Vehicle suspension adjustment method, adjustment device, vehicle and storage medium

Abstract

The application discloses a vehicle suspension adjusting method, an adjusting device, a vehicle and a storage medium, and part of the method comprises the following steps: during the driving 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, the preset suspension data is the recommended suspension parameters determined in advance according to the real vehicle driving data and the user driving behavior data, and is suitable for different driving scenes; and the suspension system of the vehicle is adjusted based on the target suspension parameters. Through the classification of the user driving scenes based on the real vehicle driving data and the user driving behavior in advance and the corresponding setting of different suspension parameters, the target suspension parameters meeting the current driving scene are determined according to the driving data of the vehicle during the driving of the vehicle, so that the adaptive active adjustment of the vehicle is realized, manual adjustment is not needed, the accuracy is high, the needs of different driving scenes can be met, and the driving experience of the user is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle suspension technology, and more particularly to a vehicle suspension adjustment method, adjustment device, vehicle, and storage medium. Background Technology

[0002] The suspension system is the force-transmitting connection between the vehicle body and the axles or wheels. Its function is to transmit the forces and torques acting between the wheels and the vehicle body, and to buffer the impact forces transmitted to the vehicle body from uneven road surfaces, thereby damping the resulting vibrations and ensuring a smooth ride. Different suspension system settings will give drivers different driving experiences. For example, a stiffer suspension setting will improve the vehicle's ground clearance, but the vehicle's center of gravity will be higher, making it more prone to bumps and less comfortable; while a softer suspension setting will result in insufficient body support when cornering, leading to greater body roll and less comfort. To balance comfort and cornering performance under different driving conditions, the vehicle's suspension settings need to be adjusted.

[0003] However, in actual use, the inventors found that existing vehicle suspension adjustment requires users to judge road conditions based on their own driving experience and then manually adjust the vehicle suspension. This operation is cumbersome, and when users do not adjust the suspension in time or make a mistake in judgment, it can easily affect the comfort or cornering performance of the vehicle and fail to truly meet the needs of various driving scenarios, resulting in a poor driving experience for users. Summary of the Invention

[0004] This invention provides a vehicle suspension adjustment method, adjustment device, vehicle, and storage medium to solve the problem that existing vehicle suspension adjustments require manual adjustment, which is cumbersome, cannot truly meet the needs of various driving scenarios, and leads to a poor user driving experience.

[0005] To address the above problems, a vehicle suspension adjustment method is provided, comprising:

[0006] During vehicle operation, determine whether adjustments to the vehicle's suspension parameters are necessary.

[0007] If it is determined that the vehicle's suspension parameters need to be adjusted, the target suspension parameters are determined from the preset suspension data based on the vehicle's driving data. The preset suspension data are recommended suspension parameters that are determined in advance based on real vehicle driving data and user driving behavior data and are applicable to different driving scenarios.

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

[0009] Optionally, the vehicle's suspension system is adjusted based on target suspension parameters, including:

[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, then adjust the parameters of the suspension system to the target suspension parameters.

[0012] Optionally, the actual suspension parameters include the actual stiffness and actual damping coefficient of the suspension system, and the target suspension parameters include the target stiffness and target damping coefficient. By comparing the current actual suspension parameters with the target suspension parameters, it is determined whether parameter adjustments to the suspension system are necessary, including:

[0013] Determine the stiffness difference between the actual stiffness and the target stiffness, and determine the damping coefficient difference between the actual damping coefficient and the target damping coefficient.

[0014] 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;

[0015] 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, then it is determined that the parameters of the suspension system need to be adjusted.

[0016] Optionally, the driving data also includes road surface information and driving environment information. Based on the vehicle's driving data, target suspension parameters are determined from preset suspension data, including:

[0017] Determine the target suspension mode of the vehicle and determine the preset suspension data corresponding to the target suspension mode;

[0018] Based on road surface information and driving environment information, determine the current driving scenario of the vehicle;

[0019] In the preset suspension data corresponding to the target suspension mode, find the suspension parameters that match the current driving scenario and record them as the target suspension parameters.

[0020] Optionally, the driving data includes lateral acceleration and longitudinal acceleration; based on the acceleration, it is determined whether the vehicle's suspension parameters need to be adjusted, including:

[0021] Determine the acceleration threshold corresponding to the vehicle's current suspension mode. The acceleration threshold includes the lateral acceleration threshold and the longitudinal acceleration threshold.

[0022] Determine whether the lateral acceleration is greater than the lateral acceleration threshold, and determine whether the longitudinal acceleration is greater than the longitudinal acceleration threshold;

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

[0024] Optionally, the preset suspension data is obtained in the following way:

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

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

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

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

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

[0030] f. Based on different driving data, driving scenarios are classified into multiple driving scenarios. Based on user driving behavior data, target suspension system parameters are selected for each driving scenario from multiple sets of suspension system parameters as recommended suspension parameters for the driving scenario, thus obtaining recommended suspension parameters suitable for different driving scenarios.

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

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

[0033] If it is determined that the lateral acceleration is greater than the lateral acceleration threshold, or the longitudinal acceleration is determined to be greater than the longitudinal acceleration threshold, then the vehicle acceleration is determined to be out of range, and an acceleration out of range count is performed.

[0034] In the current ignition cycle of the vehicle, determine whether the number of acceleration out-of-range counts is less than a preset number, and determine whether the vehicle meets the first preset condition, which is used to characterize the small change in the vehicle's driving state.

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

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

[0037] Determine if the vehicle's suspension adjustment function is enabled, and determine if there is a malfunction in the suspension system;

[0038] If it is determined that the suspension adjustment function is enabled and the suspension system is not malfunctioning, then it is determined whether the vehicle meets the second preset condition. The second preset condition is used to characterize the vehicle's state and allow the suspension adjustment function to be performed.

[0039] If the vehicle meets the second preset condition, the vehicle's suspension system is adjusted based on the target suspension parameters.

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

[0041] Real-time monitoring of the vehicle's rate of acceleration change, and determination of the rate of acceleration change threshold corresponding to the vehicle's current suspension mode;

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

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

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

[0045] The first determining module uses driving data during vehicle operation to determine whether the vehicle's suspension parameters need to be adjusted.

[0046] The second determining module is used to determine the target suspension parameters from the preset suspension data based on the vehicle's driving data if it is determined that the vehicle's suspension parameters need to be adjusted. The preset suspension data are recommended suspension parameters that are determined in advance based on actual vehicle driving data and user driving behavior data and are applicable to different driving scenarios.

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

[0048] 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, it implements the steps of the vehicle suspension adjustment method described above.

[0049] A vehicle is provided, the vehicle including a suspension system and a vehicle suspension adjustment device, the suspension system communicating with the vehicle suspension adjustment device via a bus, the vehicle suspension adjustment device being used to perform the steps of the above-described vehicle suspension adjustment method.

[0050] A readable storage medium is provided, which stores a computer program that, when executed by a processor, implements the steps of the above-described vehicle suspension adjustment method.

[0051] In one embodiment of the vehicle suspension adjustment method, adjustment device, vehicle, and storage medium described above, during vehicle operation, it is determined whether the vehicle's suspension parameters need adjustment. If adjustment is required, target suspension parameters are determined from preset suspension data based on vehicle driving data. These preset suspension data are recommended suspension parameters applicable to different driving scenarios, pre-determined based on actual vehicle driving data and user driving behavior data. The vehicle's suspension system is then adjusted based on the target suspension parameters. This embodiment pre-classifies user driving scenarios based on actual vehicle driving data and user driving behavior, and sets corresponding suspension parameters. During vehicle operation, target suspension parameters suitable for the current driving scenario are determined based on the vehicle's driving data, thereby achieving adaptive and active vehicle adjustment. This eliminates the need for manual adjustment, is highly accurate, meets the needs of different driving scenarios, and improves the user's driving experience. Attached Figure Description

[0052] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a schematic diagram of a vehicle structure according to one embodiment of the present invention;

[0054] Figure 2 This is a schematic flowchart of a vehicle suspension adjustment method according to an embodiment of the present invention;

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

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

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

[0058] Figure 6 This is a schematic diagram of a vehicle suspension adjustment device according to an embodiment of the present invention;

[0059] Figure 7 This is another structural schematic diagram of the vehicle suspension adjustment device in one embodiment of the present invention. Detailed Implementation

[0060] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] The vehicle suspension adjustment method provided in this embodiment of the invention can be applied to, for example... Figure 1 The vehicle shown includes a suspension system and a vehicle suspension adjustment device. The suspension system communicates with the vehicle suspension adjustment device via a bus.

[0062] After the vehicle starts, the vehicle suspension adjustment device needs to monitor the vehicle's driving data to determine whether the suspension parameters need adjustment. If adjustment is required, a target suspension parameter is determined from preset suspension data based on the vehicle's driving data. This preset suspension data is a set of recommended suspension parameters applicable to different driving scenarios, pre-determined based on actual vehicle driving data and user driving behavior data. The vehicle's suspension system is then adjusted based on the target suspension parameter. This embodiment pre-classifies user driving scenarios based on actual vehicle driving data and user driving behavior, and sets different suspension parameters accordingly. During vehicle operation, the target suspension parameter is determined based on the vehicle's driving data and user driving behavior to match the current driving scenario. This achieves adaptive and proactive vehicle adjustment without manual adjustment, with high accuracy, meeting the needs of different driving scenarios and improving the user's driving experience.

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

[0064] In one embodiment, such as Figure 2 As shown, a vehicle suspension adjustment method is provided, which is applied to... Figure 1 Taking the vehicle suspension adjustment device as an example, the explanation includes the following steps:

[0065] S10: Determine whether the vehicle's suspension parameters need to be adjusted while the vehicle is in motion.

[0066] It's important to understand that when a vehicle accelerates excessively, it will continue to accelerate forward due to inertia, causing passengers inside to lean backward as well. Simultaneously, the vehicle's center of gravity shifts backward, increasing the weight at the rear and decreasing the weight at the front. This results in uneven pressure on the front and rear suspension systems. Under such conditions, the suspension system becomes unstable under excessive pressure and cannot effectively cushion bumps and vibrations from the road surface, leading to a jarring and bumpy ride.

[0067] In summary, after the vehicle starts, the vehicle suspension adjustment system monitors the vehicle's driving data in real time, thereby obtaining driving data at different times. This driving data includes the vehicle's real-time acceleration; that is, the vehicle suspension adjustment system monitors the vehicle's real-time acceleration during driving to determine whether adjustments to the vehicle's suspension parameters are needed based on the real-time acceleration. In other words, it determines whether adjustments to the vehicle's suspension parameters are necessary based on changes in vehicle acceleration.

[0068] For example, a simple judgment can be made by setting a threshold for vehicle acceleration. This threshold is a value determined by testing and calibrating a real vehicle. After the vehicle starts, 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 indicates that the current state of the vehicle has changed. The vehicle may experience up-and-down bumps or left-and-right swaying. In this case, it is determined that the vehicle's suspension parameters need to be adjusted to improve the performance of the vehicle's suspension system, thereby improving the comfort and riding pleasure of the vehicle users and enhancing the user experience.

[0069] It's important to understand that, with the vehicle's direction of travel 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). Excessive longitudinal acceleration may cause the vehicle to bounce up and down, giving passengers a jarring sensation. Excessive lateral acceleration may cause the vehicle to sway from side to side (risk of rollover when cornering). Since up-and-down bumps due to road surface disturbances are common during vehicle movement, this embodiment uses longitudinal acceleration as the vehicle's real-time acceleration for simplicity and convenience. In other embodiments, to ensure accuracy, the average or maximum value of the longitudinal and lateral accelerations can be used as the vehicle's real-time acceleration.

[0070] S20: If it is determined that the vehicle's suspension parameters need to be adjusted, the target suspension parameters are determined from the preset suspension data based on the vehicle's driving data.

[0071] After determining whether adjustments to the vehicle's suspension parameters are necessary, if so, the current driving scenario is determined based on the vehicle's driving data. The target suspension parameters are then determined from preset suspension data based on this scenario. The preset suspension data consists of recommended suspension parameters pre-determined based on real-world driving data (including road surface information and vehicle speed) and user driving behavior data, applicable to various driving scenarios. Determining the target suspension parameters using preset suspension data and the vehicle's current driving data allows for the rapid identification of recommended suspension parameters that align with the current driving scenario and the user's driving habits, offering a simple, efficient, and highly accurate approach.

[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 for the actual vehicle, including vehicle speed, road surface information, and / or driving environment information;

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

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

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

[0078] f. Based on different driving data, driving scenarios are classified into multiple driving scenarios. Based on user driving behavior data, target suspension system parameters are selected for each driving scenario from multiple sets of suspension system parameters as recommended suspension parameters for the driving scenario, thus obtaining recommended suspension parameters suitable for different driving scenarios.

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

[0080] In this embodiment, a real-vehicle test is conducted to pre-adjust various parameters of the suspension system (including stiffness and damping coefficient). The vehicle performance is tested under different driving data (including different vehicle speeds, road surface information, and / or driving environment information) and different suspension parameters. User driving behavior data (such as whether suspension parameters are adjusted, whether vehicle speed is changed, whether braking is taken out of fear of vehicle instability, and driving feelings) is recorded during the process as real-vehicle suspension test data. Then, based on the different driving data in the real-vehicle suspension test data, the vehicle's driving scenarios are classified, and appropriate suspension parameters are selected for different driving scenarios based on user driving behavior data, especially user driving feelings, as recommended suspension parameters for each driving scenario. This yields preset suspension data. By identifying road surface information and user driving behavior, the user's driving scenarios are classified, thereby obtaining recommended suspension parameters (recommended stiffness and recommended damping coefficient) for different driving scenarios. This provides an accurate data basis for subsequent suspension system adjustments, so that during actual vehicle driving, suspension parameters can be adjusted based on preset suspension data, which can effectively improve the user's driving experience and ride comfort.

[0081] The driving surface information can include ordinary urban roads, potholed urban roads, potholed mountain roads, sandy terrain, and snowy terrain. The driving environment information can include good conditions, snowy conditions, and extremely harsh conditions. The vehicle's driving surface information can be determined based on navigation information, camera data, and information such as acceleration, required torque, actual torque, and tire friction coefficient during vehicle operation. Various driving surface information can be pre-classified; for example, roads can be defined according to national road grade requirements, paved surfaces, and gradients. Highways with temperatures between 10 and 30 degrees Celsius and an altitude difference within 100m / 100km are defined as ordinary urban roads. Information such as tire friction coefficient during vehicle operation is used to determine driving surface information such as snowy and sandy terrain. Driving environment information mainly relies on vehicle navigation information, weather, environmental pressure, ambient temperature, and onboard satellite positioning systems, combined with information from the vehicle's built-in sensors and big data networks.

[0082] Furthermore, different suspension parameter ranges can be categorized based on vehicle performance to obtain multiple suspension modes. Then, based on user driving behavior data, especially user driving experience, appropriate suspension parameters are selected for different driving modes and scenarios as recommended suspension parameters for each suspension mode and scenario, thus obtaining preset suspension data for different suspension modes. Suspension modes are defined based on stiffness and suspension damping coefficient. Multiple suspension modes can include off-road mode, comfort mode, and softer mode. In off-road mode, the suspension parameters are characterized by high stiffness and low suspension damping coefficient; that is, the higher the stiffness and the lower the suspension damping coefficient, the better the off-road capability. Conversely, in softer mode, the suspension parameters are characterized by low stiffness and high suspension damping coefficient; the lower the stiffness and the higher the suspension damping coefficient, the better the off-road capability. Comfort mode falls between off-road mode and softer mode; that is, in comfort mode, the difference between stiffness and suspension damping coefficient is small, and the values ​​of stiffness and suspension damping coefficient are similar.

[0083] Specifically, the preset suspension data can be recommended suspension parameters applicable to different driving scenarios, determined in advance based on real-world road surface data and user driving behavior data. The corresponding driving data can also include the vehicle's current road surface information. The target suspension parameters are then determined from the preset suspension data based on the driving data. This includes: after determining that the vehicle's suspension parameters need adjustment, first determining the vehicle's current suspension mode based on the user's driving behavior: that is, determining the user's preferred suspension mode based on the user's selected suspension mode or based on the user's historical driving behavior data, denoted as the vehicle's current suspension mode; then determining the vehicle's current driving scenario based on the road surface information in the driving data; and then searching the preset suspension data for recommended suspension parameters that match the current suspension mode and are suitable for the current driving scenario, as the target suspension parameters. By identifying the vehicle's current road surface information and the user's driving behavior data, the user's driving scenario is categorized, thereby proactively adjusting and setting corresponding recommended suspension parameters (including recommended stiffness and recommended damping coefficients) to improve the user's driving experience and ride comfort.

[0084] For example, suspension modes include off-road mode, comfort mode, and softer mode. If the user selects a suspension mode or determines the user's preferred suspension mode based on historical driving behavior data, and both are comfort mode, then the target suspension mode is comfort mode. Then, based on the road surface information in the driving data, if the current driving scenario is determined to be a snowy road driving scenario, then the recommended suspension parameters corresponding to comfort mode and snowy road driving scenario are found in the preset suspension data and used as target suspension parameters. This allows the vehicle to adjust its suspension system according to the target suspension parameters to ensure the vehicle's comfort when driving on snowy roads.

[0085] S30: Adjust the vehicle's suspension system based on target suspension parameters.

[0086] After determining the target suspension parameters from the preset suspension data based on the vehicle's driving data, the vehicle's suspension system can be adjusted based on these target parameters. For example, the vehicle's suspension system parameters can be directly adjusted to the target suspension parameters. If the target suspension parameters include recommended stiffness and recommended damping coefficient, then the vehicle's suspension system stiffness can be directly adjusted to the recommended stiffness of the target suspension parameters, and the vehicle's suspension system damping coefficient can be directly adjusted to the recommended damping coefficient of the target suspension parameters.

[0087] In this embodiment, during vehicle operation, the system determines whether the vehicle's suspension parameters need adjustment based on the vehicle's real-time acceleration. If adjustment is required, target suspension parameters are determined from preset suspension data based on the vehicle's driving data. These preset suspension data are recommended suspension parameters applicable to different driving scenarios, pre-determined based on actual vehicle driving data and user driving behavior data. The vehicle's suspension system is then adjusted based on these target suspension parameters. This embodiment pre-classifies user driving scenarios based on actual vehicle driving data and user driving behavior, setting corresponding suspension parameters. During vehicle operation, target suspension parameters suitable for the current driving scenario are determined based on the vehicle's driving data and user driving behavior, achieving adaptive and proactive vehicle adjustment. This eliminates the need for manual adjustment, is highly accurate, meets the needs of different driving scenarios, and improves the user's driving experience. Furthermore, this embodiment can improve the adaptability and stability of the vehicle's suspension system, adapting to changing road conditions and driving demands, and optimizing the vehicle's dynamic performance and control feel.

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

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

[0090] During vehicle operation, it is necessary to monitor the vehicle's real-time acceleration to determine whether adjustments to the vehicle's suspension parameters are needed. In this embodiment, the vehicle's real-time acceleration includes longitudinal and lateral acceleration. Excessive longitudinal acceleration may cause the vehicle to bounce up and down, while excessive lateral acceleration may cause it to sway left and right. Especially when cornering, excessive lateral acceleration may cause a feeling of rollover. Therefore, to ensure accuracy, corresponding thresholds need to be set for both longitudinal and lateral acceleration; that is, acceleration thresholds include lateral and longitudinal acceleration thresholds. Furthermore, users' sensitivity to changes in vehicle acceleration varies depending on the suspension mode they use. Therefore, different acceleration thresholds need to be defined for different suspension modes; that is, different suspension modes correspond to different lateral and longitudinal acceleration thresholds. The lateral and longitudinal acceleration thresholds for different suspension modes can be determined based on vehicle engineering design and real-vehicle experimental test results to ensure the accuracy of the acceleration thresholds. In order to take into account the driving experience of different user groups, the acceleration threshold of the off-road mode should be greater than that of the comfort mode, and the acceleration threshold of the comfort mode should be greater than that of the softer mode, so as to adjust the suspension system according to the corresponding suspension mode under different working conditions.

[0091] In determining whether the vehicle's suspension parameters need to be adjusted, it is necessary to first determine the vehicle's current suspension mode. This suspension mode can be the user-selected suspension mode or determined by the vehicle's current actual suspension parameters. At the same time, acceleration threshold data is acquired, which includes the lateral acceleration threshold and longitudinal acceleration threshold corresponding to different suspension modes. Then, from the acceleration threshold data, the acceleration threshold corresponding to the vehicle's current suspension mode is determined.

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

[0093] After determining the acceleration threshold corresponding to the vehicle's current suspension mode, it is then determined whether the vehicle's lateral acceleration exceeds the lateral acceleration threshold, and whether the longitudinal acceleration exceeds the longitudinal acceleration threshold. Lateral acceleration can be acquired using wheel speed sensors mounted on the wheels, while longitudinal acceleration can be acquired using ground clearance sensors or gravity acceleration sensors equipped on the vehicle. By acquiring lateral and longitudinal acceleration in real time using the vehicle's sensors, and comparing these values ​​with the previously determined lateral and longitudinal acceleration thresholds, a judgment is made as to whether adjustments to the suspension parameters are necessary.

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

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

[0096] If the lateral acceleration (y-axis acceleration) is greater than the lateral acceleration threshold, it indicates that the vehicle may sway from side to side, resulting in a poor user experience, especially when cornering, where it may feel like the vehicle is about to roll over. To ensure comfort, the vehicle's suspension parameters need to be adjusted. If the longitudinal acceleration (z-axis acceleration, i.e., acceleration in the vertical direction) is greater than the longitudinal acceleration threshold, it indicates that the vehicle may bounce up and down, resulting in a poor user experience. Again, the vehicle's suspension parameters need adjustment. The suspension system determines whether to adjust the vehicle's suspension parameters based on the relationship between the actual vehicle speed and the acceleration value. This allows for subsequent dynamic adjustments to relevant suspension system parameters (including stiffness, damping coefficient, etc.) to ensure the vehicle maintains a stable and comfortable driving state under different driving scenarios, reducing vehicle wear and tear and improving the user's driving experience and riding pleasure.

[0097] In this embodiment, by determining the acceleration thresholds corresponding to the vehicle's current suspension mode (including lateral and longitudinal acceleration thresholds), it is then determined whether the lateral acceleration exceeds the lateral acceleration threshold, and vice versa. If either the lateral or longitudinal acceleration exceeds the lateral acceleration threshold, it is determined that the vehicle's suspension parameters need adjustment. This clarifies the specific process for determining whether the vehicle's suspension parameters need adjustment. The technical effect is that, based on the vehicle's current suspension mode and real-time lateral and longitudinal acceleration data, it dynamically determines whether the vehicle's suspension parameters need adjustment. This allows for subsequent adjustments based on the current driving scenario, using calibrated recommended suspension parameters to adjust the vehicle's suspension system, enabling the vehicle to maintain a stable and comfortable driving state under different road conditions, reducing driver fatigue and vehicle wear, and improving driving safety and user experience.

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

[0099] S14: If it is determined that the lateral acceleration is greater than the lateral acceleration threshold, or the longitudinal acceleration is determined to be greater than the longitudinal acceleration threshold, then the vehicle acceleration is determined to be 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 whether the longitudinal acceleration is greater than the longitudinal acceleration threshold, if the lateral acceleration is greater than the lateral acceleration threshold or the longitudinal acceleration is greater than the longitudinal acceleration threshold, then the vehicle acceleration is determined to be out of range, and an acceleration out-of-range count is performed. The number of acceleration out-of-range counts is used to determine whether the vehicle's suspension parameters need to be adjusted, rather than directly determining that the vehicle's suspension parameters need to be adjusted, thus improving the accuracy of the judgment.

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

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

[0103] For example, the first preset condition could be that the vehicle is driving on similar road surfaces and in similar driving environments, with minimal changes in these conditions, meaning minimal changes in the vehicle's driving state. After the vehicle starts, during the current ignition cycle, the vehicle's real-time acceleration, road surface, and driving environment need to be monitored and identified. When the number of acceleration out-of-range counts reaches a preset number, and the vehicle is identified as driving on similar road surfaces and in similar driving environments, it indicates that the vehicle has experienced multiple instances of acceleration out-of-range errors while in similar driving states. This suggests that the vehicle's suspension is too stiff and the ride is not comfortable, thus requiring adjustments to the vehicle's suspension parameters, 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 travels on similar road surfaces and in similar driving environments, meaning that the road surfaces and driving environments change little.

[0106] 2. The vehicle's load changes within a certain range, meaning the vehicle's load remains unchanged or changes only slightly;

[0107] 3. The vehicle's tire pressure is within the normal driving range, meaning the tire pressure meets the requirements for normal driving.

[0108] 4. The vehicle speed is greater than or equal to the preset speed (e.g., 20 km / h), meaning the vehicle is in motion.

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

[0110] In the vehicle's current key-on cycle, 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, then it is determined that the vehicle's suspension parameters need adjustment. If it is determined that the lateral acceleration is greater than a lateral acceleration threshold, or the longitudinal acceleration is greater than a longitudinal acceleration threshold, indicating an acceleration out-of-range condition and overly stiff suspension, then a count is performed. In the vehicle's current key-on cycle, if the number of acceleration out-of-range counts reaches a preset number, and the vehicle's driving conditions (such as vehicle speed, tire pressure, load, driving environment, and road surface) change only slightly, then it is determined that the vehicle's suspension parameters need adjustment. This further improves the accuracy of the judgment, avoids frequent suspension parameter adjustments caused by excessive acceleration, and reduces system load. The vehicle's load can be detected by the number of occupants using seat sensors; for vehicles equipped with in-vehicle cameras, passenger information can be directly obtained through the camera, thus providing load information.

[0111] In one embodiment, it is determined that the vehicle's suspension parameters need to be adjusted, and the vehicle needs to meet the following conditions:

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

[0113] B. If condition A is detected, it occurs a preset number (n times) in a key-on loop.

[0114] C. The situation described in B occurs on similar road surfaces and the environmental information differences meet the requirements;

[0115] D. If condition C is detected, and the vehicle load is within a certain range of variation, then the tire pressure meets the requirements for normal driving.

[0116] In this embodiment, the vehicle's suspension parameters are adjusted only when the tire pressure, load, driving environment, and road surface change little during the current ignition cycle, and the number of times the vehicle's acceleration exceeds the range reaches a preset number. This further improves the accuracy of the judgment and avoids 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 whether the longitudinal acceleration is greater than the longitudinal acceleration threshold, if the lateral acceleration is greater than the lateral acceleration threshold or the longitudinal acceleration is greater than the longitudinal acceleration threshold, then the vehicle acceleration is determined to be out of range, and an acceleration out-of-range count is performed. In the current ignition cycle of the vehicle, if 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 vehicle's suspension parameters need to be adjusted. This clarifies another specific process for determining whether the vehicle's suspension parameters need to be adjusted. By combining acceleration, vehicle speed, tire pressure, load, driving environment, and road surface conditions for judgment, the accuracy of the judgment is improved, and frequent suspension parameter adjustments caused by excessive acceleration each time are avoided.

[0118] In one embodiment, the vehicle's driving data also includes road surface information and driving environment information. For example... Figure 4 As shown, step S20, which involves determining the target suspension parameters from the preset suspension data based on the vehicle's driving data and the user's driving behavior, specifically includes the following steps:

[0119] S21: Determine the target suspension mode of the vehicle and determine the preset suspension data corresponding to the target suspension mode;

[0120] In this embodiment, the preset suspension data are recommended suspension parameters determined in advance based on real-world driving environment information, road surface information, and user driving behavior data. These parameters are applicable to different suspension modes and driving scenarios. In other words, the preset suspension data includes preset suspension data corresponding to different suspension modes. The suspension modes include off-road mode, comfort mode, and softer mode. After determining that the vehicle's suspension parameters need adjustment, the target suspension mode can be determined based on the user's driving behavior, and the corresponding preset suspension data can be determined.

[0121] For example, user driving behavior includes activating the suspension adjustment function and selecting a suspension mode. After the vehicle starts, it prompts the user to activate the suspension adjustment function. Once the user confirms activation, the selected suspension mode is determined and set as the vehicle's target suspension mode. Then, the corresponding preset suspension data is determined. In other embodiments, different suspension modes correspond to different suspension parameters. If the user does not select a suspension mode, the vehicle's current actual suspension parameters are determined, and the current suspension mode is determined based on these parameters. This current suspension mode is then 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 and used as the vehicle's current suspension mode.

[0122] S22: Determine the current driving scenario of the vehicle based on road surface information and driving environment information.

[0123] In this embodiment, the vehicle's driving data also includes road surface information and driving environment information. Based on the road surface information and driving environment information in the driving data, the current driving scenario of the vehicle is determined.

[0124] For example, road surface information includes urban ordinary road surface (a), mountain potholed road surface (b), sandy road surface (c), and urban potholed road surface (e); driving environment information includes snowy / windy environment (1), good environment (2), and extremely harsh environment (3). Correspondingly, driving scenarios are classified into 15 driving scenarios based on road surface and driving environment information: urban ordinary road surface (a1) under snow / wind, mountain potholed road surface (b1) under snow / wind, sandy road surface (c1) under snow / wind, urban potholed road surface (e1) under snow / wind, urban ordinary road surface (a2) under good environment, mountain potholed road surface (b2) under good environment, sandy road surface (c2) under good environment, urban potholed road surface (e2) under good environment, urban ordinary road surface (a3) ​​under extremely harsh environment, mountain potholed road surface (b3) under extremely harsh environment, sandy road surface (c3) under extremely harsh environment, and urban potholed road surface (e3) under extremely harsh environment. The specific classification is shown in Table 1 below.

[0125] Table 1

[0126]

[0127] As shown in Table 1 above, driving scenarios are classified into 15 categories based on road surface 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. The suspension parameters corresponding to different driving scenarios are different (i.e., the recommended stiffness and / or recommended damping coefficient are different).

[0128] Furthermore, based on users' driving habits and preferences, the suspension modes are categorized into off-road mode, comfort mode, and softer mode. For example, some users prefer suspension parameters with higher stiffness and lower damping, resulting in better vehicle handling but less comfort; in this case, the suspension mode is designated as off-road mode. Other users prefer suspension parameters with lower stiffness and higher damping; in this case, the suspension mode is designated as softer mode. Other intermediate suspension parameter settings are designated as comfort mode. Within each suspension mode, the recommended suspension parameters for the same driving scenario differ; that is, each suspension mode corresponds to different preset suspension data, so that subsequent adjustments to the suspension system can match the vehicle's driving experience to the user's individual driving habits and preferences.

[0129] S23: In the preset suspension data corresponding to the target suspension mode, find the suspension parameters that match the current driving scenario and record them as the target suspension parameters.

[0130] After determining the preset suspension data corresponding to the target suspension mode and the current driving scenario of the vehicle, it is necessary to find the suspension parameters that match the current driving scenario in the preset suspension data corresponding to the target suspension mode, and record them as the 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 scenario of the vehicle is determined based on the driving road information and driving environment information. Suspension parameters that are consistent with the current driving scenario are searched in the preset suspension data corresponding to the target suspension mode and recorded as target suspension parameters. The specific steps for determining the target suspension parameters from the preset suspension data based on the vehicle's driving data are clarified. The vehicle driving scenario is classified according to the driving road information and driving environment information, which refines the vehicle's driving scenario and thus obtains recommended suspension parameters that are more consistent with the current driving scenario. This facilitates subsequent adjustment of suspension system parameters, improves the comfort of the vehicle in different driving scenarios, and thus improves the user's driving experience and riding pleasure.

[0132] In one embodiment, the driving scenario can be further refined by classifying the vehicle's current speed, time, driving environment information, and road surface information. This increases the granularity of the driving scenario segmentation. Specifically, the preset suspension data consists of recommended suspension parameters determined in advance based on the vehicle's actual speed, time, driving environment information, road surface information, and user driving behavior data. These parameters are applicable to different suspension modes and driving scenarios, thus further recommending corresponding suspension parameters for the refined driving scenarios, facilitating subsequent adjustments to the suspension system parameters. In this embodiment, the vehicle's driving data also includes vehicle speed, time, road surface information, and driving environment information. After determining that the vehicle's suspension parameters need adjustment, while determining the target suspension mode, the current driving scenario is determined based on the vehicle's speed, time (e.g., season or month), road surface information, and driving environment information. This further refines the driving scenario, and then the preset suspension data corresponding to the target suspension mode is used to find suspension parameters suitable for the current driving scenario. These are recorded as target suspension parameters, allowing for subsequent adjustments to the suspension system parameters based on the further refined target suspension parameters, thereby improving user comfort in different driving scenarios.

[0133] For example, if the time of year is January or June, and the user frequently uses the comfort mode for the suspension, the driving experience in Harbin in January and June will differ under the same road conditions, speed, and cornering conditions. This difference manifests in the acceleration feeling despite the same throttle opening, because the road surface may be icy in January, causing the vehicle to skid when cornering. In this case, the suspension system parameters need to be adjusted to adapt to the change. Similarly, under otherwise identical conditions, different vehicle speeds will result in different driving experiences, thus requiring different suspension system settings. Furthermore, as the vehicle's tires wear and the body ages, the driving experience also changes. Similarly, driving scenarios can be categorized based on the wear level (wheel age), current speed, time of day, driving environment information, and road surface information, further refining the vehicle's driving scenarios.

[0134] In one embodiment, such as Figure 5 As shown, step S30, which involves adjusting the vehicle's suspension system based on the target suspension parameters, specifically includes the following steps:

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

[0136] After determining the target suspension parameters in the preset suspension data based on 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 the suspension system parameters need to be adjusted. That is, the size of the vehicle's current actual suspension parameters and the target suspension parameters are compared to determine whether the relevant parameters of the suspension system need to be adjusted to the target suspension parameters.

[0137] For example, the actual suspension parameters of the vehicle can be compared with the target suspension parameters to determine whether the actual suspension parameters are consistent with the target suspension parameters. If they are consistent, it is determined that the suspension system parameters do not need to be adjusted. 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 consistency of the two sets of parameters, it is possible to determine whether the suspension system parameters need to be adjusted based on the consistency comparison results. This method is simple, intuitive, and has a fast response time.

[0138] In other embodiments, to reduce frequent adjustments to the suspension system parameters, a preset parameter difference can be set. Then, the difference between the actual suspension parameters and the target suspension parameters (the absolute value of this difference) is determined. If the difference is greater than the preset parameter difference, it indicates a significant gap between the actual and target suspension parameters. To ensure user comfort, adjustments to the relevant suspension system parameters are necessary, thus requiring parameter adjustment. If the absolute value of the difference is less than or equal to the preset parameter difference, it indicates a small gap between the actual and target suspension parameters, and the parameter variation is within acceptable limits. Therefore, no adjustment to the suspension system parameters is needed, and a parameter range is selected for parameter variation to reduce frequent adjustments. 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 actual damping coefficient of the suspension system, and the target suspension parameters include the recommended stiffness and recommended damping coefficient. Correspondingly, the preset parameter difference includes a preset stiffness difference (which may be a value close to or even equal to 0) and a preset damping coefficient difference (which may be a value close to or even equal to 0). Then, in S31, comparing the vehicle's current actual suspension parameters with the target suspension parameters to determine whether the suspension system parameters need to be adjusted includes:

[0140] S311: Determine the stiffness difference between the actual stiffness and the target stiffness, and determine the damping coefficient difference between the actual damping coefficient and the target damping coefficient.

[0141] S312: 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;

[0142] S313: 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, then 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, where the stiffness difference is an absolute value) and the damping coefficient difference (the difference between the actual damping coefficient and the target damping coefficient, where 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 a preset stiffness difference, and determine 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 indicates that the difference between the actual suspension parameters and the target suspension parameters is large, and to ensure user comfort, it is determined that the suspension system parameters 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 difference between the actual suspension parameters and the target suspension parameters is small, and the parameter changes are within the allowable range, and it is determined that the suspension system parameters do not need to be adjusted. By selecting a range of parameters for the changes in suspension parameters, and only adjusting the suspension system parameters when the difference between the actual suspension parameters and the target suspension parameters is not within this range, the frequency of adjusting the suspension system parameters can be reduced.

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

[0145] After comparing the vehicle's current actual suspension parameters with the target suspension parameters, if it is determined that the suspension system parameters need adjustment, it means that the current actual suspension parameters are inconsistent with or significantly different from the target suspension parameters. In this case, the suspension system parameters are adjusted to the target suspension parameters. The adjustment of the suspension system parameters is achieved by changes in the hydraulic, air pressure, or magnetic forces of the suspension system.

[0146] If it is determined that no adjustment of the suspension system parameters is needed, it means that the vehicle's current actual suspension parameters are consistent with or have a small difference from the target suspension parameters. Therefore, no suspension parameter adjustment is required. In this case, the vehicle will remain at its current suspension parameters and the suspension adjustment function will be deactivated until it is determined that suspension parameter adjustment is necessary in a subsequent decision.

[0147] For example, if the vehicle's current suspension mode is Comfort mode, and during driving, the identified driving environment information is "good environment 2" and the identified road surface information is "ordinary urban road a", then the vehicle's current driving scenario is a2. Correspondingly, the actual suspension parameters of the suspension system are the suspension parameters corresponding to driving scenario a2. If the determined target suspension mode of the vehicle is still Comfort mode, and during driving, the identified driving environment information changes to "snowy environment 1" and the identified road surface information changes to "ordinary urban road a", then the vehicle's driving scenario becomes a1. The target suspension parameters are the suspension parameters corresponding to the target driving scenario a1. If the suspension parameters corresponding to driving scenario a2 are inconsistent with those corresponding to driving scenario a1, i.e., 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 need to be adjusted to the suspension parameters corresponding to driving scenario a1, to meet the needs of actual operating conditions.

[0148] In this embodiment, by comparing the vehicle's current actual suspension parameters with the target suspension parameters, it is determined whether the suspension system parameters need to be adjusted. If the suspension system parameters need to be adjusted, they are adjusted to the target suspension parameters. This clarifies the specific steps for adjusting the vehicle's suspension system based on the target suspension parameters. By comparing the vehicle's current actual suspension parameters with the target suspension parameters, and when the two are inconsistent or have a large gap, the relevant suspension system parameters are adjusted to the target suspension parameters. This can improve the vehicle's comfort and stability in different driving scenarios, thereby enhancing the driving experience.

[0149] In one embodiment, prior to step S30, i.e., before adjusting the vehicle's suspension system based on the target suspension parameters, the method further includes the following steps:

[0150] S40: Determine if the vehicle's suspension adjustment function is enabled and determine if there is a malfunction in the suspension system.

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

[0152] In other words, before adjusting the vehicle's suspension system based on the target suspension parameters, it is necessary to first determine whether the vehicle's suspension adjustment function is enabled and whether the suspension system is malfunctioning. If the vehicle's suspension adjustment function is not enabled or the suspension system is malfunctioning, it is prohibited to adjust the vehicle's suspension system based on the target suspension parameters to avoid ineffective adjustments.

[0153] S50: If it is determined that the suspension adjustment function is activated and the suspension system is not malfunctioning, then determine whether the vehicle meets the second preset condition.

[0154] If the suspension adjustment function is confirmed to be activated and the suspension system is not malfunctioning, then it is further determined whether the vehicle meets the second preset condition to avoid situations where the suspension system parameter adjustment fails or causes safety hazards.

[0155] The second preset condition is used to characterize the vehicle's state, allowing the suspension adjustment function to be performed. For example, the second preset condition includes the vehicle being in park (P gear), the vehicle's low-voltage battery level meeting the minimum battery requirement (i.e., greater than the preset battery level), and the vehicle not being in sleep mode.

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

[0157] After confirming that the suspension adjustment function is activated and that the suspension system is not malfunctioning, if the vehicle meets the second preset condition, indicating that the suspension adjustment function can be executed normally, the vehicle's suspension system can be adjusted based on the target suspension parameters. For example, after confirming that the suspension adjustment function is activated and that the suspension system is not malfunctioning, if the vehicle is parked, the vehicle's low-voltage battery meets the minimum battery requirement, and the vehicle is not in sleep mode, the vehicle's suspension system can be adjusted based on the target suspension parameters.

[0158] Once the suspension adjustment function is confirmed to be activated and the suspension system is not malfunctioning, if the vehicle does not meet the second preset condition, then adjusting the vehicle's suspension system based on the target suspension parameters is prohibited. For example, after confirming that the suspension adjustment function is activated and the suspension system is not malfunctioning, if the vehicle is not in a parked state, the vehicle's low-voltage battery does not meet the minimum battery requirement, or the vehicle has entered a dormant state, then adjusting the vehicle's suspension system based on the target suspension parameters is prohibited.

[0159] In this embodiment, after obtaining the target suspension parameters, it is necessary to determine whether the vehicle has activated the suspension adjustment function and whether the suspension system has malfunctioned. If it is determined that the suspension adjustment function is activated and the suspension system has not malfunctioned, it is then determined whether the vehicle meets the second preset condition. The second preset condition is used to characterize the vehicle's state allowing the suspension adjustment function to be performed. If the vehicle meets the second preset condition, the vehicle's suspension system will be adjusted based on the target suspension parameters to avoid suspension system parameter adjustment failures or safety hazards, and to reduce invalid operations.

[0160] In one embodiment, during vehicle operation, it is also necessary to perform fault detection on the vehicle's suspension system to promptly identify suspension system malfunctions and investigate potential suspension system failure risks. For example... Figure 3As shown, in step S10, that is, during the vehicle's movement, the method further includes the following steps:

[0161] S01: Real-time monitoring of the vehicle's acceleration change rate and determination of the acceleration change rate threshold corresponding to the vehicle's current suspension mode.

[0162] During vehicle operation, it is necessary to monitor the vehicle's acceleration rate of change in real time. This rate of change represents the fluctuation of the vehicle's acceleration per unit time. Under normal suspension conditions, the fluctuation of the vehicle's acceleration will not exceed a certain threshold, meaning the rate of change will not exceed a certain threshold. Therefore, the fluctuation or rate of change of vehicle acceleration reflects the response speed and stability of the vehicle's suspension system. The rate of change of acceleration can be used to determine whether a suspension system malfunction has occurred. However, since different suspension modes define different ranges of vehicle speed and acceleration variation, it is also necessary to determine the current suspension mode and its corresponding acceleration rate of change threshold. Based on the monitored rate of change of acceleration and the corresponding threshold for the current suspension mode, it is possible to determine whether a suspension system malfunction has occurred.

[0163] In this embodiment, different acceleration rate of change thresholds can be pre-set for different suspension modes and stored in the vehicle's storage unit. After determining the vehicle's current suspension mode, the acceleration rate of change threshold corresponding to the current suspension mode can be directly looked up, which is simple and intuitive. The acceleration rate of change thresholds for different suspension modes are calibrated based on actual vehicle data. To ensure the accuracy of the acceleration rate of change thresholds, failed vehicle components can also be used to calibrate the boundary values ​​of the acceleration rate of change, which are then used as the acceleration rate of change thresholds for that suspension mode.

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

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

[0166] After real-time monitoring of the vehicle's acceleration rate of change and determining the acceleration rate of change threshold corresponding to the vehicle's current suspension mode, it is determined whether the acceleration rate of change exceeds the threshold. If the acceleration rate of change exceeds the threshold, it indicates a suspension system malfunction, and a suspension system failure warning is issued. During vehicle operation, if the real-time acceleration rate of change is detected to be greater than the corresponding acceleration rate of change threshold, it may mean that there is a suspension system malfunction, requiring timely repair to prevent vehicle accidents. Therefore, suspension system failure warnings can be issued through in-vehicle displays, audible alarms, etc., so that users are promptly informed of the suspension system malfunction and are prompted to troubleshoot according to the vehicle's repair manual. Furthermore, if the acceleration rate of change exceeds the threshold, while issuing the suspension system failure warning, it is also necessary to disable suspension adjustment functions and prohibit any adjustment of suspension system parameters to ensure vehicle safety.

[0167] In this embodiment, during vehicle operation, the vehicle's acceleration rate of change needs to be monitored in real time. The threshold for the acceleration rate of change corresponding to the vehicle's current suspension mode is determined, and it is then determined whether the acceleration rate of change exceeds the threshold. If the acceleration rate of change exceeds the threshold, a suspension system failure warning is issued. By monitoring the vehicle's acceleration rate of change in real time and comparing it with the threshold, suspension system failures can be detected early, thereby preventing unnecessary accidents during vehicle operation. Simultaneously, this method enables suspension system adjustment and failure warnings, improving vehicle stability and driving safety, enhancing the driving experience, and improving maintenance efficiency. Furthermore, this method can adapt to different road conditions and driving needs, optimizing vehicle driving performance and handling, and improving the intelligence and operational reliability of the suspension system.

[0168] It should be understood that the sequence number of each step in the above embodiments does not imply 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 embodiments of the present invention.

[0169] In one embodiment, a vehicle suspension adjustment device is provided, which corresponds one-to-one with the vehicle suspension adjustment method described in the above embodiments. For example... Figure 6 As shown, the vehicle suspension adjustment device includes a first determining module 601, a second determining module 602, and an adjustment module 603. Detailed descriptions of each functional module are as follows:

[0170] The first determining module 601 uses driving data during vehicle operation to determine whether the suspension parameters of the vehicle need to be adjusted.

[0171] The second determining module 602 is used to determine the target suspension parameters from the preset suspension data based on the vehicle's driving data if it is determined that the vehicle's suspension parameters need to be adjusted; the preset suspension data are recommended suspension parameters that are determined in advance based on actual vehicle driving data and user driving behavior data and are applicable to different driving scenarios.

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

[0173] Optionally, the preset suspension data is obtained in the following way:

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

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

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

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

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

[0179] f. Based on different driving data, driving scenarios are classified into multiple driving scenarios. Based on user driving behavior data, target suspension system parameters are selected for each driving scenario from multiple sets of suspension system parameters as recommended suspension parameters for the driving scenario, thus obtaining recommended suspension parameters suitable for different driving scenarios.

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

[0181] Optionally, the adjustment module 603 is specifically used for:

[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, adjust the parameters of the suspension system to the target suspension parameters.

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

[0185] Determine the stiffness difference between the actual stiffness and the target stiffness, and determine the damping coefficient difference between the actual damping coefficient and the target damping coefficient.

[0186] 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;

[0187] 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, then it is determined that the parameters of the suspension system need to be adjusted.

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

[0189] Determine the target suspension mode of the vehicle and determine the preset suspension data corresponding to the target suspension mode;

[0190] Based on road surface information and driving environment information, determine the current driving scenario of the vehicle;

[0191] In the preset suspension data corresponding to the target suspension mode, find the suspension parameters that match the current driving scenario and record them as the target suspension parameters.

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

[0193] Determine the acceleration threshold corresponding to the vehicle's current suspension mode. The acceleration threshold includes the lateral acceleration threshold and the longitudinal acceleration threshold.

[0194] Determine whether the lateral acceleration is greater than the lateral acceleration threshold, and determine whether the longitudinal acceleration is greater than the longitudinal acceleration threshold;

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

[0196] Optionally, after determining whether the lateral acceleration is greater than a lateral acceleration threshold and whether the longitudinal acceleration is greater than a longitudinal acceleration threshold, the first determining module 601 is specifically used for:

[0197] If it is determined that the lateral acceleration is greater than the lateral acceleration threshold, or the longitudinal acceleration is determined to be greater than the longitudinal acceleration threshold, then the vehicle acceleration is determined to be out of range, and an acceleration out of range count is performed.

[0198] In the current ignition cycle of the vehicle, determine whether the number of acceleration out-of-range counts is less than a preset number, and determine whether the vehicle meets the first preset condition, which is used to characterize the small change in the vehicle's driving state.

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

[0200] Optionally, before adjusting the vehicle's suspension system based on the target suspension parameters, the second determining module 602 is further specifically used for:

[0201] Determine if the vehicle's suspension adjustment function is enabled, and determine if there is a malfunction in the suspension system;

[0202] If it is determined that the suspension adjustment function is enabled and the suspension system is not malfunctioning, then it is determined whether the vehicle meets the second preset condition. The second preset condition is used to characterize the vehicle's state and allow the suspension adjustment function to be performed.

[0203] If the vehicle meets the second preset condition, the vehicle's suspension system is adjusted based on the target suspension parameters.

[0204] Optionally, the vehicle suspension adjustment device also includes a prompting module 604, which, during vehicle operation, is specifically used for:

[0205] Real-time monitoring of the vehicle's rate of acceleration change, and determination of the rate of acceleration change threshold corresponding to the vehicle's current suspension mode;

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

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

[0208] Specific limitations regarding the vehicle suspension adjustment device can be found in the limitations of the vehicle suspension adjustment method described above, and will not be repeated here. Each module in the aforementioned vehicle suspension adjustment device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0209] In one embodiment, a vehicle suspension adjustment device is provided, which may be a vehicle controller or an on-board 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 provides computing and control capabilities. The memory of the vehicle suspension adjustment device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. When the computer program is executed by the processor, it implements a vehicle suspension adjustment method.

[0210] In one embodiment, such as 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, it implements the above-mentioned vehicle suspension adjustment steps.

[0211] In one embodiment, a readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the above-described vehicle suspension adjustment steps.

[0212] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Furthermore, any references to memory, storage, databases, 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 will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to 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 above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for adjusting vehicle suspension, characterized in that, include: During vehicle operation, determine whether the vehicle's suspension parameters 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 from the preset suspension data based on the vehicle's driving data; the preset suspension data are recommended suspension parameters that are determined in advance based on actual vehicle driving data and user driving behavior data and are applicable to different driving scenarios. The vehicle's suspension system is adjusted based on the target suspension parameters; The preset suspension data is obtained in the following way: a. Configure a set of suspension system parameters for the actual vehicle; b. Determine a set of driving data for the actual vehicle, the driving data including vehicle speed, road surface information and / or driving environment information; 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; d. Replace the set of driving data and repeat step c to obtain user driving behavior data of the actual vehicle under different driving data with the current suspension system parameters; e. Change a set of the 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; f. Based on different driving data, driving scenarios are classified to obtain multiple driving scenarios. Based on the user driving behavior data, target suspension system parameters are selected for each driving scenario from multiple sets of suspension system parameters as recommended suspension parameters for the driving scenario, thereby obtaining recommended suspension parameters suitable for different driving scenarios. g. Record the recommended suspension parameters applicable to different driving scenarios as the preset suspension data; The driving data also includes lateral acceleration and longitudinal acceleration; determining whether the vehicle's suspension parameters need adjustment includes: determining the acceleration threshold corresponding to the vehicle's current suspension mode, the acceleration threshold including 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 the lateral acceleration is greater than the lateral acceleration threshold, or the longitudinal acceleration is greater than the longitudinal acceleration threshold, then it is determined that the vehicle's suspension parameters need adjustment; if the lateral acceleration is greater than the lateral acceleration threshold, or the longitudinal acceleration is greater than the longitudinal acceleration threshold, then it is determined that the vehicle's acceleration is out of range, and an acceleration out-of-range count is performed; In the current ignition cycle of the vehicle, it is determined whether the number of acceleration out-of-range counts is less than a preset number, and whether the vehicle meets a first preset condition, which is used to characterize that the vehicle's driving state changes little; if the number of acceleration out-of-range counts 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.

2. The vehicle suspension adjustment method as described in claim 1, characterized in that, The adjustment of the vehicle's suspension system based on the target suspension parameters includes: Compare the vehicle's current actual suspension parameters with the target suspension parameters to determine whether adjustments to the suspension system parameters are needed. If it is necessary to adjust the parameters of the suspension system, then adjust the parameters of the suspension system to the target suspension parameters.

3. The vehicle suspension adjustment method as described in claim 2, characterized in that, The actual suspension parameters include the actual stiffness and actual damping coefficient of the suspension system, and the target suspension parameters include the target stiffness and target damping coefficient. The step of comparing the current actual suspension parameters of the suspension system with the target suspension parameters to determine whether parameter adjustments to the suspension system are needed includes: Determine the stiffness difference between the actual stiffness and the target stiffness, and determine the damping coefficient difference between the actual damping coefficient and the target damping coefficient; 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; 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, then it is determined that the parameters of the suspension system need to be adjusted.

4. The vehicle suspension adjustment method as described in claim 1, characterized in that, The driving data also includes road surface information and driving environment information. The step of determining the target suspension parameters from the preset suspension data based on the vehicle's driving data includes: Determine the target suspension mode of the vehicle, and determine the preset suspension data corresponding to the target suspension mode; Based on the road surface information and the driving environment information, the current driving scenario of the vehicle is determined; In the preset suspension data corresponding to the target suspension mode, find the suspension parameters that match the current driving scenario and record them as the target suspension parameters.

5. The vehicle suspension adjustment method according to any one of claims 1-4, characterized in that, Before adjusting the vehicle's suspension system based on the target suspension parameters, the method further includes: Determine whether the vehicle's suspension adjustment function is activated, and determine whether the suspension system has malfunctioned; If it is determined that the suspension adjustment function is enabled and the suspension system is not malfunctioning, then it is determined whether the vehicle meets the second preset condition, which is used to characterize the state of the vehicle that allows the suspension adjustment function to be performed. If the vehicle meets the second preset condition, the vehicle's suspension system is adjusted based on the target suspension parameters.

6. The vehicle suspension adjustment method according to any one of claims 1-4, characterized in that, During vehicle operation, the method further includes: The vehicle's acceleration change rate is monitored in real time, and the acceleration change rate threshold corresponding to the vehicle's current suspension mode is determined. Determine whether the rate of change of acceleration is greater than the rate of change of acceleration threshold; If the rate of change of acceleration is greater than the rate of change of acceleration threshold, a suspension system failure fault warning will be issued.

7. A vehicle suspension adjustment device for implementing the method as described in claim 1, characterized in that, include: The first determining module is used to determine whether the suspension parameters of the vehicle need to be adjusted based on the driving data during the vehicle's operation. The second determining module is used to determine the target suspension parameters from the preset suspension data based on the vehicle's driving data if it is determined that the suspension parameters of the vehicle need to be adjusted; the preset suspension data are recommended suspension parameters that are determined in advance based on actual vehicle driving data and user driving behavior data and are applicable to different driving scenarios. An adjustment module is used to adjust the suspension system of the vehicle based on the target suspension parameters.

8. 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, it implements the steps of the vehicle suspension adjustment method as described in any one of claims 1 to 6.

9. A vehicle, characterized in that, The vehicle includes a suspension system and a vehicle suspension adjustment device, the suspension system communicating with the vehicle suspension adjustment device via a bus, and the vehicle suspension adjustment device being used to perform the steps of the vehicle suspension adjustment method as described in any one of claims 1 to 6.

10. A readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the vehicle suspension adjustment method as described in any one of claims 1 to 6.

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