Vehicle suspension adjusting method and device, vehicle and storage medium

Abstract

The invention discloses a vehicle suspension adjusting method and device, a vehicle and a storage medium, and the method comprises the steps: determining a target suspension parameter in preset suspension data according to the driving data of the vehicle if it is determined that the suspension parameter of the vehicle needs to be adjusted in the driving process of the vehicle, the preset suspension data are recommended suspension parameters which are determined in advance according to real vehicle driving data and user driving behavior data and are suitable for different driving scenes; and adjusting a suspension system of the vehicle based on the target suspension parameter. According to the method, user driving scenes are graded in advance based on real vehicle driving data and user driving behaviors, different suspension parameters are correspondingly set, and in the vehicle driving process, target suspension parameters conforming to the current driving scene are determined according to the vehicle driving data, so that self-adaptive active adjustment of the vehicle is achieved, and the user experience is improved. Manual adjustment is not needed, the accuracy is high, the requirements of different driving scenes can be met, and the driving experience of a user is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle suspension, and in particular to a vehicle suspension adjustment method, an adjustment device, a vehicle and a storage medium. Background Art

[0002] The suspension system is a force transmission connection device between the vehicle body and the axle or wheel. Its function is to transmit the force and torque acting between the wheel and the vehicle body, and to buffer the impact force transmitted to the vehicle body by the uneven road surface, so as to attenuate the vibration caused thereby, and ensure the smooth driving of the vehicle. Different suspension system settings will give the driver different driving experience. For example, a harder suspension setting will make the vehicle pass better, but the vehicle has a higher center of gravity and is prone to bumps, and the comfort is poor; while a soft suspension setting will make the vehicle body insufficiently supported when cornering, the body roll is relatively large, and the comfort is poor. In order to take into account both the comfort and cornering performance of the vehicle under different driving conditions, the suspension settings of the vehicle need to be adjusted.

[0003] However, in actual use, the inventors found that the existing vehicle suspension adjustment requires users to judge the road conditions based on their own driving experience, and then manually adjust the vehicle suspension. The operation is cumbersome, and when the user fails to adjust the suspension in time or makes a wrong judgment, it is easy to affect the comfort or turning performance of the vehicle body and cannot truly meet the needs of various driving scenarios, resulting in a poor driving experience for users. Summary of the invention

[0004] The present invention provides a vehicle suspension adjustment method, an adjustment device, a vehicle and a storage medium to solve the problem that the existing vehicle suspension adjustment needs to be manually adjusted, the operation is cumbersome, and the requirements of various driving scenarios cannot be truly met, resulting in a poor driving experience for users.

[0005] In view of the above problems, a vehicle suspension adjustment method is provided, comprising:

[0006] During vehicle driving, determine whether the vehicle's suspension parameters need to be adjusted;

[0007] If it is determined that the suspension parameters of the vehicle need to be adjusted, the target suspension parameters are determined in the preset suspension data according to the vehicle's driving data; the preset suspension data is the recommended suspension parameters that are determined in advance based on the actual vehicle driving data and the user's driving behavior data and are suitable for different driving scenarios;

[0008] The suspension system of the vehicle is adjusted based on the target suspension parameters.

[0009] Optionally, adjusting the suspension system of the vehicle based on the target suspension parameters includes:

[0010] Compare the vehicle's current actual suspension parameters with the target suspension parameters to determine whether the suspension system parameters need to be adjusted;

[0011] If it is necessary to adjust the parameters of the suspension system, the parameters of the suspension system are adjusted to target suspension parameters.

[0012] Optionally, the actual suspension parameters include actual stiffness and actual damping coefficient of the suspension system, and the target suspension parameters include target stiffness and target damping coefficient; comparing the current actual suspension parameters of the suspension system with the target suspension parameters to determine whether the suspension system needs to be parameter adjusted includes:

[0013] Determine a stiffness difference between an actual stiffness and a target stiffness, and determine a damping coefficient difference between an actual damping coefficient and a target damping coefficient;

[0014] Determining whether the stiffness difference is greater than a preset stiffness difference, and determining whether the damping coefficient difference is greater than a preset damping coefficient difference;

[0015] If the stiffness difference is greater than a preset stiffness difference, and / or the damping coefficient difference is greater than a preset damping coefficient difference, it is determined that the parameters of the suspension system need to be adjusted.

[0016] Optionally, the driving data further includes driving road surface information and driving environment information, and determining target suspension parameters in preset suspension data according to the driving data of the vehicle includes:

[0017] Determining a target suspension mode of the vehicle, and determining preset suspension data corresponding to the target suspension mode;

[0018] Determine the current driving scene of the vehicle based on the driving road information and driving environment information;

[0019] In the preset suspension data corresponding to the target suspension mode, the suspension parameters that meet the current driving scenario are searched and recorded as the target suspension parameters.

[0020] Optionally, the driving data includes lateral acceleration and longitudinal acceleration; according to the acceleration, determining whether the suspension parameters of the vehicle need to be adjusted includes:

[0021] Determine an acceleration threshold corresponding to a current suspension mode of the vehicle, where the acceleration threshold includes a lateral acceleration threshold and a longitudinal acceleration threshold;

[0022] determining whether the lateral acceleration is greater than a lateral acceleration threshold, and determining whether the longitudinal acceleration is greater than a longitudinal acceleration threshold;

[0023] If it is determined that the lateral acceleration is greater than the lateral acceleration threshold, or if it is determined that the longitudinal acceleration is greater than the longitudinal acceleration threshold, it is determined that the suspension parameters of the vehicle need to be adjusted.

[0024] Optionally, the preset suspension data is obtained by:

[0025] a. Configure a set of suspension system parameters for the actual vehicle;

[0026] b. Determine a set of driving data of the actual vehicle, the driving data including vehicle speed, driving road information and / or driving environment information;

[0027] c. Conduct a driving test on the actual vehicle and record the user's driving behavior during the test to obtain the user's driving behavior data of the actual vehicle under the current suspension system parameters and current driving data;

[0028] d. Replace a set of driving data and repeat step c to obtain the user driving behavior data of the actual vehicle under different driving data under the current suspension system parameters;

[0029] e. Replace a set of suspension system parameters and repeat steps bd to obtain user driving behavior data of the actual vehicle under different suspension system parameters and different driving data;

[0030] f. Perform driving scene classification based on different driving data to obtain multiple driving scenes, and select target suspension system parameters for each driving scene from multiple sets of suspension system parameters based on user driving behavior data as recommended suspension parameters for the driving scene, thereby obtaining recommended suspension parameters suitable for different driving scenes;

[0031] g. Record the recommended suspension parameters suitable for different driving scenarios as preset suspension data.

[0032] Optionally, after determining whether the lateral acceleration is greater than the lateral acceleration threshold and determining whether the longitudinal acceleration is greater than the longitudinal acceleration threshold, the method further includes:

[0033] If it is determined that the lateral acceleration is greater than the lateral acceleration threshold, or if it is determined that the longitudinal acceleration is greater than the longitudinal acceleration threshold, it is determined that the vehicle acceleration is out of range, and an acceleration out-of-range count is performed;

[0034] In a current ignition cycle of the vehicle, determining whether the number of acceleration out-of-range counts is less than a preset number, and determining whether the vehicle satisfies a first preset condition, the first preset condition being used to characterize that a driving state change of the vehicle is small;

[0035] If the number of acceleration out-of-range counts is greater than or equal to a preset number and the vehicle meets a first preset condition, it is determined that the suspension parameters of the vehicle need to be adjusted.

[0036] Optionally, before adjusting the suspension system of the vehicle based on the target suspension parameters, the method further includes:

[0037] Determine whether the vehicle has the suspension adjustment function turned on and whether the suspension system has a malfunction;

[0038] If it is determined that the suspension adjustment function is turned on and the suspension system has not failed, determining whether the vehicle meets a second preset condition, the second preset condition being used to indicate that the state of the vehicle allows the suspension adjustment function to be performed;

[0039] If the vehicle meets the second preset condition, the suspension system of the vehicle is adjusted based on the target suspension parameter.

[0040] Optionally, during the vehicle driving process, the method further includes:

[0041] Monitor the acceleration rate of the vehicle in real time and determine the acceleration rate threshold corresponding to the current suspension mode of the vehicle;

[0042] Determine whether the acceleration change rate is greater than the acceleration change rate threshold;

[0043] If the acceleration change rate is greater than the acceleration change rate threshold, a suspension system failure fault prompt will be issued.

[0044] A vehicle suspension adjustment device is provided, comprising:

[0045] A first determination module, using driving data of a vehicle during driving to determine whether a suspension parameter of the vehicle needs to be adjusted;

[0046] The second determination module is used to determine the target suspension parameters in the preset suspension data according to the vehicle driving data if it is determined that the suspension parameters of the vehicle need to be adjusted; the preset suspension data is the recommended suspension parameters that are determined in advance according to the actual vehicle driving data and the user driving behavior data and are suitable for different driving scenarios;

[0047] The adjustment module is used to adjust the suspension system of the vehicle based on the target suspension parameters.

[0048] A vehicle suspension adjustment device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the vehicle suspension adjustment method are implemented.

[0049] A vehicle is provided, comprising a suspension system and a vehicle suspension adjusting device, wherein the suspension system communicates with the vehicle suspension adjusting device via a bus, and the vehicle suspension adjusting device is used to execute the steps of the above-mentioned vehicle suspension adjusting method.

[0050] A computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned vehicle suspension adjustment method are implemented.

[0051] In one solution provided by the above-mentioned vehicle suspension adjustment method, adjustment device, vehicle and storage medium, during the driving of the vehicle, it is determined whether the suspension parameters of the vehicle need to be adjusted; if it is determined that the suspension parameters of the vehicle need to be adjusted, the target suspension parameters are determined in the preset suspension data according to the driving data of the vehicle, wherein the preset suspension data is the recommended suspension parameters suitable for different driving scenarios determined in advance according to the actual vehicle driving data and the user driving behavior data; and then the suspension system of the vehicle is adjusted based on the target suspension parameters. This embodiment classifies the user driving scenarios based on the actual vehicle driving data and the user driving behavior in advance, and sets different suspension parameters accordingly. During the driving of the vehicle, the target suspension parameters that meet the current driving scenario are determined according to the vehicle driving data, thereby realizing adaptive active adjustment of the vehicle, without manual adjustment and with high accuracy, and can meet the needs of different driving scenarios, thereby improving the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0053] Figure 1 is a structural schematic diagram of a vehicle in one embodiment of the present invention;

[0054] Figure 2 is a schematic diagram of a process of a vehicle suspension adjustment method in one embodiment of the present invention;

[0055] Figure 3 yes Figure 2 A schematic diagram of an implementation process of step S10;

[0056] Figure 4 yes Figure 2 A schematic diagram of an implementation process of step S20;

[0057] Figure 5 yes Figure 2 A schematic diagram of an implementation process of step S30;

[0058] Figure 6 is a structural schematic diagram of a vehicle suspension adjustment device in one embodiment of the present invention;

[0059] Figure 7 It is another structural schematic diagram of a vehicle suspension adjustment device in one embodiment of the present invention. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] The vehicle suspension adjustment method provided by the embodiment of the present invention can be applied in the following aspects: Figure 1 In the vehicle shown, the vehicle comprises a suspension system and a vehicle suspension adjustment device, wherein the suspension system communicates with the vehicle suspension adjustment device via a bus.

[0062] After the vehicle is started, the vehicle suspension adjustment device needs to monitor the driving data of the vehicle during driving to determine whether the suspension parameters of the vehicle need to be adjusted; if it is determined that the suspension parameters of the vehicle need to be adjusted, the target suspension parameters are determined in the preset suspension data according to the driving data of the vehicle, wherein the preset suspension data is the recommended suspension parameters suitable for different driving scenarios determined in advance based on the actual vehicle driving data and the user driving behavior data; and then the suspension system of the vehicle is adjusted based on the target suspension parameters. This embodiment classifies the user driving scenarios based on the actual vehicle driving data and the user driving behavior in advance, and sets different suspension parameters accordingly. During the driving process of the vehicle, the target suspension parameters that meet the current driving scenario are determined based on the vehicle driving data and the user driving behavior, thereby realizing adaptive active adjustment of the vehicle, without manual adjustment and with high accuracy, and can meet the needs of different driving scenarios, thereby improving the user's driving experience.

[0063] In this embodiment, the vehicle includes a suspension system and a vehicle suspension adjustment device for exemplary purposes only. In other embodiments, the vehicle also includes other necessary vehicle systems and devices, including a body, wheels, and sensors used to collect driving data, such as acceleration sensors, which will not be elaborated here.

[0064] In one embodiment, if Figure 2 As shown, a vehicle suspension adjustment method is provided, and the method is applied in Figure 1 The vehicle suspension adjustment device in the embodiment is taken as an example to illustrate, and the method includes the following steps:

[0065] S10: During the driving of the vehicle, it is determined whether the suspension parameters of the vehicle need to be adjusted.

[0066] It is important to understand that when the vehicle's acceleration is too great, the vehicle will accelerate forward due to inertia, and the passengers in the vehicle will lean backward due to inertia. At the same time, the center of gravity of the vehicle will continue to shift backward, causing the weight of the rear of the vehicle to increase, the weight of the front of the vehicle to decrease, and the pressure of the front and rear suspension systems of the vehicle to be inconsistent. In this case, when the vehicle's suspension system is under excessive pressure, it will become unstable and unable to effectively buffer the bumps and vibrations on the ground, causing the vehicle to bump.

[0067] In summary, after the vehicle is started, the vehicle suspension adjustment device monitors the driving data of the vehicle in real time during driving, thereby obtaining the driving data of the vehicle at different times. Among them, the driving data of the vehicle includes the real-time acceleration of the vehicle, that is, the vehicle suspension adjustment device will monitor the real-time acceleration of the vehicle during driving, so as to determine whether the suspension parameters of the vehicle need to be adjusted according to the real-time acceleration, that is, to determine whether the suspension parameters of the vehicle need to be adjusted according to the change of the vehicle acceleration.

[0068] For example, a simple judgment can be made by setting a threshold for the vehicle acceleration. The threshold is a value determined by testing and calibrating the actual vehicle. After the vehicle is started, it is determined whether the real-time acceleration of the vehicle is greater than a certain threshold. If the real-time acceleration is greater than a certain threshold, it means that the current state of the vehicle has changed, and the vehicle may bump up and down or swing left and right. In this case, it is determined that the suspension parameters of the vehicle need to be adjusted, thereby improving the performance of the vehicle suspension system, improving the comfort and riding pleasure of vehicle users, and improving the user experience.

[0069] It should be understood that, with the vehicle's driving direction as the x-axis, the vehicle's real-time acceleration includes longitudinal acceleration (i.e., vertical acceleration, z-axis acceleration) and lateral acceleration (i.e., y-axis acceleration). If the longitudinal acceleration is too large, the vehicle may bump up and down, and passengers may feel the ups and downs. If the lateral acceleration is too large, the vehicle may sway left and right (there is a risk of rollover when the vehicle is turning). In the process of vehicle driving, the up and down bumps caused by the driving road are more common. Therefore, in this embodiment, the longitudinal acceleration can be used as the real-time acceleration of the vehicle, which is simple and convenient. In other embodiments, in order to ensure the accuracy of judgment, the mean or maximum value of the longitudinal acceleration and the lateral acceleration can be used as the real-time acceleration of the vehicle.

[0070] S20: If it is determined that the suspension parameters of the vehicle need to be adjusted, target suspension parameters are determined in the preset suspension data according to the driving data of the vehicle.

[0071] After determining whether the suspension parameters of the vehicle need to be adjusted, if it is determined that the suspension parameters of the vehicle need to be adjusted, the current driving scenario is determined based on the vehicle's driving data, and the target suspension parameters are determined in the preset suspension data based on the current driving scenario. Among them, the preset suspension data is the recommended suspension parameters suitable for different driving scenarios that are determined in advance based on the actual vehicle driving data (including driving road information and vehicle speed) and the user's driving behavior data. By determining the target suspension parameters through the preset suspension data and the vehicle's current driving data, the recommended suspension parameters that meet the current driving scenario and the user's driving habits can be quickly determined, which is simple, efficient and highly accurate.

[0072] In one embodiment, the preset suspension data is obtained in the following manner:

[0073] a. Configure a set of suspension system parameters (including stiffness and damping coefficient) for the actual vehicle;

[0074] b. Determine a set of driving data of the actual vehicle, the driving data including vehicle speed, driving road information and / or driving environment information;

[0075] c. Conduct a driving test on the actual vehicle and record the user's driving behavior during the test to obtain the user's driving behavior data of the actual vehicle under the current suspension system parameters and current driving data, and the user's driving behavior data includes driving experience;

[0076] d. Replace a set of driving data and repeat step c to obtain the user driving behavior data of the actual vehicle under different driving data under the current suspension system parameters;

[0077] e. Replace a set of suspension system parameters and repeat steps bd to obtain user driving behavior data of the actual vehicle under different suspension system parameters and different driving data;

[0078] f. Perform driving scene classification based on different driving data to obtain multiple driving scenes, and select target suspension system parameters for each driving scene from multiple sets of suspension system parameters based on user driving behavior data as recommended suspension parameters for the driving scene, thereby obtaining recommended suspension parameters suitable for different driving scenes;

[0079] g. Record the recommended suspension parameters suitable for different driving scenarios as preset suspension data.

[0080] In this embodiment, a real vehicle test is conducted on the vehicle, various parameters of the suspension system (including stiffness and damping coefficient) are pre-adjusted, and the vehicle performance under different driving data (including different vehicle speeds, driving road surface information and / or driving environment information) and different suspension parameters is tested, and the user's driving behavior data (such as whether to adjust the suspension parameters, whether to change the vehicle speed, whether to take braking measures for fear of vehicle instability, and driving experience) during the process is recorded as real vehicle suspension test data; then the driving scenes of the vehicle are graded according to different driving data in the real vehicle suspension test data, and appropriate suspension parameters are selected for different driving scenes according to the user's driving behavior data, especially the user's driving experience, as recommended suspension parameters under each driving scene, so as to obtain preset suspension data, and the user's driving scenes are graded by identifying the driving road surface information and the user's driving behavior, and then the recommended suspension parameters (recommended stiffness and recommended damping coefficient) for different driving scenes are obtained, which provides an accurate data basis for subsequent suspension system adjustment, so that during the actual driving of the vehicle, the suspension parameters are adjusted according to the preset suspension data, which can effectively improve the user's driving experience and riding pleasure.

[0081] Among them, the driving road surface information may include ordinary urban roads, urban pothole roads, mountain pothole roads, sand, snow, etc.; the driving environment information may include good environment, windy and snowy environment, and extremely harsh environment, etc. Among them, the driving road surface information of the vehicle can be determined based on the vehicle's navigation information, camera information, and information such as acceleration, required torque, actual torque, and tire friction coefficient during the vehicle's driving process. Various driving road surface information can be classified in advance, for example: various types of roads are defined according to the national requirements for road grades and paved roads and slopes, and then highways are defined as ordinary urban roads within the range of 10 to 30 degrees Celsius and an altitude difference of 100m / 100km; the tire friction coefficient and other information during vehicle driving determine the driving road surface information such as snow and sand. The driving environment information is mainly determined by the vehicle's navigation information, weather, environmental pressure and environmental temperature, and the on-board satellite positioning system, combined with the vehicle's own sensors and big data networking information.

[0082] Furthermore, different suspension parameter ranges can be graded according to vehicle performance to obtain multiple suspension modes, and then appropriate suspension parameters are selected for different driving modes and different driving scenarios according to user driving behavior data, especially user driving experience, as recommended suspension parameters for each suspension mode and each driving scenario, so as to obtain preset suspension data for different suspension modes. Among them, the suspension mode is defined according to stiffness and suspension damping coefficient, and multiple suspension modes may include off-road mode, comfort mode, and soft mode. In the suspension parameters of the off-road mode, the stiffness is large and the suspension damping coefficient is small, that is, the larger the stiffness and the smaller the suspension damping coefficient, the off-road mode is. In the off-road mode, the chassis of the vehicle is higher from the ground and the vehicle has better passability; on the contrary, it is a soft mode, that is, in the suspension parameters of the soft mode, the stiffness is small and the suspension damping coefficient is large, the smaller the stiffness and the larger the suspension damping coefficient, the off-road mode is; the comfort mode is in the middle range between the off-road mode and the soft mode, that is, in the suspension parameters of the comfort mode, the difference between the stiffness and the suspension damping coefficient is small, and the stiffness and the suspension damping coefficient are similar in size, which is the comfort mode.

[0083] Specifically, the preset suspension data may be a recommended suspension parameter that is determined in advance based on the actual vehicle driving road surface data and the user driving behavior data and is suitable for different driving scenarios. Correspondingly, the driving data may also include the current driving road surface information of the vehicle. Then, the target suspension parameter is determined in the preset suspension data based on the driving data, including: after determining that the suspension parameters of the vehicle need to be adjusted, the current suspension mode of the vehicle may be determined based on the user driving behavior on the vehicle: that is, the user's preferred suspension mode may be determined based on the suspension mode selected by the user or based on the user's historical driving behavior data, which is recorded as the current suspension mode of the vehicle; then, the current driving scenario of the vehicle may be determined based on the driving road surface information in the driving data; then; and then, the recommended suspension parameter that meets the current suspension mode and is suitable for the current driving scenario of the vehicle is searched in the preset suspension data as the target suspension parameter. The user's driving scenario is graded by identifying the current driving road surface information of the vehicle and the user's driving behavior data, so as to make active adjustments and set corresponding different recommended suspension parameters (including recommended stiffness and recommended damping coefficient), thereby improving the user's driving experience and riding pleasure.

[0084] For example, the suspension modes include off-road mode, comfort mode, and soft mode; if the suspension mode selected by the user or the suspension mode preferred by the user determined based on the user's historical driving behavior data are all comfort modes, then the target suspension mode is the comfort mode; then the vehicle's current driving scene is determined to be a snowy road driving scene based on the road surface information in the driving data, then the recommended suspension parameters corresponding to the comfort mode and the snowy road driving scene are searched in the preset suspension data as the target suspension parameters, so that subsequent vehicles can adjust the vehicle's suspension system according to the target suspension parameters to ensure the comfort of the vehicle when driving on snowy roads.

[0085] S30: Adjusting the suspension system of the vehicle based on the target suspension parameters.

[0086] After the target suspension parameters are determined in the preset suspension data according to the driving data of the vehicle, the suspension system of the vehicle can be adjusted based on the target suspension parameters. For example, the parameters of the suspension system of the vehicle are directly adjusted to the target suspension parameters. For example, if the target suspension parameters include a recommended stiffness and a recommended damping coefficient, the stiffness of the suspension system of the vehicle is directly adjusted to the recommended stiffness of the target suspension parameters, and the damping coefficient of the suspension system of the vehicle is directly adjusted to the recommended damping coefficient of the target suspension parameters.

[0087] In this embodiment, during the driving process of the vehicle, it is determined whether the suspension parameters of the vehicle need to be adjusted according to the real-time acceleration of the vehicle; if it is determined that the suspension parameters of the vehicle need to be adjusted, the target suspension parameters are determined in the preset suspension data according to the driving data of the vehicle, wherein the preset suspension data is the recommended suspension parameters suitable for different driving scenarios determined in advance according to the actual vehicle driving data and the user driving behavior data; and then the suspension system of the vehicle is adjusted based on the target suspension parameters. In this embodiment, the user driving scenarios are classified in advance based on the actual vehicle driving data and the user driving behavior, and different suspension parameters are set accordingly. During the driving process of the vehicle, the target suspension parameters that meet the current driving scenario are determined according to the vehicle driving data and the user driving behavior, thereby realizing adaptive active adjustment of the vehicle, without manual adjustment and with high accuracy, and can meet the needs of different driving scenarios, thereby improving the user's driving experience. In addition, this embodiment can also improve the adaptability and stability of the vehicle suspension system, adapt to changing road conditions and driving needs, and optimize the dynamic performance and control experience of the vehicle.

[0088] In one embodiment, the vehicle's driving data also includes lateral acceleration and longitudinal acceleration. Figure 3 As shown, in step S10, it is determined whether the suspension parameters of the vehicle need to be adjusted, which specifically includes the following steps:

[0089] S11: Determine the acceleration threshold corresponding to the current suspension mode of the vehicle.

[0090] During the driving process of the vehicle, it is necessary to monitor the real-time acceleration of the vehicle to determine whether the suspension parameters of the vehicle need to be adjusted according to the real-time acceleration. In this embodiment, the real-time acceleration of the vehicle includes longitudinal acceleration and lateral acceleration. If the longitudinal acceleration is too large, the vehicle may bump up and down, and if the lateral acceleration is too large, the vehicle may swing left and right. Especially when the lateral acceleration is too large when the vehicle is turning, there may be a feeling of rollover. Therefore, in order to ensure the accuracy of the judgment, it is necessary to set corresponding thresholds for both longitudinal acceleration and lateral acceleration, that is, the acceleration threshold includes a lateral acceleration threshold and a longitudinal acceleration threshold. In addition, when users use different suspension modes, their sensitivity to changes in vehicle acceleration is also different. Therefore, different acceleration thresholds need to be defined for different suspension modes, that is, different lateral acceleration thresholds and longitudinal acceleration thresholds are corresponding in different suspension modes. The lateral acceleration threshold and longitudinal acceleration threshold of different suspension modes can be determined based on vehicle engineering design and actual vehicle experimental test results to ensure the accuracy of the acceleration threshold. Among them, taking into account the driving experience of different user groups, the acceleration threshold of the off-road mode needs to be greater than the acceleration threshold of the comfort mode, and the acceleration threshold of the comfort mode needs to be greater than the acceleration threshold of the soft mode, so as to adjust the suspension system of the corresponding suspension mode under different working conditions.

[0091] In the process of determining whether the suspension parameters of the vehicle need to be adjusted, it is necessary to first determine the current suspension mode of the vehicle, which can be a suspension mode selected by the user or determined by the current actual suspension parameters of the vehicle; at the same time, acceleration threshold data is obtained, and the acceleration threshold data includes lateral acceleration thresholds and longitudinal acceleration thresholds corresponding to different suspension modes; then, the acceleration threshold corresponding to the current suspension mode of the vehicle is determined in the acceleration threshold data.

[0092] S12: Determine whether the lateral acceleration is greater than a lateral acceleration threshold, and determine whether the longitudinal acceleration is greater than a longitudinal acceleration threshold.

[0093] After determining the acceleration threshold corresponding to the current suspension mode of the vehicle, determine whether the lateral acceleration of the vehicle is greater than the lateral acceleration threshold, and determine whether the longitudinal acceleration is greater than the longitudinal acceleration threshold. The lateral acceleration can be acquired by the wheel speed sensor installed on the wheel, and the longitudinal acceleration can be acquired by the ground clearance sensor or gravity acceleration sensor equipped on the vehicle. The lateral acceleration and longitudinal acceleration are acquired in real time by the vehicle's sensors, and compared with the previously determined lateral acceleration threshold and longitudinal acceleration threshold, respectively, to obtain a judgment result on whether the suspension parameters need to be adjusted at present.

[0094] S13: If it is determined that the lateral acceleration is greater than the lateral acceleration threshold, or if it is determined that the longitudinal acceleration is greater than the longitudinal acceleration threshold, it is determined that the suspension parameters of the vehicle need to be adjusted.

[0095] After determining whether the lateral acceleration is greater than the lateral acceleration threshold and determining whether the longitudinal acceleration is greater than the longitudinal acceleration threshold, if it is determined that the lateral acceleration is greater than the lateral acceleration threshold, or it is determined that the longitudinal acceleration is greater than the longitudinal acceleration threshold, it is determined that the suspension parameters of the vehicle need to be adjusted.

[0096] If it is determined that the lateral acceleration (y-axis acceleration) is greater than the lateral acceleration threshold, it means that the vehicle may swing left and right, and the user experience on the vehicle is not good, especially when cornering, it is easy to feel that the vehicle is rolling over. In order to ensure comfort, it is determined that the suspension parameters of the vehicle need to be adjusted; if it is determined that the longitudinal acceleration (z-axis acceleration, that is, the acceleration in the vertical direction) is greater than the longitudinal acceleration threshold, it means that the vehicle may bump up and down, and the user experience on the vehicle is not good, so it is determined that the suspension parameters of the vehicle need to be adjusted. The suspension system determines whether the suspension parameters of the vehicle need to be adjusted based on the relationship between the actual vehicle speed and the acceleration value, so as to dynamically adjust the relevant parameters of the suspension system (including stiffness, damping coefficient and other parameters) in the future, so that the vehicle can maintain a stable and comfortable driving state in different driving scenarios, reduce vehicle losses, and improve user driving experience and riding pleasure.

[0097] In this embodiment, by determining the acceleration threshold corresponding to the current suspension mode of the vehicle, the acceleration threshold includes a lateral acceleration threshold and a longitudinal acceleration threshold, then determining whether the lateral acceleration is greater than the lateral acceleration threshold, and determining whether the longitudinal acceleration is greater than the longitudinal acceleration threshold, if it is determined that the lateral acceleration is greater than the lateral acceleration threshold, or if it is determined that the longitudinal acceleration is greater than the longitudinal acceleration threshold, it is determined that the suspension parameters of the vehicle need to be adjusted, and the specific process of determining whether the suspension parameters of the vehicle need to be adjusted is clarified. Its technical effect is that according to the current suspension mode of the vehicle and the real-time lateral and longitudinal acceleration data of the vehicle, it is dynamically determined whether the suspension parameters of the vehicle need to be adjusted, so that when it is determined that adjustment is needed, the calibrated recommended suspension parameters are determined according to the current driving scene to adjust the vehicle suspension system, so that the vehicle can maintain a stable and comfortable driving state under different road conditions, reduce driver fatigue and vehicle loss, and improve driving safety and user driving experience.

[0098] In one embodiment, after step S12, that is, after determining whether the lateral acceleration is greater than the lateral acceleration threshold and determining whether the longitudinal acceleration is greater than the longitudinal acceleration threshold, the method further specifically includes the following steps:

[0099] S14: If it is determined that the lateral acceleration is greater than the lateral acceleration threshold, or if it is determined that the longitudinal acceleration is greater than the longitudinal acceleration threshold, it is determined that the vehicle acceleration is out of range, the suspension is judged to be too stiff, and an acceleration out-of-range count is performed.

[0100] After determining whether the lateral acceleration is greater than the lateral acceleration threshold and determining whether the longitudinal acceleration is greater than the longitudinal acceleration threshold, if it is determined that the lateral acceleration is greater than the lateral acceleration threshold, or if it is determined that the longitudinal acceleration is greater than the longitudinal acceleration threshold, it is determined that the vehicle acceleration is out of range, and the acceleration out-of-range count is performed to determine whether the suspension parameters of the vehicle need to be adjusted based on the number of acceleration out-of-range counts, rather than directly determining that the suspension parameters of the vehicle need to be adjusted, thereby improving judgment accuracy.

[0101] S15: In a current ignition cycle of the vehicle, determining whether the count number of acceleration out-of-range is less than a preset number, and determining whether the vehicle satisfies a first preset condition.

[0102] After determining that the vehicle acceleration exceeds the range and counting the acceleration exceeding the range, in the current ignition cycle of the vehicle, it is necessary to determine whether the count number of acceleration exceeding the range is less than a preset number, and determine whether the vehicle satisfies a first preset condition, wherein the first preset condition is used to characterize that the driving state of the vehicle changes little.

[0103] For example, the first preset condition may be that the vehicle is traveling on a similar road surface and driving environment, and the road surface and driving environment of the vehicle change little, that is, the driving state of the vehicle changes little. After the vehicle is started, in the current ignition cycle of the vehicle, it is necessary to monitor and identify the real-time acceleration, road surface and driving environment of the vehicle. When it is determined that the count number of acceleration exceeding the range reaches a preset number, and it is identified that the vehicle is traveling on a similar road surface and driving environment, it means that the acceleration has exceeded the range for many times when the vehicle is in a similar driving state, and the vehicle suspension is relatively hard and the comfort is poor, then it is determined that the suspension parameters of the vehicle need to be adjusted, thereby improving the accuracy of the judgment.

[0104] In one embodiment, the first preset condition may include at least two of the following conditions:

[0105] 1. The vehicle is traveling on similar roads and driving environments, that is, the road surface and driving environment of the vehicle change little;

[0106] 2. The vehicle load change is within a certain load change range, that is, the vehicle load has not changed or has changed slightly;

[0107] 3. The tire pressure of the vehicle is within the normal driving tire pressure requirement, that is, the tire pressure of the vehicle meets the normal driving requirements;

[0108] 4. The vehicle speed is greater than or equal to the preset speed (such as 20km / h), that is, the vehicle is in driving state.

[0109] S16: If the number of acceleration out-of-range counts is greater than or equal to a preset number and the vehicle meets a first preset condition, it is determined that the suspension parameters of the vehicle need to be adjusted.

[0110] In the current ignition cycle (key-on cycle) of the vehicle, if the count number of acceleration out-of-range is greater than or equal to the preset number, and the vehicle meets the first preset condition, it is determined that the suspension parameters of the vehicle need to be adjusted. When it is determined that the lateral acceleration is greater than the lateral acceleration threshold, or the longitudinal acceleration is greater than the longitudinal acceleration threshold, it is judged that the acceleration is out of range and the suspension is too hard, then counting is performed. In the current ignition cycle of the vehicle, if it is found that the number of acceleration out-of-range times reaches the preset number, and the driving state of the vehicle (such as the vehicle speed, tire pressure, load, driving environment and driving road surface, etc.) changes little, it is determined that the suspension parameters of the vehicle need to be adjusted, which further improves the accuracy of the judgment, avoids frequent suspension parameter adjustments caused by excessive acceleration each time, and reduces the system load. Among them, the load of the vehicle can detect the number of passengers through the seat sensor. For vehicles equipped with in-vehicle cameras, passenger information can be directly obtained through the camera to obtain load information.

[0111] In one embodiment, to determine that the suspension parameters of a vehicle need to be adjusted, the vehicle needs to meet the following conditions:

[0112] A. When the vehicle speed is ≥20km / h and the longitudinal acceleration is detected to be greater than the longitudinal acceleration threshold or the lateral acceleration is greater than the lateral acceleration threshold, it is determined that the vehicle acceleration exceeds the range and the suspension is judged to be too rigid;

[0113] B. Detect that the condition A occurs a preset number of times (n times) in a key-on cycle

[0114] C. The situation in B is detected on a similar driving road surface && the difference in environmental information meets the requirements;

[0115] D. It is detected that the situation in C meets the requirement that the vehicle load varies within a certain range and the tire pressure meets the normal driving requirements.

[0116] In this embodiment, the suspension parameters of the vehicle are adjusted only when the tire pressure, load, driving environment and driving road surface of the vehicle change little in the current ignition cycle, and the number of times the vehicle acceleration exceeds the range reaches a preset number, thereby further improving the accuracy of the judgment and avoiding frequent suspension parameter adjustments caused by excessive acceleration each time.

[0117] In this embodiment, after determining whether the lateral acceleration is greater than the lateral acceleration threshold and determining whether the longitudinal acceleration is greater than the longitudinal acceleration threshold, if it is determined that the lateral acceleration is greater than the lateral acceleration threshold, or if it is determined that the longitudinal acceleration is greater than the longitudinal acceleration threshold, then it is determined that the vehicle acceleration is out of range, and the acceleration out-of-range count is performed, and in the current ignition cycle of the vehicle, it is determined that the number of acceleration out-of-range counts is greater than or equal to a preset number, and the vehicle meets the first preset condition, then it is determined that the suspension parameters of the vehicle need to be adjusted. Another specific process for determining whether the suspension parameters of the vehicle need to be adjusted is clarified, and the judgment is made in combination with acceleration, vehicle speed, tire pressure, load, driving environment and driving road surface, thereby improving the accuracy of the judgment and avoiding frequent suspension parameter adjustments caused by excessive acceleration each time.

[0118] In one embodiment, the vehicle's driving data also includes driving road information and driving environment information. Figure 4 As shown, in step S20, that is, according to the driving data of the vehicle and the driving behavior of the user of the vehicle, the target suspension parameter is determined in the preset suspension data, which specifically includes the following steps:

[0119] S21: determining a target suspension mode of the vehicle, and determining preset suspension data corresponding to the target suspension mode;

[0120] In this embodiment, the preset suspension data is the recommended suspension parameters suitable for different suspension modes and different driving scenarios, which are determined in advance based on the actual vehicle driving environment information, the driving road surface information and the user's driving behavior data, that is, the preset suspension data includes the preset suspension data corresponding to different suspension modes. The suspension modes include off-road mode, comfort mode and soft mode. After determining that the suspension parameters of the vehicle need to be adjusted, the target suspension mode of the vehicle can be determined according to the user's driving behavior, and the preset suspension data corresponding to the target suspension mode can be determined.

[0121] For example, the user's driving behavior includes the behavior of turning on the suspension adjustment function and the behavior of selecting the suspension mode; after the vehicle is started, the vehicle sends a prompt to the user whether to turn on the suspension adjustment function. After the user determines to enable the suspension adjustment function, the suspension mode selected by the user is determined, and then the suspension mode selected by the user is used as the target suspension mode of the vehicle, and then the preset suspension data corresponding to the target suspension mode is determined. In other embodiments, different suspension modes correspond to different suspension parameters. If the user does not select a suspension mode, the current actual suspension parameters of the vehicle are determined, and the current suspension mode of the vehicle is determined based on the current actual suspension parameters, and then the current suspension mode of the vehicle is recorded as the target suspension mode, that is, the suspension mode corresponding to the current actual suspension parameters is searched in the preset suspension data as the current suspension mode of the vehicle.

[0122] S22: Determine the current driving scene of the vehicle according to the driving road information and the driving environment information.

[0123] In this embodiment, the driving data of the vehicle also includes driving road surface information and driving environment information. According to the driving road surface information and driving environment information in the driving data, the current driving scene of the vehicle is determined.

[0124] For example, the driving road surface information includes urban ordinary road surface a, mountain pothole road surface b, sandy road surface c and urban pothole road surface e; the driving environment information includes wind and snow environment 1, good environment 2 and extremely harsh environment 3; correspondingly, the driving scene classification is carried out according to the driving road surface information and the driving environment information, which is divided into 15 driving scenes: urban ordinary road surface a1 under wind and snow, mountain pothole road surface b1 under wind and snow, sandy road surface c1 under wind and snow, urban pothole road surface e1 under wind and snow, urban ordinary road surface a2 in good environment, mountain pothole road surface b2 in good environment, sandy road surface c2 in good environment, urban pothole road surface e2 in good environment, urban ordinary road surface a3 in extremely harsh environment, mountain pothole road surface b3 in extremely harsh environment, sandy road surface c3 in extremely harsh environment, urban pothole road surface e3 in extremely harsh environment. The specific classification is shown in Table 1 below:

[0125] Table 1

[0126]

[0127] As shown in Table 1 above, the driving scenarios are classified into the above 15 driving scenarios based on the driving road surface information and driving environment information. In the preset suspension data, each driving scenario corresponds to a set of suspension parameters. The suspension parameters corresponding to each driving scenario are recommended suspension parameters determined based on the user's driving experience, including at least recommended stiffness and recommended damping coefficient; different driving scenarios correspond to different suspension parameters (i.e., different recommended stiffness and / or recommended damping coefficient).

[0128] In addition, according to the user's driving behavior and preferences, the suspension mode is divided into off-road mode, comfort mode and soft mode. For example, some users like suspension parameter settings with greater stiffness and less damping, which results in better vehicle passability and poor comfort, so the suspension mode is divided into off-road mode; some users like suspension parameter settings with less stiffness and greater damping, so the suspension mode is divided into soft mode; other intermediate suspension parameter settings are comfort mode. Different suspension modes have different recommended suspension parameters in the same driving scenario, that is, different suspension modes correspond to different preset suspension data, so that the vehicle driving experience after subsequent adjustment of the suspension system meets the user's own driving behavior and preferences.

[0129] S23: Searching for suspension parameters that meet the current driving scenario in the preset suspension data corresponding to the target suspension mode, and recording the parameters as target suspension parameters.

[0130] After determining the preset suspension data corresponding to the target suspension mode and determining the current driving scene of the vehicle, it is necessary to search for suspension parameters that meet the current driving scene in the preset suspension data corresponding to the target suspension mode, and record them as target suspension parameters.

[0131] In this embodiment, the target suspension mode of the vehicle is determined based on the user's driving behavior, and the preset suspension data corresponding to the target suspension mode is determined. At the same time, the current driving scene of the vehicle is determined based on the driving surface information and the driving environment information. In the preset suspension data corresponding to the target suspension mode, the suspension parameters that meet the current driving scene are searched and recorded as the target suspension parameters. The specific steps of determining the target suspension parameters in the preset suspension data based on the vehicle's driving data are clarified, the vehicle driving scenes are graded based on the driving surface information and the driving environment information, and the vehicle driving scenes are refined, so that recommended suspension parameters that are more in line with the current driving scene can be obtained to facilitate the subsequent adjustment of the suspension system parameters, thereby improving the comfort of the vehicle in different driving scenes, and thus improving the user's driving experience and riding pleasure.

[0132] In one embodiment, the driving scene can also be graded according to the current speed of the vehicle, the time, the driving environment information and the driving road information, so as to further refine the driving scene of the vehicle and improve the granularity of the driving scene segmentation, that is, the preset suspension data is the recommended suspension parameters suitable for different suspension modes and different driving scenes determined in advance according to the actual vehicle speed, the time, the driving environment information, the driving road information and the user driving behavior data, so as to further recommend the corresponding suspension parameters for the refined driving scene, so as to adjust the relevant parameters of the suspension system in the subsequent process. In this embodiment, the driving data of the vehicle also includes the speed, the time, the driving road information and the driving environment information of the vehicle; after determining that the suspension parameters of the vehicle need to be adjusted, the target suspension mode of the vehicle is determined, and the current driving scene of the vehicle is determined according to the speed, the time (such as the season or the month, etc.), the driving road information and the driving environment information of the vehicle, so as to further refine the driving scene of the vehicle, and then in the preset suspension data corresponding to the target suspension mode, the suspension parameters that meet the current driving scene are searched and recorded as the target suspension parameters, so as to adjust the suspension system parameters in the subsequent process according to the further refined target suspension parameters, so as to further improve the comfort of the user in different driving scenes.

[0133] For example, if the time is January or June, and the user often uses the comfort mode, the driving experience obtained in Harbin in January and Harbin in June is different under the same road surface information, the same vehicle speed, and the same turning conditions. This difference in feeling is reflected in the different acceleration feeling with the same throttle opening, because the road surface will be icy in January, and the vehicle will skid when turning. At this time, the parameters of the suspension system need to be adjusted to adapt to the changes. Similarly, under the same other conditions, users with different speeds will have different driving experiences, so different suspension system parameters need to be set. In addition, as the tires of the vehicle wear and the body age, the driving experience will also be different. Similarly, the driving scenes can also be graded according to the degree of wear of the vehicle forum (wheel service life), the current speed of the vehicle, the time, the driving environment information, and the road surface information, so as to further refine the driving scenes of the vehicle.

[0134] In one embodiment, if Figure 5 As shown, in step S30, the suspension system of the vehicle is adjusted based on the target suspension parameters, which specifically includes the following steps:

[0135] S31: Compare the current actual suspension parameters of the vehicle with the target suspension parameters to determine whether the parameters of the suspension system need to be adjusted.

[0136] After determining the target suspension parameters in the preset suspension data according to the vehicle's driving data, it is necessary to compare the vehicle's current actual suspension parameters with the target suspension parameters to determine whether it is necessary to adjust the parameters of the suspension system, that is, to compare the vehicle's current actual suspension parameters with the target suspension parameters to determine whether it is necessary to adjust the relevant parameters of the suspension system to the target suspension parameters.

[0137] For example, the vehicle's current actual suspension parameters can be compared with the target suspension parameters to determine whether the actual suspension parameters are consistent with the target suspension parameters. If the two are consistent, it is determined that there is no need to adjust the suspension system parameters; if the actual stiffness is inconsistent with the target stiffness, or the actual damping coefficient is inconsistent with the target damping coefficient, it is determined that the suspension system parameters need to be adjusted; by comparing the two sets of parameters for consistency, and then determining whether the suspension system parameters need to be adjusted based on the consistency comparison results, it is simple and intuitive, and the response time is fast.

[0138] In other embodiments, in order to reduce the frequent adjustment of the parameters of the suspension system, a preset parameter difference can be set, and then it is determined whether the difference between the actual suspension parameter and the target suspension parameter (the difference is an absolute value) is greater than the preset parameter difference. If the difference between the actual suspension parameter and the target suspension parameter is greater than the preset parameter difference, it means that the gap between the actual suspension parameter and the target suspension parameter is large. In order to ensure the comfort of the user, the relevant parameters of the suspension system need to be adjusted, and it is determined that the parameters of the suspension system need to be adjusted; if the absolute value of the difference between the actual suspension parameter and the target suspension parameter is less than or equal to the preset parameter difference, it means that the gap between the actual suspension parameter and the target suspension parameter is small, and the parameter change is within the allowable range, and the parameters of the suspension system can be adjusted. It is determined that the parameters of the suspension system do not need to be adjusted, and a parameter range is selected for the change of the suspension parameter to reduce the frequent adjustment of the suspension system parameters. Among them, the preset parameter difference can be a value close to or even equal to 0.

[0139] In one embodiment, the actual suspension parameters include the actual stiffness and the actual damping coefficient of the suspension system, the target suspension parameters include the recommended stiffness and the recommended damping coefficient, and correspondingly, the preset parameter difference includes the preset stiffness difference (which may be a value close to or even equal to 0) and the preset damping coefficient difference (which may be a value close to or even equal to 0), then in S31, comparing the current actual suspension parameters of the vehicle with the target suspension parameters to determine whether the parameters of the suspension system need to be adjusted includes:

[0140] S311: determining a stiffness difference between an actual stiffness and a target stiffness, and determining a damping coefficient difference between an actual damping coefficient and a target damping coefficient;

[0141] S312: Determine whether the stiffness difference is greater than a preset stiffness difference, and determine whether the damping coefficient difference is greater than a preset damping coefficient difference;

[0142] S313: If the stiffness difference is greater than a preset stiffness difference, and / or the damping coefficient difference is greater than a preset damping coefficient difference, it is determined that the parameters of the suspension system need to be adjusted.

[0143] In this embodiment, it is necessary to determine the stiffness difference (i.e., the difference between the actual stiffness and the target stiffness, the stiffness difference is an absolute value) and the damping coefficient difference (i.e., the difference between the actual damping coefficient and the target damping coefficient, the damping coefficient difference is an absolute value) between the actual suspension parameters and the target suspension parameters; determine whether the stiffness difference is greater than the preset stiffness difference, and determine whether the damping coefficient difference is greater than the preset damping coefficient difference; if the stiffness difference is greater than the preset stiffness difference, and / or the damping coefficient difference is greater than the preset damping coefficient difference, it indicates that the gap between the actual suspension parameters and the target suspension parameters is large, and in order to ensure user comfort, it is determined that the parameters of the suspension system need to be adjusted; if the stiffness difference is less than or equal to the preset stiffness difference, and the damping coefficient difference is less than or equal to the preset damping coefficient difference, it indicates that the gap between the actual suspension parameters and the target suspension parameters is small, and the parameter change is within the allowable range, and it is determined that the parameters of the suspension system do not need to be adjusted. A parameter range is selected for the change of the suspension parameter. When the difference between the actual suspension parameter and the target suspension parameter is not within the parameter range, the parameter of the suspension system is adjusted, which can reduce the frequent adjustment of the suspension system parameters.

[0144] S32: If it is necessary to adjust the parameters of the suspension system, the parameters of the suspension system are adjusted to target suspension parameters.

[0145] After comparing the current actual suspension parameters of the vehicle with the target suspension parameters, if it is determined that the parameters of the suspension system need to be adjusted, indicating that the current actual suspension parameters of the vehicle are inconsistent with the target suspension parameters or the gap is large, the parameters of the suspension system are adjusted to the target suspension parameters. The parameter adjustment of the suspension system is achieved by the change of the hydraulic pressure, air pressure or magnetic force of the suspension system.

[0146] If it is determined that there is no need to adjust the parameters of the suspension system, it means that the current actual suspension parameters of the vehicle are consistent with the target suspension parameters or the difference is very small, and there is no need to adjust the suspension parameters. In this case, the vehicle is maintained at the current suspension parameters unchanged and the suspension adjustment function is exited until it is subsequently determined that the suspension parameters need to be adjusted.

[0147] For example, the vehicle's current suspension mode is the comfort mode. During the vehicle's driving, the identified driving environment information is the good environment 2, and the identified current driving road surface information is the urban ordinary road a. The vehicle's current driving scene is a2, and correspondingly, the actual suspension parameters of the suspension system are the suspension parameters corresponding to the driving scene a2. The determined target suspension mode of the vehicle is still the comfort mode. During the vehicle's driving, the identified driving environment information is changed to the windy and snowy environment 1, and the identified driving road surface information is changed to the urban ordinary road a. The vehicle's driving scene becomes a1, and the target suspension parameters are the suspension parameters corresponding to the target driving scene a1. If the suspension parameters corresponding to the driving scene a2 are inconsistent with the suspension parameters corresponding to the driving scene a1, that is, the actual suspension parameters are inconsistent with the target suspension parameters, then the relevant parameters of the suspension system need to be adjusted to the target suspension parameters, that is, the suspension parameters of the suspension system are adjusted to the suspension parameters corresponding to the driving scene a1, so as to meet the needs of the actual working conditions.

[0148] In this embodiment, by comparing the current actual suspension parameters of the vehicle with the target suspension parameters, it is determined whether the parameters of the suspension system need to be adjusted. If the parameters of the suspension system need to be adjusted, the parameters of the suspension system are adjusted to the target suspension parameters. The specific steps for adjusting the suspension system of the vehicle based on the target suspension parameters are clarified, and the current actual suspension parameters of the vehicle are compared with the target suspension parameters. When the two are inconsistent or the gap is large, the relevant parameters of the suspension system are adjusted to the target suspension parameters. This can improve the comfort and stability of the vehicle in different driving scenarios, thereby improving the driving experience.

[0149] In one embodiment, before step S30, that is, before adjusting the suspension system of the vehicle based on the target suspension parameters, the method further specifically includes the following steps:

[0150] S40: Determine whether the suspension adjustment function of the vehicle is turned on, and determine whether a suspension system failure occurs.

[0151] In this embodiment, before step S30, that is, before adjusting the suspension system of the vehicle based on the target suspension parameters, it is also necessary to pre-judge the activation status of the suspension adjustment function, the effectiveness of the suspension system and the status of the vehicle to ensure that the parameters of the suspension system of the vehicle can be adjusted normally to avoid adjustment failure or safety hazards during the adjustment process.

[0152] That is, before adjusting the vehicle's suspension system based on the target suspension parameters, it is necessary to first determine whether the vehicle has the suspension adjustment function turned on and whether the suspension system has a fault. If the vehicle has not turned on the suspension adjustment function or the suspension system has a fault, it is prohibited to adjust the vehicle's suspension system based on the target suspension parameters to avoid invalid operations due to adjustment failure.

[0153] S50: If it is determined that the suspension adjustment function is turned on and the suspension system has not failed, it is determined whether the vehicle meets a second preset condition.

[0154] If it is determined that the suspension adjustment function is turned on and there is no failure in the suspension system, it is further determined whether the vehicle meets the second preset condition to avoid the situation where the suspension system parameter adjustment fails or causes safety hazards.

[0155] The second preset condition is used to indicate that the state of the vehicle allows the suspension adjustment function to be performed. For example, the second preset condition includes that the vehicle is in a parking state (P gear), the low-voltage power of the vehicle meets the minimum power requirement (i.e., greater than the preset power value), and the vehicle is not in a dormant state.

[0156] S60: If the vehicle meets the second preset condition, the suspension system of the vehicle is adjusted based on the target suspension parameter.

[0157] After it is determined that the suspension adjustment function is turned on and the suspension system has not failed, if it is determined that the vehicle meets the second preset condition, indicating that the suspension adjustment function can be performed normally, the suspension system of the vehicle can be adjusted based on the target suspension parameters. For example, after it is determined that the suspension adjustment function is turned on and the suspension system has not failed, if the vehicle is in a parking state, the low-voltage power of the vehicle meets the minimum power requirement, and the vehicle has not entered a dormant state, the suspension system of the vehicle can be adjusted based on the target suspension parameters.

[0158] After it is determined that the suspension adjustment function is turned on and the suspension system has not failed, if it is determined that the vehicle does not meet the second preset condition, it is prohibited to adjust the suspension system of the vehicle based on the target suspension parameters. For example, after it is determined that the suspension adjustment function is turned on and the suspension system has not failed, if the vehicle is not in a parking state, the low-voltage power of the vehicle does not meet the minimum power requirement, and the vehicle enters a dormant state, it is prohibited to adjust the suspension system of the vehicle based on the target suspension parameters.

[0159] In this embodiment, after obtaining the target suspension parameters, it is necessary to determine whether the suspension adjustment function of the vehicle is turned on and whether a suspension system failure occurs. If it is determined that the suspension adjustment function is turned on and the suspension system has not failed, it is determined whether the vehicle meets a second preset condition. The second preset condition is used to characterize that the state of the vehicle allows the suspension adjustment function. If the vehicle meets the second preset condition, the suspension system of the vehicle will be adjusted based on the target suspension parameters to avoid failure in adjusting the suspension system parameters or causing safety hazards, thereby reducing invalid operations.

[0160] In one embodiment, during the driving process of the vehicle, it is also necessary to perform fault detection on the suspension system of the vehicle to timely discover the fault of the suspension system and eliminate the failure risk of the suspension system. Figure 3As shown, in step S10, that is, during the vehicle driving process, the method further specifically includes the following steps:

[0161] S01: monitor the acceleration change rate of the vehicle in real time, and determine the acceleration change rate threshold corresponding to the current suspension mode of the vehicle.

[0162] During vehicle driving, it is necessary to monitor the acceleration change rate of the vehicle in real time. The acceleration change rate is the fluctuation of the vehicle acceleration in unit time. When the suspension system is normal, the fluctuation of the vehicle acceleration will not exceed a certain threshold, that is, the acceleration change rate will not exceed a certain change rate. Therefore, the fluctuation of the vehicle acceleration or the acceleration change rate reflects the response speed and stability of the vehicle suspension system. The acceleration change rate can be used to determine whether the suspension system has a fault. However, due to different suspension modes, the defined range of vehicle speed and acceleration is different. Therefore, it is also necessary to determine the current suspension mode of the vehicle and its corresponding acceleration change rate threshold, so as to determine whether the suspension system has a fault based on the monitored acceleration change rate and the acceleration change rate threshold corresponding to the current suspension mode.

[0163] In this embodiment, different acceleration rate thresholds can be set for different suspension modes in advance and stored in the storage unit of the vehicle; after determining the current suspension mode of the vehicle, the acceleration rate threshold corresponding to the current suspension mode of the vehicle can be directly searched, which is simple and intuitive. The acceleration rate thresholds of different suspension modes are calibrated according to the actual vehicle. In order to ensure the accuracy of the acceleration rate threshold, the boundary value of the acceleration rate can also be calibrated using failed vehicle parts as the acceleration rate threshold under the suspension mode.

[0164] S02: Determine whether the acceleration change rate is greater than the acceleration change rate threshold.

[0165] S03: If the acceleration change rate is greater than the acceleration change rate threshold, a suspension system failure fault prompt is issued.

[0166] After real-time monitoring of the acceleration rate of change of the vehicle and determining the acceleration rate of change threshold corresponding to the current suspension mode of the vehicle, determine whether the acceleration rate of change is greater than the acceleration rate of change threshold. If the acceleration rate of change is greater than the acceleration rate of change threshold, it indicates that the suspension system has failed, and a suspension system failure fault prompt is given. During vehicle driving, if the acceleration rate of change is greater than the corresponding acceleration rate of change threshold in real time, it may mean that there is a failure in the suspension system and timely maintenance is required to prevent the vehicle from having an accident; therefore, the suspension system failure fault prompt can be given through the vehicle display screen, sound alarm, etc., so that the user can be informed of the suspension system failure in time and prompted to troubleshoot according to the vehicle maintenance manual. In addition, if the acceleration rate of change is greater than the acceleration rate of change threshold, while giving a suspension system failure fault prompt, it is also necessary to prohibit the suspension adjustment function from being turned on and prohibit the adjustment of the relevant parameters of the suspension system to ensure vehicle safety.

[0167] In this embodiment, during the driving process of the vehicle, it is also necessary to monitor the acceleration rate of the vehicle in real time, determine the acceleration rate threshold corresponding to the current suspension mode of the vehicle, determine whether the acceleration rate is greater than the acceleration rate threshold, and if the acceleration rate is greater than the acceleration rate threshold, a suspension system failure fault prompt is issued. By real-time monitoring of the vehicle acceleration rate and comparing it with the threshold, the failure of the suspension system can be discovered early, thereby avoiding unnecessary accidents during the operation of the vehicle. At the same time, the adjustment of the suspension system and the failure fault prompt are realized, the stability and driving safety of the vehicle are improved, and the driving experience and maintenance efficiency are improved. In addition, the method can also adapt to different road conditions and driving requirements, optimize the driving performance and handling experience of the vehicle, and improve the intelligence and operational reliability of the suspension system.

[0168] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0169] In one embodiment, a vehicle suspension adjustment device is provided, which corresponds one-to-one to the vehicle suspension adjustment method in the above embodiment. Figure 6 As shown, the vehicle suspension adjustment device includes a first determination module 601, a second determination module 602 and an adjustment module 603. Each functional module is described in detail as follows:

[0170] A first determination module 601 is used to determine whether the suspension parameters of the vehicle need to be adjusted based on the driving data of the vehicle during driving;

[0171] The second determination module 602 is used to determine the target suspension parameters in the preset suspension data according to the driving data of the vehicle if it is determined that the suspension parameters of the vehicle need to be adjusted; the preset suspension data is the recommended suspension parameters that are determined in advance according to the actual vehicle driving data and the user driving behavior data and are suitable for different driving scenarios;

[0172] The adjustment module 603 is used to adjust the suspension system of the vehicle based on the target suspension parameters.

[0173] Optionally, the preset suspension data is obtained by:

[0174] a. Configure a set of suspension system parameters for the actual vehicle;

[0175] b. Determine a set of driving data of the actual vehicle, the driving data including vehicle speed, driving road information and / or driving environment information;

[0176] c. Conduct a driving test on the actual vehicle and record the user's driving behavior during the test to obtain the user's driving behavior data of the actual vehicle under the current suspension system parameters and current driving data;

[0177] d. Replace a set of driving data and repeat step c to obtain the user driving behavior data of the actual vehicle under different driving data under the current suspension system parameters;

[0178] e. Replace a set of suspension system parameters and repeat steps bd to obtain user driving behavior data of the actual vehicle under different suspension system parameters and different driving data;

[0179] f. Perform driving scene classification based on different driving data to obtain multiple driving scenes, and select target suspension system parameters for each driving scene from multiple sets of suspension system parameters based on user driving behavior data as recommended suspension parameters for the driving scene, thereby obtaining recommended suspension parameters suitable for different driving scenes;

[0180] g. Record the recommended suspension parameters suitable for different driving scenarios as preset suspension data.

[0181] Optionally, the adjustment module 603 is specifically configured to:

[0182] Compare the vehicle's current actual suspension parameters with the target suspension parameters to determine whether the suspension system parameters need to be adjusted;

[0183] If it is necessary to adjust the parameters of the suspension system, the parameters of the suspension system are adjusted to the target suspension parameters.

[0184] Optionally, the actual suspension parameters include actual stiffness and actual damping coefficient of the suspension system, and the target suspension parameters include target stiffness and target damping coefficient; the adjustment module 603 is further specifically used for:

[0185] Determine a stiffness difference between an actual stiffness and a target stiffness, and determine a damping coefficient difference between an actual damping coefficient and a target damping coefficient;

[0186] Determining whether the stiffness difference is greater than a preset stiffness difference, and determining whether the damping coefficient difference is greater than a preset damping coefficient difference;

[0187] If the stiffness difference is greater than a preset stiffness difference, and / or the damping coefficient difference is greater than a preset damping coefficient difference, it is determined that the parameters of the suspension system need to be adjusted.

[0188] Optionally, the driving data further includes driving road surface information and driving environment information, and the second determining module 602 is specifically used to:

[0189] Determining a target suspension mode of the vehicle, and determining preset suspension data corresponding to the target suspension mode;

[0190] Determine the current driving scene of the vehicle based on the driving road information and driving environment information;

[0191] In the preset suspension data corresponding to the target suspension mode, the suspension parameters that meet the current driving scenario are searched and recorded as the target suspension parameters.

[0192] Optionally, the driving data includes lateral acceleration and longitudinal acceleration; the first determination module 601 is specifically used to:

[0193] Determine an acceleration threshold corresponding to a current suspension mode of the vehicle, where the acceleration threshold includes a lateral acceleration threshold and a longitudinal acceleration threshold;

[0194] determining whether the lateral acceleration is greater than a lateral acceleration threshold, and determining whether the longitudinal acceleration is greater than a longitudinal acceleration threshold;

[0195] If it is determined that the lateral acceleration is greater than the lateral acceleration threshold, or if it is determined that the longitudinal acceleration is greater than the longitudinal acceleration threshold, it is determined that the suspension parameters of the vehicle need to be adjusted.

[0196] Optionally, after determining whether the lateral acceleration is greater than the lateral acceleration threshold and determining whether the longitudinal acceleration is greater than the longitudinal acceleration threshold, the first determination module 601 is specifically configured to:

[0197] If it is determined that the lateral acceleration is greater than the lateral acceleration threshold, or if it is determined that the longitudinal acceleration is greater than the longitudinal acceleration threshold, it is determined that the vehicle acceleration is out of range, and an acceleration out-of-range count is performed;

[0198] In a current ignition cycle of the vehicle, determining whether the number of acceleration out-of-range counts is less than a preset number, and determining whether the vehicle satisfies a first preset condition, the first preset condition being used to characterize that a driving state change of the vehicle is small;

[0199] If the number of acceleration out-of-range counts is greater than or equal to a preset number and the vehicle meets a first preset condition, it is determined that the suspension parameters of the vehicle need to be adjusted.

[0200] Optionally, before adjusting the suspension system of the vehicle based on the target suspension parameters, the second determining module 602 is further specifically configured to:

[0201] Determine whether the vehicle has the suspension adjustment function turned on and whether the suspension system has a malfunction;

[0202] If it is determined that the suspension adjustment function is turned on and the suspension system has not failed, determining whether the vehicle meets a second preset condition, the second preset condition being used to indicate that the state of the vehicle allows the suspension adjustment function to be performed;

[0203] If the vehicle meets the second preset condition, the suspension system of the vehicle is adjusted based on the target suspension parameter.

[0204] Optionally, the vehicle suspension adjustment device further includes a prompt module 604. During the vehicle driving process, the prompt module 604 is specifically used to:

[0205] Monitor the acceleration rate of the vehicle in real time and determine the acceleration rate threshold corresponding to the current suspension mode of the vehicle;

[0206] Determine whether the acceleration change rate is greater than the acceleration change rate threshold;

[0207] If the acceleration change rate is greater than the acceleration change rate threshold, a suspension system failure fault prompt will be issued.

[0208] The specific definition of the vehicle suspension adjustment device can be found in the definition of the vehicle suspension adjustment method above, which will not be repeated here. Each module in the above-mentioned vehicle suspension adjustment device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0209] In one embodiment, a vehicle suspension adjustment device is provided, which may be a vehicle controller or a vehicle-mounted terminal. The vehicle suspension adjustment device includes a processor, a memory, a display screen, and an input device connected via a system bus. The processor of the vehicle suspension adjustment device is used to provide computing and control capabilities. The memory of the vehicle suspension adjustment device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. When the computer program is executed by the processor, a vehicle suspension adjustment method is implemented.

[0210] In one embodiment, Figure 7 As shown, a vehicle suspension adjustment device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above-mentioned vehicle suspension adjustment steps are implemented.

[0211] In one embodiment, a readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned vehicle suspension adjustment steps are implemented.

[0212] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory.

[0213] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0214] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A vehicle suspension adjustment method, characterized in that: include: During vehicle driving, determining whether suspension parameters of the vehicle need to be adjusted; If it is determined that the suspension parameters of the vehicle need to be adjusted, the target suspension parameters are determined in the preset suspension data according to the driving data of the vehicle; the preset suspension data is the recommended suspension parameters suitable for different driving scenarios, which are determined in advance according to the actual vehicle driving data and the user driving behavior data; A suspension system of the vehicle is adjusted based on the target suspension parameters.

2. The vehicle suspension adjustment method according to claim 1, characterized in that: The adjusting the suspension system of the vehicle based on the target suspension parameter includes: Comparing the current actual suspension parameters of the vehicle with the target suspension parameters to determine whether the parameters of the suspension system need to be adjusted; If it is necessary to adjust the parameters of the suspension system, the parameters of the suspension system are adjusted to the target suspension parameters.

3. The vehicle suspension adjustment method according to claim 2, characterized in that: The actual suspension parameters include the actual stiffness and the actual damping coefficient of the suspension system, and the target suspension parameters include the target stiffness and the target damping coefficient; The comparing the current actual suspension parameter of the suspension system with the target suspension parameter to determine whether the parameter of the suspension system needs to be adjusted includes: Determining a stiffness difference between the actual stiffness and the target stiffness, and determining a damping coefficient difference between the actual damping coefficient and the target damping coefficient; Determining whether the stiffness difference is greater than a preset stiffness difference, and determining whether the damping coefficient difference is greater than a preset damping coefficient difference; If the stiffness difference is greater than the preset stiffness difference, and / or the damping coefficient difference is greater than the preset damping coefficient difference, it is determined that the parameters of the suspension system need to be adjusted.

4. The vehicle suspension adjustment method according to claim 1, characterized in that: The driving data also includes driving road surface information and driving environment information. The determining of target suspension parameters in preset suspension data according to the driving data of the vehicle includes: Determining a target suspension mode of the vehicle, and determining the preset suspension data corresponding to the target suspension mode; Determining a current driving scene of the vehicle according to the driving road surface information and the driving environment information; In the preset suspension data corresponding to the target suspension mode, the suspension parameters that meet the current driving scenario are searched and recorded as the target suspension parameters.

5. The vehicle suspension adjustment method according to claim 1, characterized in that: The driving data also includes lateral acceleration and longitudinal acceleration; and the determining whether the suspension parameters of the vehicle need to be adjusted includes: Determining an acceleration threshold corresponding to a current suspension mode of the vehicle, the acceleration threshold comprising a lateral acceleration threshold and a longitudinal acceleration threshold; determining whether the lateral acceleration is greater than the lateral acceleration threshold, and determining whether the longitudinal acceleration is greater than the longitudinal acceleration threshold; If it is determined that the lateral acceleration is greater than the lateral acceleration threshold, or if it is determined that the longitudinal acceleration is greater than the longitudinal acceleration threshold, it is determined that the suspension parameters of the vehicle need to be adjusted.

6. The vehicle suspension adjustment method according to claim 5, characterized in that: After determining whether the lateral acceleration is greater than the lateral acceleration threshold and determining whether the longitudinal acceleration is greater than the longitudinal acceleration threshold, the method further includes: If it is determined that the lateral acceleration is greater than the lateral acceleration threshold, or if it is determined that the longitudinal acceleration is greater than the longitudinal acceleration threshold, it is determined that the vehicle acceleration is out of range, and an acceleration out-of-range count is performed; In a current ignition cycle of the vehicle, determining whether the number of acceleration out-of-range counts is less than a preset number, and determining whether the vehicle satisfies a first preset condition, wherein the first preset condition is used to characterize that a driving state change of the vehicle is small; If the acceleration out-of-range count number is greater than or equal to the preset number and the vehicle meets the first preset condition, it is determined that the suspension parameters of the vehicle need to be adjusted.

7. The vehicle suspension adjustment method according to claim 1, characterized in that: The preset suspension data is obtained in the following manner: a. Configure a set of suspension system parameters for the actual vehicle; b. Determine a set of driving data of the actual vehicle, wherein the driving data includes vehicle speed, driving road surface information and / or driving environment information; c. Performing a driving test on the actual vehicle and recording the user's driving behavior during the test to obtain the user's driving behavior data of the actual vehicle under the current suspension system parameters and the current driving data; d. Replace a set of the driving data and repeat step c to obtain the user driving behavior data of the actual vehicle under the current suspension system parameters and different driving data; e. Replace a set of the suspension system parameters and repeat steps bd to obtain the user driving behavior data of the actual vehicle under different suspension system parameters and different driving data; f. performing driving scene classification according to different driving data to obtain a plurality of driving scenes, and selecting a target suspension system parameter for each driving scene from a plurality of sets of suspension system parameters according to the user driving behavior data as a recommended suspension parameter for the driving scene, thereby obtaining recommended suspension parameters suitable for different driving scenes; g. Record the recommended suspension parameters suitable for different driving scenarios as the preset suspension data.

8. The vehicle suspension adjustment method according to any one of claims 1 to 7, characterized in that: Before adjusting the suspension system of the vehicle based on the target suspension parameters, the method further includes: Determining whether a suspension adjustment function is turned on for the vehicle, and determining whether a failure occurs in the suspension system; If it is determined to start the suspension adjustment function and the suspension system has not failed, determining whether the vehicle meets a second preset condition, where the second preset condition is used to indicate that the state of the vehicle allows the suspension adjustment function to be performed; If the vehicle meets the second preset condition, the suspension system of the vehicle is adjusted based on the target suspension parameter.

9. The vehicle suspension adjustment method according to any one of claims 1 to 7, characterized in that: During the vehicle driving process, the method further includes: monitoring the acceleration change rate of the vehicle in real time, and determining an acceleration change rate threshold corresponding to a current suspension mode of the vehicle; Determining whether the acceleration change rate is greater than the acceleration change rate threshold; If the acceleration change rate is greater than the acceleration change rate threshold, a suspension system failure fault prompt is issued.

10. A vehicle suspension adjustment device, characterized in that: include: A first determination module is used to determine whether the suspension parameters of the vehicle need to be adjusted based on the driving data of the vehicle during driving; A second determination module is used to determine target suspension parameters in preset suspension data according to the driving data of the vehicle if it is determined that the suspension parameters of the vehicle need to be adjusted; the preset suspension data is a recommended suspension parameter that is determined in advance according to the actual vehicle driving data and the user's driving behavior data and is suitable for different driving scenarios; An adjustment module is used to adjust the suspension system of the vehicle based on the target suspension parameter.

11. A vehicle suspension adjustment device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the vehicle suspension adjustment method according to any one of claims 1 to 7 are implemented.

12. A vehicle, characterized in that: The vehicle comprises a suspension system and a vehicle suspension adjustment device, wherein the suspension system communicates with the vehicle suspension adjustment device via a bus, and the vehicle suspension adjustment device is used to execute the steps of the vehicle suspension adjustment method according to any one of claims 1 to 9.

13. A readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the vehicle suspension adjustment method according to any one of claims 1 to 9 are implemented.

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