.1 Straight Section

[0052] If the map navigation shows that the vehicle is in a straight-ahead phase in the future, it is called the first type of route feature. This feature can be understood as the vehicle will not make a large turn in the future except for changing lanes.

[0053] 1.2 Turning Section

[0054] If the map navigation shows that the vehicle will have a turn in the future, or the curvature of the road section is large, it is called the second type of route feature. This feature can be understood as the vehicle will have a large turn near the specified position in the future;

[0055] 1.3 Traffic lights / congested roads

[0056] If the map navigation shows that the vehicle will encounter a traffic light somewhere, and the vehicle needs to brake or start near the traffic light, or the vehicle enters a congested section, it is called The third type of route characteristics, This feature can be understood as the frequent starting and braking actions of the vehicle in the future journey;

[0057] 2. Obtain the vehicle’s own status information and establish a safety boundary

[0058] 2.1 Obtain vehicle speed information

[0059] If the vehicle speed is higher than the set threshold, it is considered that the vehicle is in a high-speed driving state and the vehicle needs a more stable suspension support to ensure driving safety;

[0060] 2.2 Obtaining vehicle steering information

[0061] This information can be a signal that represents the steering amplitude, such as the steering wheel angle and the vehicle angle. If the signal is greater than a certain threshold, it is considered that the vehicle is turning sharply and the suspension system needs to provide strong support to avoid sharp shaking of the vehicle body during turning.

[0062] Steering information is obtained to deal with exceptional situations. For example, the driver does not follow the route recommended by the navigation system and suddenly turns on a road where he should go straight. The suspension needs to change from "soft" to "hard" in time.

[0063] 2.3 Establish a safe boundary

[0064] The vehicle speed and steering information are integrated to establish the corresponding boundaries of the suspension characteristics through calibration. When the boundaries are exceeded, the vehicle should adjust the suspension related parameters with driving safety as the primary premise.

[0065] 3. Adjust the suspension to improve ride comfort

[0066] 3.1 Straight Section

[0067] When the vehicle navigation shows that the vehicle is on a straight road, the suspension automatically adjusts to a soft state, such as the shock absorber stiffness becomes the lowest, to filter out the impact caused by the bumpy road. When the real-time vehicle speed or turning angle exceeds the limit, the vehicle appropriately adjusts the suspension stiffness to maintain reasonable support to avoid affecting the handling stability due to the suspension being too soft.

[0068] 3.2 Turning Section

[0069] When the vehicle navigation shows that the vehicle is in the turning stage, the inner and outer suspensions adjust their stiffness respectively to adapt to the turning in different directions, improve the smoothness and stability of the steering. The air suspension or hydraulic suspension adjusts the inner and outer heights to neutralize the body roll caused by the steering and improve the driving experience. And it returns to the default state after the steering action is completed.

[0070] 3.3 Traffic lights / congested roads

[0071] The vehicle on this road needs to start and stop frequently, and the suspension should not be too soft, which will cause frequent shaking of the vehicle body. According to the calibration results, the suspension stiffness of this road section can be appropriately increased to suppress the pitching caused by the vehicle starting or braking, improve the driving experience, and reduce the feeling of motion sickness.

[0072] In summary, this application creates a suspension control safety boundary through vehicle information, and adopts a safety strategy to ensure handling stability when the vehicle speed is too high or the steering angle is too large; the suspension is adjusted for different road sections, the suspension maintains low stiffness on straight roads to filter road impacts, and maintains high stiffness during steering or start-stop to improve handling stability; the suspension is adjusted according to the boundaries established by the navigation and the vehicle to improve driving smoothness while ensuring safety.

[0073] Next, the control device for the vehicle suspension proposed in accordance with the embodiment of the present application will be described with reference to the accompanying drawings.

[0074] Figure 3 It is a block diagram of a control device for a vehicle suspension according to an embodiment of the present application.

[0075] like Figure 3 As shown, the vehicle suspension control device 10 includes: an acquisition module 100 , a determination module 200 and a control module 300 .

[0076] Among them, the acquisition module 100 is used to obtain the driving data of the vehicle at the current moment and the adjustment parameters of the vehicle suspension predicted at the previous moment; the determination module 200 is used to determine the adjustment parameters of the vehicle suspension at the current moment according to the driving data of the vehicle at the current moment and the adjustment parameters of the vehicle suspension predicted at the previous moment; the control module 300 is used to control the vehicle suspension based on the adjustment parameters of the vehicle suspension at the current moment.

[0077] It should be noted that the above explanation of the embodiment of the vehicle suspension control method is also applicable to the vehicle suspension control device of this embodiment, which will not be repeated here.

[0078] According to the control device of the vehicle suspension proposed in the embodiment of the present application, the adjustment parameters of the vehicle suspension at the previous moment are predicted based on the driving data of the vehicle at the current moment and the map navigation information of the vehicle, and the adjustment parameters of the vehicle suspension at the current moment are determined, and the vehicle suspension is controlled based on the adjustment parameters of the vehicle suspension at the current moment. The driving section status and the current driving status of the vehicle are comprehensively considered, the driving smoothness and comfort are improved, the user experience is improved, and the overall cost is relatively low.

[0079] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0080] Memory 401 , processor 402 , and a computer program stored in the memory 401 and executable on the processor 402 .

[0081] When the processor 402 executes the program, the vehicle suspension control method provided in the above embodiment is implemented.

[0082] Furthermore, the vehicle also includes:

[0083] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0084] The memory 401 is used to store computer programs that can be executed on the processor 402 .

[0085] The memory 401 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0086] If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0087] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0088] The processor 402 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0089] An embodiment of the present application also provides a computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed by a processor, the above-mentioned vehicle suspension control method is implemented.

[0090] An embodiment of the present application also provides a computer program product, including a computer program or instructions, characterized in that when the computer program or instructions are executed, the above-mentioned vehicle suspension control method is implemented.

[0091] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0092] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0093] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0094] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of multiple of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0095] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

Claims

1. A method for controlling a vehicle suspension, characterized in that: The following steps are involved: Obtaining the current vehicle driving data and the vehicle suspension adjustment parameters predicted at the previous moment; Determine the adjustment parameters of the vehicle suspension at the current moment according to the driving data of the vehicle at the current moment and the adjustment parameters of the vehicle suspension predicted at the previous moment; The vehicle suspension is controlled based on the adjustment parameters of the vehicle suspension at the current moment.

2. The vehicle suspension control method according to claim 1, characterized in that: The adjustment parameters of the vehicle suspension at multiple future moments are predicted based on the map navigation information of the vehicle at the current moment. The prediction method of the adjustment parameters of the vehicle suspension at the previous moment is the same as the prediction method of the adjustment parameters of the vehicle suspension at multiple future moments at the current moment.

3. The vehicle suspension control method according to claim 2, characterized in that: The method of predicting the adjustment parameters of the vehicle suspension at multiple future moments according to the map navigation information of the vehicle at the current moment includes: Determine the route characteristics of a preset time in the future according to the map navigation information of the vehicle at the current moment; Predict the adjustment parameters of the vehicle suspension at multiple moments in the future based on road characteristics.

4. The vehicle suspension control method according to claim 3, characterized in that: The predicting of the adjustment parameters of the vehicle suspension at multiple moments in the future according to the route characteristics includes: If the route feature is a straight section, predicting the adjustment parameters of the vehicle suspension at multiple future moments according to the current vehicle speed; If the route feature is a turning section, predicting adjustment parameters of the vehicle suspension at multiple moments in the future according to the turning direction and curvature of the turning section; If the route feature is a congested section or a frequently braked section, the adjustment parameters of the vehicle suspension at multiple moments in the future are predicted based on the congestion situation and the duration of the frequent brakes.

5. The vehicle suspension control method according to claim 4, characterized in that: The predicting of the adjustment parameters of the vehicle suspension at multiple moments in the future according to the turning direction and curvature of the turning section includes: The adjustment parameters of the inner and outer suspensions of the vehicle are adjusted respectively according to the turning direction and the turning curvature of the turning section.

6. The vehicle suspension control method according to claim 1, characterized in that: The step of determining the adjustment parameters of the vehicle suspension at the current moment according to the vehicle driving data at the current moment and the adjustment parameters of the vehicle suspension predicted at the previous moment includes: Identifying the vehicle speed and steering angle in the driving data of the vehicle at the current moment; If the vehicle speed and the steering angle are both within the safety margin, the adjustment parameters of the vehicle suspension predicted at the previous moment are used as the adjustment parameters of the vehicle suspension at the current moment; If the vehicle speed and the steering angle exceed the safety margin, the adjustment parameters of the vehicle suspension predicted at the previous moment are corrected according to the driving data of the vehicle at the current moment to obtain the adjustment parameters of the vehicle suspension at the current moment.

7. A vehicle suspension control device, characterized in that: include: An acquisition module, used to acquire the current vehicle driving data and the vehicle suspension adjustment parameters predicted at the previous moment; A determination module, used to determine the adjustment parameters of the vehicle suspension at the current moment according to the driving data of the vehicle at the current moment and the adjustment parameters of the vehicle suspension predicted at the previous moment; The control module is used to control the vehicle suspension based on the adjustment parameters of the vehicle suspension at a current moment.

8. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle suspension control method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed by a processor, it is used to implement the vehicle suspension control method as described in any one of claims 1-6.

10. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed, the vehicle suspension control method according to any one of claims 1 to 6 is implemented.

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