Control method and device of electronic control shock absorber, electronic equipment and vehicle

Abstract

The invention discloses a control method and device of an electronic control shock absorber, electronic equipment and a vehicle. The method comprises the steps that when a vehicle moves in the vertical direction, target control force needed for controlling the vehicle to run smoothly and the target movement speed of an electric control shock absorber in the vehicle are obtained, and the electric control shock absorber comprises an actuator used for executing control current; determining a target actuator according to the first direction of the target movement speed and the second direction of the target control force; determining a target current value corresponding to the target actuator according to the value of the target control force and the value of the target movement speed; and the control current corresponding to the target current value is executed through the target actuator, so that the electric control shock absorber is controlled to generate damping force meeting the target control force. According to the control method of the electronic control shock absorber, different types of electronic control shock absorbers can be compatible.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a control method, device, electronic equipment and vehicle for an electronically controlled shock absorber. Background Art

[0002] In the field of vehicle technology, with the development of chassis technology, electronically controlled shock absorbers have been developed and used to improve body control. Compared with passive shock absorbers, electronically controlled shock absorbers have a wider damping control range and can select different damping responses according to the control current to improve suspension characteristics and body control effects.

[0003] With the continuous development of electronically controlled shock absorber technology, different types of electronically controlled shock absorbers have emerged, such as single solenoid valve, dual solenoid valve, and fully active. At present, the control methods of different types of electronically controlled shock absorbers are often different, so it is very important to integrate and analyze the control methods of different types of electronically controlled shock absorbers. Therefore, there is an urgent need for a control method that is compatible with different types of electronically controlled shock absorbers. Summary of the invention

[0004] Embodiments of the present application provide a control method, device, equipment, computer-readable storage medium, computer program product, and vehicle for an electronically controlled shock absorber, which are compatible with different types of electronically controlled shock absorbers.

[0005] In a first aspect, an embodiment of the present application provides a control method for an electronically controlled shock absorber, the method comprising:

[0006] When the vehicle moves vertically, obtaining a target control force required to control the vehicle to travel smoothly and a target movement speed of an electronically controlled shock absorber in the vehicle, wherein the electronically controlled shock absorber includes an actuator for executing a control current;

[0007] determining a target actuator according to a first direction of the target motion speed and a second direction of the target control force;

[0008] Determining a target current value corresponding to the target actuator according to the value of the target control force and the value of the target motion speed;

[0009] The target actuator executes a control current corresponding to the target current value to control the electronically controlled shock absorber to generate a damping force that satisfies the target control force.

[0010] In a possible implementation, when the electronically controlled shock absorber is in a stretching motion state, the first direction is positive; when the electronically controlled shock absorber is in a compressing motion state, the first direction is negative; when the target control force is used to suppress the upward movement of the vehicle body, the second direction is positive; when the target control force is used to suppress the downward movement of the vehicle body, the second direction is negative;

[0011] The determining of the target actuator according to the first direction of the target motion speed and the second direction of the target control force comprises:

[0012] When the first direction is positive and the second direction is positive, determining that the target actuator is a stretching solenoid valve, the stretching solenoid valve is used to control the electronically controlled shock absorber to perform passive stretching;

[0013] When the first direction is negative and the second direction is positive, determining that the target actuator is a compression motor, the compression motor is used to pump oil from the electronically controlled shock absorber to achieve active compression of the electronically controlled shock absorber;

[0014] When the first direction is negative and the second direction is negative, determining that the target actuator is a compression solenoid valve, the compression solenoid valve is used to control the electronically controlled shock absorber to perform passive compression;

[0015] When the first direction is positive and the second direction is negative, the target actuator is determined to be a stretching motor, and the stretching motor is used to pump oil into the electronically controlled shock absorber to achieve active stretching of the electronically controlled shock absorber.

[0016] In a possible implementation manner, determining the target actuator according to the first direction of the target motion speed and the second direction of the target control force includes:

[0017] Determining a target quadrant corresponding to the first direction and the second direction in a current query system, the current query system comprising a rectangular coordinate system with a motion speed as a first axis and a control force as a second axis, and a plurality of quadrants divided by the first axis and the second axis, each of the quadrants comprising a current value corresponding to a value of the motion speed and a value of the control force, and the target quadrant being any one of the plurality of quadrants;

[0018] A target actuator corresponding to the target quadrant is determined according to the corresponding relationship between the actuator and the quadrant.

[0019] In a possible implementation manner, determining the target current value corresponding to the target actuator according to the value of the target control force and the value of the target motion speed includes:

[0020] A target current value corresponding to the target control force value and the target motion speed value is determined in the target quadrant.

[0021] In a possible implementation manner, before determining, in the current query system, a target quadrant corresponding to both the first direction and the second direction, the method further includes:

[0022] Constructing a rectangular coordinate system with the motion speed as a first axis and the control force as a second axis;

[0023] Determine a plurality of quadrants according to the first axis and the second axis, each quadrant corresponding to an actuator;

[0024] For each of the quadrants, a current mapping relationship corresponding to the actuator is obtained, wherein the current mapping relationship represents a corresponding relationship between the value of the motion speed, the value of the control force, and the current value;

[0025] The current query system is constructed according to the rectangular coordinate system, the multiple quadrants and the current mapping relationship corresponding to each quadrant.

[0026] In a second aspect, an embodiment of the present application provides a control device for an electronically controlled shock absorber, the device comprising:

[0027] an acquisition module, used for acquiring a target control force required for controlling the smooth running of the vehicle and a target movement speed of an electronically controlled shock absorber in the vehicle when the vehicle moves vertically, wherein the electronically controlled shock absorber includes an actuator for executing a control current;

[0028] A first determination module, configured to determine a target actuator according to a first direction of the target motion speed and a second direction of the target control force;

[0029] A second determination module, configured to determine a target current value corresponding to the target actuator according to the value of the target control force and the value of the target motion speed;

[0030] A control module is used to execute a control current corresponding to the target current value through the target actuator, so as to control the electronically controlled shock absorber to generate a damping force that satisfies the target control force.

[0031] In a third aspect, an embodiment of the present application provides an electronic device, the device comprising: a processor and a memory storing computer program instructions;

[0032] When the processor executes the computer program instructions, the processor implements any possible implementation method of the first aspect described above.

[0033] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implements a method in any possible implementation method of the first aspect described above.

[0034] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes a method as any possible implementation method in the first aspect above.

[0035] In a sixth aspect, an embodiment of the present application provides a vehicle, the vehicle comprising at least one of the following:

[0036] A control device for an electronically controlled shock absorber as in any one of the embodiments of the second aspect;

[0037] An electronic device as in any one of the embodiments of the third aspect;

[0038] A computer-readable storage medium as in any embodiment of the fourth aspect.

[0039] A computer program product as in any embodiment of the fifth aspect.

[0040] In the embodiment of the present application, since the type of the electronically controlled shock absorber is related to the actuator, the target actuator is determined according to the first direction of the target motion speed and the second direction of the target control force, that is, by assigning directions to the target control force and the target motion speed, it is possible to identify the type of the electronically controlled shock absorber according to the first direction and the second direction. By determining the target current value corresponding to the target actuator according to the value of the target control force and the value of the target motion speed, and executing the control current corresponding to the target current value through the target actuator, the electronically controlled shock absorber corresponding to the first direction and the second direction can be controlled to generate a damping force that meets the target control force. In this way, through the embodiment of the present application, different types of electronically controlled shock absorbers can be compatible. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0042] Figure 1 is a flow chart of a control method for an electronically controlled shock absorber provided in an embodiment of the present application;

[0043] Figure 2 is a schematic diagram of a current query system provided in an embodiment of the present application;

[0044] Figure 3 is a schematic diagram of controlling an electronically controlled shock absorber based on vehicle body motion and shock absorber motion provided by an embodiment of the present application;

[0045] Figure 4is a flow chart of another control method of an electronically controlled shock absorber provided in an embodiment of the present application;

[0046] Figure 5 is a schematic structural diagram of a control device for an electronically controlled shock absorber provided in an embodiment of the present application;

[0047] Figure 6 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0049] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0050] As described in the background technology section, different types of electronically controlled shock absorbers often have different control methods. Specifically, in the current control strategy of electronically controlled shock absorbers, in order to ensure the smooth driving of the vehicle, the core of the software algorithm is to first obtain the control force required to control the smooth driving of the vehicle body and the movement speed of the electronically controlled shock absorber, and then query the current value corresponding to the control force and the movement speed in the current mapping table corresponding to the electronically controlled shock absorber, and control the electronically controlled shock absorber to generate a damping force through the control current corresponding to the current value to meet the required control force. Among them, the control force and the movement speed only have size but no direction, and one type of electronically controlled shock absorber corresponds to one current mapping table. In this way, if multiple types of electronically controlled shock absorbers can correspond to one current mapping table, the control methods of different types of electronically controlled shock absorbers can be compatible.

[0051] Based on this, in order to solve the problems of the prior art, the embodiments of the present application provide a control method, device, equipment, computer-readable storage medium, computer program product and vehicle for an electronically controlled shock absorber. Among them, the control method of the electronically controlled shock absorber can be executed by a control system of the electronically controlled shock absorber. Among them, the control system of the electronically controlled shock absorber may include a sensor, an electronic control unit (ECU) and an actuator. Specifically, the sensor can be used to obtain the vertical motion information of the vehicle and the motion speed information of the electronically controlled shock absorber and send the vertical motion information and motion speed information to the ECU. The sensor may include a sensor installed in the electronically controlled shock absorber and a sensor installed in the vehicle but not belonging to the electronically controlled shock absorber, which is not limited here. The ECU can calculate the control force required to control the smooth driving of the vehicle based on the vertical motion information sent by the sensor, convert the control force into a control current and output a control instruction including the control current to the actuator, so that the actuator executes the control current in response to the control instruction, thereby changing the damping characteristics, so that the vehicle can adapt to different driving conditions and road conditions. The ECU may be installed in the electronically controlled shock absorber, and multiple electronically controlled shock absorbers of the vehicle may each be installed with an electronically controlled shock absorber ECU, or may be installed with one ECU together, which is not limited here. In addition, the actuator may also be installed in the electronically controlled shock absorber.

[0052] The following is an introduction to the control method of the electronically controlled shock absorber provided in the embodiment of the present application.

[0053] Figure 1 FIG. 1 is a flow chart showing a control method for an electronically controlled shock absorber provided in an embodiment of the present application. Figure 1 As shown, the control method of the electronically controlled shock absorber provided in the embodiment of the present application comprises the following steps:

[0054] S110, when the vehicle moves vertically, obtaining a target control force required to control the vehicle to travel smoothly and a target movement speed of an electronically controlled shock absorber in the vehicle, wherein the electronically controlled shock absorber includes an actuator for executing a control current;

[0055] S120, determining a target actuator according to a first direction of the target motion speed and a second direction of the target control force;

[0056] S130, determining a target current value corresponding to the target actuator according to the value of the target control force and the value of the target motion speed;

[0057] S140, executing a control current corresponding to the target current value through a target actuator to control the electronically controlled shock absorber to generate a damping force that satisfies the target control force.

[0058] In the control method of the electronically controlled shock absorber of the embodiment of the present application, since the type of the electronically controlled shock absorber is related to the actuator, by determining the target actuator according to the first direction of the target motion speed and the second direction of the target control force, that is, by assigning directions to the target control force and the target motion speed, it is possible to identify the type of the electronically controlled shock absorber according to the first direction and the second direction. By determining the target current value corresponding to the target actuator according to the value of the target control force and the value of the target motion speed, and executing the control current corresponding to the target current value through the target actuator, the electronically controlled shock absorber corresponding to the first direction and the second direction can be controlled to generate a damping force that meets the target control force. In this way, through the embodiment of the present application, different types of electronically controlled shock absorbers can be compatible.

[0059] The specific implementation methods of the above steps are introduced below.

[0060] In some embodiments, in S110, during the driving of the vehicle, the vertical speed of the vehicle can be detected by the speed sensor, and the vertical acceleration can be detected by the acceleration sensor. If the vertical speed and / or the vertical acceleration is not 0, it can be determined that the vehicle is moving vertically. The working conditions that cause the vertical movement of the vehicle may include, for example, road bumps causing vehicle vibration, the vehicle hitting a speed bump, and the wheels falling into a pothole.

[0061] When the vehicle body moves vertically, the ECU can determine the target control force corresponding to the vertical velocity and the vertical acceleration. The target control force can be used to suppress the vertical movement of the vehicle body to control the vehicle to run smoothly.

[0062] Specifically, the target control force may include magnitude and direction. The value of the target control force may be determined based on the value of the vertical velocity and the value of the vertical acceleration. In addition, the direction of the target control force may be recorded as the second direction. The second direction may be used to offset the direction of the vehicle body movement. If the vehicle body moves upward, the target control force may be used to provide a downward force to the vehicle body to suppress the upward movement of the vehicle body. Since the stretching movement of the electronically controlled shock absorber may provide a downward force to the vehicle body, the second direction may be the same as the direction of the stretching movement. If the direction of the stretching movement is recorded as the positive direction, the second direction may be the positive direction when the vehicle body moves upward.

[0063] Similarly, if the vehicle body moves downward, the target control force can be used to provide an upward force to the vehicle body to suppress the downward movement of the vehicle body. Since the compression movement of the electronically controlled shock absorber can provide an upward force to the vehicle body, the second direction can be the same as the direction of the compression movement. If the direction of the compression movement is recorded as a negative direction, the second direction can be a negative direction when the vehicle body moves downward.

[0064] In addition, when the vehicle moves vertically, the electronically controlled shock absorber in the vehicle will often move accordingly. The target movement speed of the electronically controlled shock absorber can be detected by the sensor in the electronically controlled shock absorber. Among them, the target movement speed can include magnitude and direction. The value of the target movement speed can be directly determined by the sensor. In addition, the direction of the target movement speed can be recorded as a first direction. If the electronically controlled shock absorber is in a tensile movement state when the vehicle moves vertically, the first direction can be recorded as a positive direction. If the electronically controlled shock absorber is in a compressive movement state when the vehicle moves vertically, the first direction can be recorded as a negative direction.

[0065] In addition, each electronically controlled shock absorber may include at least one actuator. If the electronically controlled shock absorber is a single-valve semi-active shock absorber, the actuator may be the only solenoid valve in the single-valve semi-active shock absorber. If the solenoid valve is used to control the electronically controlled shock absorber to perform a stretching movement, the solenoid valve may be recorded as a stretching solenoid valve. If the solenoid valve is used to control the electronically controlled shock absorber to perform a compression movement, the solenoid valve may be recorded as a compression solenoid valve. In addition, if the electronically controlled shock absorber is a dual-valve semi-active shock absorber, the actuator may include a stretching solenoid valve and a compression solenoid valve. If the electronically controlled shock absorber is a fully active shock absorber, the actuator may include a stretching solenoid valve, a compression solenoid valve and a motor. Among them, if the motor is used to pump oil into the electronically controlled shock absorber, the motor may be recorded as a stretching motor. If the motor is used to pump oil out of the electronically controlled shock absorber, the motor may be recorded as a compression motor.

[0066] In some embodiments, in S120 , the target actuator may be any one of a stretching solenoid valve, a compression solenoid valve, a stretching motor, and a compression motor.

[0067] As an example, if the vehicle body moves upward, a downward force is required to suppress the upward movement of the vehicle body. If the electronically controlled shock absorber is just in a stretching state at this time, the electronically controlled shock absorber can continue to stretch to provide a downward force to the vehicle body. At this time, by controlling the electronically controlled shock absorber to perform passive stretching, the control of suppressing the upward movement of the vehicle body can be enhanced by continuing to increase the stretching damping force of the electronically controlled shock absorber. In this way, the above purpose can be achieved by executing a control current through a stretching solenoid valve. Therefore, when the first direction is positive and the second direction is positive, the target actuator can be a stretching solenoid valve.

[0068] Similarly, if the vehicle body moves downward, an upward force is required to suppress the downward movement of the vehicle body. If the electronically controlled shock absorber is just in a compression movement state at this time, the electronically controlled shock absorber can continue to perform compression movement to provide an upward force to the vehicle body. At this time, by controlling the electronically controlled shock absorber to perform passive compression, the compression damping force of the electronically controlled shock absorber can be further increased to enhance the control of suppressing the downward movement of the vehicle body. In this way, the above purpose can be achieved by executing the control current through the compression solenoid valve. Therefore, when the first direction is negative and the second direction is negative, the target actuator can be the compression solenoid valve.

[0069] As another example, if the vehicle body moves upward and the electronically controlled shock absorber is in a compression motion state (the working condition may be, for example, an impact speed bump), continuing to increase the damping force will have a counter-effect on suppressing the upward motion of the vehicle body, so the adjustment of the solenoid valve cannot suppress the upward motion of the vehicle body. Therefore, the electronically controlled shock absorber needs to be actively compressed at a faster speed, and the compression action provides a force to suppress the upward motion of the vehicle body. Specifically, the piston of the electronically controlled shock absorber can be controlled to move downward by actively pumping oil out of the electronically controlled shock absorber through the motor of the fully active shock absorber, thereby achieving active compression of the electronically controlled shock absorber. Therefore, when the first direction is negative and the second direction is positive, the target actuator may be a compression motor.

[0070] Similarly, if the vehicle body moves downward and the electronically controlled shock absorber is in a stretching state (the working condition may be, for example, a wheel falling into a pit), continuing to increase the damping force will have a counter-effect on suppressing the downward movement of the vehicle body, so the adjustment of the solenoid valve cannot suppress the downward movement of the vehicle body. Therefore, the electronically controlled shock absorber needs to actively stretch at a faster speed to provide a force to suppress the downward movement of the vehicle body through the stretching action. Specifically, the piston of the electronically controlled shock absorber can be controlled to move upward by actively pumping oil into the electronically controlled shock absorber through the motor of the fully active shock absorber, thereby realizing active stretching of the electronically controlled shock absorber. Therefore, when the first direction is positive and the second direction is negative, the target actuator may be a stretching motor.

[0071] Based on this, in order to improve the versatility of the control method compatible with different types of electronically controlled shock absorbers and improve the efficiency of determining the target actuator, in some embodiments, the above S120 may specifically include:

[0072] Determine a target quadrant corresponding to the first direction and the second direction in a current query system, the current query system comprising a rectangular coordinate system with the motion speed as the first axis and the control force as the second axis, and a plurality of quadrants divided by the first axis and the second axis, each quadrant comprising a current value corresponding to the motion speed value and the control force value, and the target quadrant is any one of the plurality of quadrants;

[0073] The target actuator corresponding to the target quadrant is determined according to the corresponding relationship between the actuator and the quadrant.

[0074] Here, the multiple quadrants may include a first quadrant, a second quadrant, a third quadrant, and a fourth quadrant. The first axis may be a horizontal axis or a vertical axis, which is not limited here. The second axis may be any one of the horizontal axis and the vertical axis except the first axis. The following is an exemplary description with the first axis as the horizontal axis and the second axis as the vertical axis.

[0075] As an example, a rectangular coordinate system is constructed with the movement speed as the horizontal axis and the control force as the vertical axis, and four quadrants can be determined by dividing the horizontal axis and the vertical axis. Among them, the first quadrant can be an area where the direction of the control force and the direction of the movement speed are both positive. As described above, when the first direction is positive and the second direction is positive, the target actuator can be a stretching solenoid valve. That is, the regulation of the current in the first quadrant can be achieved by the stretching solenoid valve to control the electronically controlled shock absorber to achieve passive stretching.

[0076] The second quadrant may be a region where the direction of the motion speed is negative and the direction of the control force is positive. As described above, when the first direction is negative and the second direction is positive, the target actuator may be a compression motor. That is, the regulation of the current in the second quadrant may be achieved by the compression motor to control the electronically controlled shock absorber to achieve active compression.

[0077] The third quadrant may be a region where the direction of the control force and the direction of the movement speed are both negative. As described above, when the first direction is negative and the second direction is negative, the target actuator may be a compression solenoid valve. That is, the regulation of the current in the third quadrant may be achieved through the compression solenoid valve to control the electronically controlled shock absorber to achieve passive compression.

[0078] The fourth quadrant may be a region where the direction of the motion speed is positive and the direction of the control force is negative. As described above, when the first direction is positive and the second direction is negative, the target actuator may be a stretching motor. That is, the regulation of the current in the fourth quadrant may be achieved by the stretching motor to control the electronically controlled shock absorber to achieve active stretching.

[0079] Based on this, if the target quadrant is the first quadrant, the target actuator can be a stretching solenoid valve; if the target quadrant is the second quadrant, the target actuator can be a compression motor; if the target quadrant is the third quadrant, the target actuator can be a compression solenoid valve; if the target quadrant is the fourth quadrant, the target actuator can be a stretching motor.

[0080] In addition, since different actuators execute control current in different ways, when the control force value and the movement speed value are the same, the current values ​​corresponding to different actuators may be different. The method of determining the current value corresponding to the actuator according to the control force value and the movement speed value in the embodiment of the present application can refer to the prior art and will not be described in detail here.

[0081] In this way, by determining the target actuator according to the current query system, the versatility of the control method compatible with different types of electronically controlled shock absorbers can be improved, and the efficiency of determining the target actuator can be improved.

[0082] Based on this, in order to improve the versatility of control methods compatible with different types of electronically controlled shock absorbers and improve the efficiency of determining the target actuator, in some embodiments, before determining the target quadrant corresponding to the first direction and the second direction in the current query system, it may also include:

[0083] Construct a rectangular coordinate system with motion speed as the first axis and control force as the second axis;

[0084] A plurality of quadrants are determined according to the first axis and the second axis, each quadrant corresponding to an actuator;

[0085] For each quadrant, a current mapping relationship corresponding to the actuator is obtained, where the current mapping relationship represents a corresponding relationship between a motion speed value, a control force value, and a current value;

[0086] A current query system is constructed according to a rectangular coordinate system, multiple quadrants and a current mapping relationship corresponding to each quadrant.

[0087] Here, since different actuators execute different control currents, when the control force and the motion speed are the same, the current values ​​corresponding to different actuators may be different. The embodiment of the present application can directly obtain the current mapping relationship corresponding to the actuator in the related art, which will not be described in detail here.

[0088] In the case where the first axis is the horizontal axis and the second axis is the vertical axis, a schematic diagram of a current query system provided by an embodiment of the present application can be as follows: Figure 2 As shown. Figure 2 In , F can represent the control force, N can be the unit of the control force, V can represent the movement speed, and m / s can be the unit of the movement speed. Figure 2 In the figure, 21 may represent the current value corresponding to the value of the control force and the value of the movement speed in the first quadrant. 22 may represent the current value corresponding to the value of the control force and the value of the movement speed in the second quadrant. 23 may represent the current value corresponding to the value of the control force and the value of the movement speed in the third quadrant. 24 may represent the current value corresponding to the value of the control force and the value of the movement speed in the fourth quadrant. Specifically, the execution current in the quadrant may be defined according to the damping characteristics and the motor characteristics, and may be realized by the shock absorber adjusting the solenoid valve current or the motor current.

[0089] In this way, by constructing a current query system, it is possible to determine the target actuator according to the current query system, thereby improving the versatility of the control method compatible with different types of electronically controlled shock absorbers and improving the efficiency of determining the target actuator.

[0090] Based on the above embodiments, the abstract rules of the above four quadrants correspond to the vehicle motion conditions, and the vehicle body motion and shock absorber motion can be vividly expressed as: Figure 3 .

[0091] In some embodiments, in S130, when the target control force and the target motion speed are the same, since different actuators execute the control current in different ways, the current values ​​corresponding to different actuators may be different. The method of determining the target current value corresponding to the target actuator according to the value of the target control force and the value of the target motion speed in the embodiment of the present application can refer to the prior art and will not be described in detail here.

[0092] Based on this, in order to improve the efficiency of determining the target current value, in some embodiments, the above S130 may specifically include:

[0093] A target current value corresponding to the target control force value and the target motion speed value is determined in the target quadrant.

[0094] Here, after the target quadrant is determined, the target current value may be determined according to the corresponding relationship among the control force value, the motion speed value and the current value in the target quadrant.

[0095] In some embodiments, in S140, when the electronically controlled shock absorber is a single-valve semi-active shock absorber, because there is no motor, the current in the first and third quadrants can be executed in the only solenoid valve; no response is made to the current in the second and fourth quadrants. When the electronically controlled shock absorber is a dual-valve semi-active shock absorber, the current in the first quadrant can be executed in the extension solenoid valve, and the current in the third quadrant can be executed in the compression solenoid valve; because there is no motor, no response is made to the current in the second and fourth quadrants. When the electronically controlled shock absorber is a fully active shock absorber, since the fully active shock absorber has dual valves, the current in the first and third quadrants can be given to the solenoid valve for control, and the current in the fourth quadrant can be given to the motor to rotate the motor to pump oil into the electronically controlled shock absorber; the current in the second quadrant can be given to the motor to rotate the motor to pump out the oil in the electronically controlled shock absorber.

[0096] In order to better describe the entire solution, some specific examples are given based on the above embodiments.

[0097] For example, Figure 4 As shown, the control method of the electronically controlled shock absorber in the embodiment of the present application may include the following steps:

[0098] S41, when the vehicle moves vertically, obtaining a target control force required to control the vehicle to travel smoothly and a target movement speed of an electronically controlled shock absorber in the vehicle;

[0099] S42, determining the target current value and the target actuator corresponding to the target motion speed and the target control force according to the current mapping table, and when the target actuator is a stretching solenoid valve, executing S43; when the target actuator is a compression solenoid valve, executing S44; when the target actuator is a stretching motor, executing S45; when the target actuator is a compression motor, executing S46;

[0100] S43, +F&+V, the target current is executed by the stretch solenoid valve;

[0101] S44, -F & -V, target current is executed by compression solenoid valve;

[0102] S45, +F&-V, the stretching motor pumps oil corresponding to the target current value into the electronically controlled shock absorber;

[0103] S46, -F&+V, the compression motor pumps out the oil corresponding to the target current value from the electronically controlled shock absorber.

[0104] Therefore, this application can realize the current value table lookup of all quadrants by giving directions to the movement speed and control force, and then identify the control range and processing method of single valve / dual valve / fully active according to the definition of quadrants, so as to achieve compatibility. In addition, by innovatively combining the current control methods of semi-active shock absorbers and fully active shock absorbers, the current control accuracy of the electronically controlled shock absorber is improved, and accurate current control of all hydraulic semi-active shock absorbers and fully active shock absorbers can be achieved.

[0105] Based on the control method of the electronically controlled shock absorber provided in the above embodiment, the present application also provides a specific implementation of the control device of the electronically controlled shock absorber. Please refer to the following embodiment.

[0106] like Figure 5 As shown, the control device 500 of the electronically controlled shock absorber provided in the embodiment of the present application includes the following modules:

[0107] An acquisition module 510 is used to acquire a target control force required to control the smooth running of the vehicle and a target movement speed of an electronically controlled shock absorber in the vehicle when the vehicle moves vertically, wherein the electronically controlled shock absorber includes an actuator for executing a control current;

[0108] A first determination module 520, configured to determine a target actuator according to a first direction of a target motion speed and a second direction of a target control force;

[0109] A second determination module 530, configured to determine a target current value corresponding to a target actuator according to a target control force value and a target motion speed value;

[0110] The control module 540 is used to execute the control current corresponding to the target current value through the target actuator to control the electronically controlled shock absorber to generate a damping force that meets the target control force.

[0111] The control device 500 of the above-mentioned electronically controlled shock absorber is described in detail below, as shown below:

[0112] In some of the embodiments, when the electronically controlled shock absorber is in a tensile movement state, the first direction is positive; when the electronically controlled shock absorber is in a compressive movement state, the first direction is negative; when the target control force is used to suppress the upward movement of the vehicle body, the second direction is positive; when the target control force is used to suppress the downward movement of the vehicle body, the second direction is negative.

[0113] Based on this, the first determining module 520 may specifically include:

[0114] A first determination submodule is used to determine that the target actuator is a stretching solenoid valve when the first direction is positive and the second direction is positive, and the stretching solenoid valve is used to control the electronically controlled shock absorber to perform passive stretching;

[0115] a second determination submodule, used for determining that the target actuator is a compression motor when the first direction is negative and the second direction is positive, and the compression motor is used for pumping oil from the electronically controlled shock absorber to achieve active compression of the electronically controlled shock absorber;

[0116] A third determination submodule is used to determine that the target actuator is a compression solenoid valve when the first direction is negative and the second direction is negative, and the compression solenoid valve is used to control the electronically controlled shock absorber to perform passive compression;

[0117] The fourth determination submodule is used to determine that the target actuator is a stretching motor when the first direction is positive and the second direction is negative. The stretching motor is used to pump oil into the electronically controlled shock absorber to achieve active stretching of the electronically controlled shock absorber.

[0118] In some embodiments, the first determining module 520 may specifically include:

[0119] a fifth determination submodule, configured to determine a target quadrant corresponding to the first direction and the second direction in a current query system, wherein the current query system includes a rectangular coordinate system with the motion speed as the first axis and the control force as the second axis, and a plurality of quadrants divided by the first axis and the second axis, each quadrant including a current value corresponding to the motion speed value and the control force value, and the target quadrant is any one of the plurality of quadrants;

[0120] The sixth determination submodule is used to determine the target actuator corresponding to the target quadrant according to the corresponding relationship between the actuator and the quadrant.

[0121] In some embodiments, the second determining module 530 may specifically include:

[0122] The seventh determination submodule is used to determine a target current value corresponding to a target control force value and a target motion speed value in a target quadrant.

[0123] In some embodiments, the first determining module 520 may specifically include:

[0124] A first construction submodule is used to construct a rectangular coordinate system with the motion speed as the first axis and the control force as the second axis before determining the target quadrant corresponding to the first direction and the second direction in the current query system;

[0125] An eighth determination submodule, configured to determine a plurality of quadrants according to the first axis and the second axis, each quadrant corresponding to an actuator;

[0126] An acquisition submodule is used to acquire a current mapping relationship corresponding to the actuator for each quadrant, where the current mapping relationship represents a corresponding relationship between a motion speed value, a control force value, and a current value;

[0127] The second construction submodule is used to construct a current query system according to a rectangular coordinate system, a plurality of quadrants and a current mapping relationship corresponding to each quadrant.

[0128] In the control device of the electronically controlled shock absorber of the embodiment of the present application, since the type of the electronically controlled shock absorber is related to the actuator, by determining the target actuator according to the first direction of the target motion speed and the second direction of the target control force, that is, by assigning directions to the target control force and the target motion speed, it is possible to identify the type of the electronically controlled shock absorber according to the first direction and the second direction. By determining the target current value corresponding to the target actuator according to the value of the target control force and the value of the target motion speed, and executing the control current corresponding to the target current value through the target actuator, the electronically controlled shock absorber corresponding to the first direction and the second direction can be controlled to generate a damping force that meets the target control force. In this way, through the embodiment of the present application, different types of electronically controlled shock absorbers can be compatible.

[0129] Based on the control method of the electronically controlled shock absorber provided in the above embodiment, the embodiment of the present application also provides a specific implementation of the electronic device. Figure 6 A schematic diagram of an electronic device 600 provided in an embodiment of the present application is shown.

[0130] The electronic device 600 may include a processor 610 and a memory 620 storing computer program instructions.

[0131] Specifically, the processor 610 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0132] The memory 620 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 620 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 620 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 620 may be inside or outside the electronic device 600. In a particular embodiment, the memory 620 is a non-volatile solid-state memory.

[0133] The memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to the first aspect of the present application.

[0134] The processor 610 implements any one of the control methods for the electronically controlled shock absorber in the above embodiments by reading and executing computer program instructions stored in the memory 620 .

[0135] In one example, the electronic device 600 may further include a communication interface 630 and a bus 640. Figure 6 As shown, the processor 610, the memory 620, and the communication interface 630 are connected via a bus 640 and communicate with each other.

[0136] The communication interface 630 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0137] Bus 640 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 640 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0138] Exemplarily, the electronic device 600 may be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA).

[0139] The electronic device can execute the control method of the electronically controlled shock absorber in the embodiment of the present application, thereby realizing the combination Figures 1 to 5 A control method and device for an electronically controlled shock absorber are described.

[0140] In addition, in combination with the control method of the electronically controlled shock absorber in the above embodiments, the embodiment of the present application can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any of the control methods of the electronically controlled shock absorber in the above embodiments is implemented.

[0141] In combination with the control method of the electronically controlled shock absorber in the above embodiments, the present application embodiment can provide a computer program product to implement. When the instructions in the computer program product are executed by a processor of an electronic device, any control method of the electronically controlled shock absorber in the above embodiments is implemented.

[0142] In addition, in combination with the control method of the electronically controlled shock absorber in the above embodiments, the present application embodiment can provide a computer program product for implementation. When the instructions in the computer program product are executed by a processor of an electronic device, any control method of the electronically controlled shock absorber in the above embodiments is implemented.

[0143] In addition, an embodiment of the present application further provides a vehicle, which includes at least one of the following:

[0144] A control device for an electronically controlled shock absorber as in the above-mentioned embodiment;

[0145] The electronic device in the above embodiment;

[0146] As the computer-readable storage medium in the above embodiments.

[0147] The computer program product in the above embodiment will not be described in detail here.

[0148] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0149] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0150] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0151] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0152] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A control method for an electronically controlled shock absorber, It is characterized in that include: When the vehicle moves vertically, obtaining a target control force required to control the vehicle to travel smoothly and a target movement speed of an electronically controlled shock absorber in the vehicle, wherein the electronically controlled shock absorber includes an actuator for executing a control current; determining a target actuator according to a first direction of the target motion speed and a second direction of the target control force; Determining a target current value corresponding to the target actuator according to the value of the target control force and the value of the target motion speed; The target actuator executes a control current corresponding to the target current value to control the electronically controlled shock absorber to generate a damping force that satisfies the target control force.

2. The method according to claim 1, It is characterized in that When the electronically controlled shock absorber is in a state of extension, the first direction is positive; when the electronically controlled shock absorber is in a state of compression, the first direction is negative; when the target control force is used to suppress the upward movement of the vehicle body, the second direction is positive; when the target control force is used to suppress the downward movement of the vehicle body, the second direction is negative; The determining of the target actuator according to the first direction of the target motion speed and the second direction of the target control force comprises: When the first direction is positive and the second direction is positive, determining that the target actuator is a stretching solenoid valve, the stretching solenoid valve is used to control the electronically controlled shock absorber to perform passive stretching; When the first direction is negative and the second direction is positive, determining that the target actuator is a compression motor, the compression motor is used to pump oil from the electronically controlled shock absorber to achieve active compression of the electronically controlled shock absorber; When the first direction is negative and the second direction is negative, determining that the target actuator is a compression solenoid valve, the compression solenoid valve is used to control the electronically controlled shock absorber to perform passive compression; When the first direction is positive and the second direction is negative, the target actuator is determined to be a stretching motor, and the stretching motor is used to pump oil into the electronically controlled shock absorber to achieve active stretching of the electronically controlled shock absorber.

3. The method according to claim 1 or 2, It is characterized in that The determining of the target actuator according to the first direction of the target motion speed and the second direction of the target control force comprises: Determining a target quadrant corresponding to the first direction and the second direction in a current query system, the current query system comprising a rectangular coordinate system with a motion speed as a first axis and a control force as a second axis, and a plurality of quadrants divided by the first axis and the second axis, each of the quadrants comprising a current value corresponding to a value of the motion speed and a value of the control force, and the target quadrant being any one of the plurality of quadrants; A target actuator corresponding to the target quadrant is determined according to the corresponding relationship between the actuator and the quadrant.

4. The method according to claim 3, It is characterized in that The step of determining a target current value corresponding to the target actuator according to the value of the target control force and the value of the target motion speed includes: A target current value corresponding to the target control force value and the target motion speed value is determined in the target quadrant.

5. The method according to claim 3, It is characterized in that Before determining the target quadrant corresponding to the first direction and the second direction in the current query system, the method further includes: Constructing a rectangular coordinate system with the motion speed as a first axis and the control force as a second axis; Determine a plurality of quadrants according to the first axis and the second axis, each quadrant corresponding to an actuator; For each of the quadrants, a current mapping relationship corresponding to the actuator is obtained, wherein the current mapping relationship represents a corresponding relationship between the value of the motion speed, the value of the control force, and the current value; The current query system is constructed according to the rectangular coordinate system, the multiple quadrants and the current mapping relationship corresponding to each quadrant.

6. A control device for an electronically controlled shock absorber, It is characterized in that The device comprises: an acquisition module, used for acquiring a target control force required for controlling the smooth running of the vehicle and a target movement speed of an electronically controlled shock absorber in the vehicle when the vehicle moves vertically, wherein the electronically controlled shock absorber includes an actuator for executing a control current; A first determination module, configured to determine a target actuator according to a first direction of the target motion speed and a second direction of the target control force; A second determination module, configured to determine a target current value corresponding to the target actuator according to the value of the target control force and the value of the target motion speed; A control module is used to execute a control current corresponding to the target current value through the target actuator, so as to control the electronically controlled shock absorber to generate a damping force that satisfies the target control force.

7. An electronic device, It is characterized in that The electronic device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the control method of the electronically controlled shock absorber according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the control method of the electronically controlled shock absorber according to any one of claims 1 to 5 is implemented.

9. A computer program product, It is characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the control method for an electronically controlled shock absorber as claimed in any one of claims 1 to 5.

10. A vehicle, It is characterized in that Include at least one of the following: The control device for an electronically controlled shock absorber as claimed in claim 6; The electronic device as claimed in claim 7; The computer readable storage medium of claim 8; A computer program product as claimed in claim 9.

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