Electric control shock absorber control method and device based on fuzzy control and vehicle

Abstract

The invention provides an electric control shock absorber control method and device based on fuzzy control and a vehicle, and relates to the technical field of vehicle control. The method comprises the following steps: acquiring target motion data in a vehicle driving process, wherein the target motion data comprises at least one group of data of a vertical speed and a vertical acceleration, a pitching speed and a pitching acceleration, and a side rolling speed and a side rolling acceleration; determining a membership function and at least one fuzzy rule corresponding to each group of data in the target motion data in a fuzzy rule base based on a pre-configured corresponding relationship; based on the membership function corresponding to each group of data and at least one fuzzy rule, determining the control demand force of the electric control shock absorber on the vehicle; based on the control demand force, control electric parameters of the electric control shock absorber are determined; and controlling the electric control shock absorber based on the control electric parameters. Damping is carried out by controlling the electric control shock absorber, and the driving smoothness effect of the vehicle can be improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle control, and in particular relates to a fuzzy-control-based electronically controlled shock absorber control method, device and vehicle. Background Art

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

[0003] At present, the control of electronically controlled shock absorbers is mainly defined based on the vertical movement of the vehicle body and wheels, and the damping control of electronically controlled shock absorbers is achieved based on the ceiling algorithm.

[0004] However, the current control effect of electronically controlled shock absorbers is relatively poor, resulting in poor vehicle smoothness during driving. Summary of the invention

[0005] The embodiments of the present invention provide a method, a device and a vehicle for controlling an electronically controlled shock absorber based on fuzzy control, which can improve the control effect of the electronically controlled shock absorber and thus ensure the driving smoothness of the vehicle.

[0006] In a first aspect, an embodiment of the present invention provides a method for controlling an electronically controlled shock absorber based on fuzzy control, the method comprising:

[0007] Acquiring target motion data during vehicle driving, wherein the target motion data includes at least one set of data of vertical velocity and vertical acceleration, pitch velocity and pitch acceleration, and roll velocity and roll acceleration;

[0008] Based on the pre-configured corresponding relationship, determining the membership function and at least one fuzzy rule corresponding to each group of data in the target motion data in the fuzzy rule base;

[0009] Determining a control demand force of an electronically controlled shock absorber on the vehicle based on a membership function corresponding to each set of data and at least one fuzzy rule;

[0010] determining control electrical parameters of the electronically controlled shock absorber based on the control demand force;

[0011] Based on the control electric parameter, the electronically controlled shock absorber is controlled.

[0012] In a second aspect, an embodiment of the present invention provides an electronically controlled shock absorber control device based on fuzzy control, comprising:

[0013] A state acquisition module, used to acquire target motion data during vehicle driving, wherein the target motion data includes at least one set of data of vertical velocity and vertical acceleration, pitch velocity and pitch acceleration, and roll velocity and roll acceleration;

[0014] A rule determination module, used to determine, in a fuzzy rule base, a membership function and at least one fuzzy rule corresponding to each group of data in the target motion data based on a pre-configured corresponding relationship;

[0015] A force value determination module, used for determining a control demand force of the electronically controlled shock absorber on the vehicle based on a membership function corresponding to each set of data and at least one fuzzy rule;

[0016] an electrical parameter determination module, configured to determine control electrical parameters of the electronically controlled shock absorber based on the control demand force;

[0017] The working control module is used to control the electronically controlled shock absorber based on the control electric parameter.

[0018] In a third aspect, an embodiment of the present invention provides a vehicle, comprising: a processor, and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the method as described above.

[0019] The fuzzy-control-based electronic shock absorber control method, device and vehicle provided in the embodiments of the present invention can determine the control demand force required for each electronic shock absorber during the driving of the vehicle in real time according to the fuzzy rules of fuzzy control and in combination with the target motion data of the vehicle in different directions, and output control electrical parameters based on the control demand force to control each electronic shock absorber to perform shock absorption, thereby improving the driving smoothness of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the following is a brief introduction to the drawings required for use in the embodiment of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A flow chart of a control method for an electronically controlled shock absorber based on fuzzy control provided by an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of an input membership function provided in an embodiment of the present application;

[0023] Figure 3 A schematic diagram of an output membership function provided in an embodiment of the present application;

[0024] Figure 4A schematic diagram of vertical motion fuzzy control logic provided by an embodiment of the present application;

[0025] Figure 5 A schematic diagram of pitch motion blur control logic provided in an embodiment of the present application;

[0026] Figure 6 A schematic diagram of the roll motion fuzzy control logic provided by an embodiment of the present application;

[0027] Figure 7 A schematic diagram of control system signal processing provided in an embodiment of the present application;

[0028] Figure 8 A control flow diagram provided for an embodiment of the present application;

[0029] Fig. 9 A schematic diagram for determining the total control demand force provided in an embodiment of the present application;

[0030] Fig.10 A schematic diagram of the control effect provided by the embodiment of the present application;

[0031] Fig.11 is a structural diagram of an electronically controlled shock absorber control device provided in an embodiment of the present application;

[0032] Fig.12 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present invention, rather than to limit the present invention. For those skilled in the art, the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention.

[0034] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0035] Electronically controlled shock absorbers are generally installed in the automobile suspension system. They are specifically installed on the suspension components between the frame and the wheels. Whether it is a front-wheel drive or rear-wheel drive car, electronically controlled shock absorbers play an important role to ensure the stability and safety of the vehicle. Among them, the working principle of electronically controlled shock absorbers mainly includes four steps: sensor acquisition of signals, controller calculation, actuator control of shock absorbers, and realization of shock absorption effect. Through this series of steps, electronically controlled shock absorbers can deeply understand the driving conditions and status of the vehicle, and adjust and control the suspension system to optimize the stability and flatness of the vehicle body. The main function of electronically controlled shock absorbers is to absorb vibrations and shocks during vehicle driving, providing a smooth driving experience for drivers and passengers. It can effectively alleviate the discomfort caused by road bumps and improve driving comfort and safety. Compared with passive shock absorbers, electronically controlled shock absorbers have a wider damping control range, and can select different damping responses according to the control current to improve suspension characteristics and body control effects.

[0036] At present, the control of electronically controlled shock absorbers is mainly defined based on the vertical movement of the vehicle body and wheels. However, due to the diversity of inputs and the complexity of scenarios, the requirements for electronically controlled shock absorbers to achieve damping control are also very high. The current body control principle based on the ceiling algorithm is difficult to cover all vehicle vertical movement scenarios.

[0037] In response to the current problems, the present invention provides a control scheme for an electronically controlled shock absorber based on fuzzy control, which can make rapid damping control according to the vehicle motion signal in real time and dynamically, and realize motion control of the vehicle body smoothness by quickly identifying and suppressing the vehicle body motion.

[0038] The technical solution of the present application is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0039] Figure 1The flowchart of the fuzzy control-based electronically controlled shock absorber control method provided by the embodiment of the present invention is as follows. Figure 1 As shown, the method may include the following steps:

[0040] Step S110: Acquire target motion data during vehicle driving.

[0041] The target motion data includes at least one set of data of vertical velocity and vertical acceleration, pitch velocity and pitch acceleration, and roll velocity and roll acceleration.

[0042] In this embodiment, since the vehicle is a three-dimensional structure, when it moves in an actual scene, the positions of various parts are different, and their motion data may be different. Therefore, in order to facilitate the acquisition of accurate motion data, illustratively, the embodiment of the present invention uses the center of mass of the vehicle to represent the entire vehicle, and obtains the motion data of the center of mass of the vehicle as the target motion data during the vehicle's driving process.

[0043] Among them, the center of mass of the vehicle may refer to the center of gravity of the vehicle, which is usually located in the longitudinal symmetry plane of the car. Specifically, the position of the center of mass is determined by the lateral position, longitudinal position and height position. The lateral position is usually in the longitudinal symmetry plane of the car, but due to the asymmetric arrangement of the vehicle's fuel tank, battery, etc., the actual position may deviate slightly. The longitudinal position can be calculated by the load distribution of the wheels and the wheelbase track. The measurement of the height position is relatively complex and needs to be determined by methods such as the moment balance method, the swing method or the roll method.

[0044] In this embodiment, the target motion data can be collected by various sensors and measuring devices, and can be obtained by analysis and calculation in combination with physical principles and calculation methods.

[0045] The vertical velocity refers to the change in the speed of the vehicle in the vertical direction. It is mainly affected by the vertical acceleration of the vehicle. The vertical velocity can be obtained by integrating the vertical acceleration.

[0046] Pitch velocity refers to the speed at which the vehicle rotates around its horizontal axis (i.e., the axis from the front to the rear of the vehicle). Pitch velocity is closely related to the pitch angular acceleration of the vehicle. Pitch velocity can be obtained by an inertial measurement unit such as a gyroscope or accelerometer.

[0047] Roll velocity refers to the speed at which the vehicle rotates around its longitudinal axis (i.e., the left-right symmetry axis of the vehicle). Similar to pitch velocity, roll velocity is also obtained by measuring the vehicle's roll angular acceleration and integrating it.

[0048] Step S120: Based on the pre-configured corresponding relationship, determine the membership function and at least one fuzzy rule corresponding to each group of data in the target motion data in the fuzzy rule base.

[0049] In this embodiment, fuzzy rules are a method of identifying fuzzy logic. Exemplarily, fuzzy rules are used to describe "if A, then B", and such fuzzy rules of "if A, then B" are usually obtained based on the experience and knowledge of experts. For example, the fuzzy rules can be set as follows: (1) If a person's credit is good, then his financial risk is low; (2) If a person's credit is average, then his financial risk is medium; (3) If a person's credit is poor, then his financial risk is high.

[0050] For example, users can be scored to evaluate their credit. Figure 2 The input membership function diagram provided in the embodiment of the present application is as follows: Figure 2 As shown in the figure, it is divided into three curves. Curve 1 considers users with scores below 660 as users with poor credit, Curve 2 considers users with scores between 550 and 750 as users with average credit, and Curve 3 considers users with scores above 660 as users with good credit. In this way, they have overlapping space. Assuming that the input user score is 700 points, then the fuzzy number [0, 0.5, 0.5] is obtained through these three curves (i.e., input membership functions). Taking the clear score as input (i.e., 700 points), a fuzzy number [0, 0.5, 0.5] is obtained. This process is called fuzzification.

[0051] In this embodiment, each set of data has a corresponding membership function and fuzzy rule. For example, a corresponding relationship as shown in the following table can be established:

[0052] Vertical velocity and vertical acceleration Vertical Motion Blur Rules The first membership function Pitch velocity and pitch acceleration Pitch motion blur rules The second membership function Roll velocity and roll acceleration Rolling Motion Blur Rules The third membership function

[0053] Table 1

[0054] In this embodiment, the membership function is a mathematical tool used to characterize fuzzy sets. It describes the degree to which an element belongs to a fuzzy set, that is, the "true degree". The value range of the membership function is between 0 and 1. When the value of an element is closer to 1, it means that the element belongs to the fuzzy set to a higher degree; conversely, when the value is closer to 0, it means that the element belongs to the fuzzy set to a lower degree. For example, the above Figure 2 An input membership function is shown. Figure 2 After calculating the fuzzy number, it is necessary to use fuzzy rules to convert the fuzzy number into a fuzzy value, and then defuzzify it by outputting the membership function. The defuzzification will be introduced in detail in the subsequent steps.

[0055] Step S130: Determine the control demand force of the electronically controlled shock absorber on the vehicle based on the membership function corresponding to each group of data and at least one fuzzy rule.

[0056] In this embodiment, it is necessary to determine the fuzzy value through fuzzy rules, and then further defuzzify the output through the output membership function to obtain the control demand force of the electronically controlled shock absorber. Among them, the membership function is divided into an input membership function and an output membership function. The input membership function can refer to the above Figure 2 , the output membership function will be introduced later.

[0057] For example, taking vertical velocity and vertical acceleration as input signals, the input signal membership function (e.g., reference Figure 2 ) can be fuzzified to determine a fuzzy number corresponding to the vertical velocity and vertical acceleration, and then the fuzzy number is converted into a fuzzy value through the fuzzy rule, and then the fuzzy value is defuzzified through the output membership function to calculate the control demand force of the electronically controlled shock absorber in the vertical direction.

[0058] Continue with the above Figure 2 For example, assuming that the fuzzy number is [0, 0.5, 0.5], a fuzzy value can be determined based on the fuzzy rule. Specifically, assuming that the fuzzy rule is as mentioned above:

[0059] (1) If a person has good credit, then his financial risk is low; (2) If a person has average credit, then his financial risk is medium; (3) If a person has poor credit, then his financial risk is high.

[0060] Then based on the fuzzy rules, by calculating the fuzzy number [0, 0.5, 0.5], we can infer the corresponding fuzzy value [0, 0.5, 0.5]. The details are as follows:

[0061] The first value "0" in the fuzzy number means that the proportion of this user being evaluated as having poor credit is 0. Thus, based on the fuzzy rule (3), it can be determined that the proportion of this user's financial risk being high corresponds to the first value "0" in the fuzzy value.

[0062] The second value "0.5" in the fuzzy number means that the proportion of this user's credit being evaluated as average is 50%. Based on the fuzzy rule (2), it can be determined that the proportion of this user's financial risk being average is the second value "0.5" in the fuzzy value;

[0063] The third value "0.5" in the fuzzy number means that the proportion of this user's credit being rated as high is 50%. Based on the fuzzy rule (1), it can be determined that the proportion of this user's financial risk being low is the third value "0.5" in the fuzzy value.

[0064] It should be noted that, as an example, the fact that fuzzy numbers and fuzzy values ​​are the same is just a coincidence. In practical applications, fuzzy numbers and fuzzy values ​​are different. Fuzzy numbers are obtained by fuzzifying a clear input through the input membership function. For example, vertical velocity and vertical acceleration are used as inputs, and fuzzy numbers are obtained by fuzzifying the input membership function. Fuzzy values ​​are obtained by inferring fuzzy numbers through fuzzy rules.

[0065] Furthermore, after obtaining the fuzzy value, it is necessary to perform defuzzification, and at this time, the output membership function needs to be used. For example, Figure 3 A schematic diagram of the output membership function provided in the embodiment of the present application, such as Figure 3 As shown, curve a is considered a high-risk curve, curve b is a general risk curve, and curve c is a low-risk curve. As mentioned above, the fuzzy value is [0, 0.5, 0.5]. Through the fuzzy value [0, 0.5, 0.5], we can find Figure 3 The center of the shaded area is the final defuzzified value (i.e., the control demand force of the electronically controlled shock absorber on the vehicle).

[0066] Step S140: Determine control electrical parameters of the electronically controlled shock absorber based on the control demand force.

[0067] Step S150: Control the electronically controlled shock absorber based on the control electric parameter.

[0068] In this embodiment, the control electrical parameter may be current or voltage, wherein the control electrical parameter may be determined by searching for a pre-configured mapping relationship. For example, a corresponding relationship between the control demand force and the control electrical parameter may be set, and after the control demand force is determined, the corresponding control electrical parameter may be found.

[0069] In other embodiments, the speed of each electronically controlled shock absorber (specifically, the shock absorbing speed or the moving speed, etc.) may be further obtained, and then the control electrical parameters of the electronically controlled shock absorber are determined in a preset table according to the control required force and speed.

[0070] The embodiment of the present application is based on the fuzzy rules of fuzzy control and combines various groups of motion data in different motion directions of the vehicle to determine in real time the control demand force required for each electronically controlled shock absorber during the vehicle's driving process, and based on the control demand force, outputs control electrical parameters to control each electronically controlled shock absorber to perform shock absorption, thereby improving the vehicle's driving smoothness.

[0071] How to determine the control demand force based on the target motion data is described in detail below through some embodiments.

[0072] In this embodiment, since the electronically controlled shock absorber is generally arranged in the suspension system of the automobile, specifically installed on the suspension member between the frame and the wheel, at least one electronically controlled shock absorber can be arranged at the left front, left rear, right front and right rear of the vehicle. The electronically controlled shock absorbers on the four wheels can call appropriate control damping in real time according to the dynamic rules of fuzzy control to improve the vehicle body control effect.

[0073] Furthermore, in some implementations, taking the target motion data as vertical velocity and vertical acceleration as an example, that is, if the vehicle generates vertical velocity and vertical acceleration in the vertical direction, then it is necessary to control the electronically controlled shock absorber to perform shock absorption in the vertical direction, that is, it is necessary to calculate the control demand force of the electronically controlled shock absorber in the vertical direction. Specifically, this can be achieved through the following steps:

[0074] Step (1): Obtain the first fuzzy rule and the first membership function corresponding to the vertical velocity and the vertical acceleration.

[0075] Step (2): determining a first fuzzy value corresponding to the vertical velocity and the vertical acceleration based on the vertical velocity, the vertical acceleration and the first fuzzy rule;

[0076] Step (3): Based on the first membership function, a defuzzification operation is performed on the first fuzzy value to obtain a force value as the control demand force of each electronically controlled shock absorber.

[0077] In this embodiment, the first membership function may refer to an output membership function.

[0078] Figure 4 A schematic diagram of the vertical motion fuzzy control logic provided by the embodiment of the present application, such as Figure 4 As shown, there are vertical velocity and vertical acceleration. After fuzzification through the input membership function, there are two corresponding inputs (i.e., fuzzy numbers), which are then converted into the first fuzzy value through the vertical motion fuzzy rule (i.e., the first fuzzy rule). The first fuzzy value and the output membership function are used for defuzzification, and four required forces (including the left front target force, the right front target force, the left rear target force, and the right rear target force) are obtained.

[0079] In this embodiment, the fuzzy number is obtained by fuzzifying a clear input through an input membership function, for example, a fuzzy number is obtained by fuzzifying a vertical velocity and a vertical acceleration as inputs through an input membership function. The first fuzzy value is obtained by inferring the fuzzy number through a fuzzy rule.

[0080] In this embodiment, the left front target force is used to represent the control requirement force of the electronically controlled shock absorber at the left front of the vehicle, the right front target force is used to represent the control requirement force of the electronically controlled shock absorber at the right front of the vehicle, the left rear target force represents the control requirement force of the electronically controlled shock absorber at the left rear of the vehicle, and the right rear target force represents the control requirement force of the electronically controlled shock absorber at the right rear of the vehicle.

[0081] Among them, VN represents a large negative value, LN represents a small negative value, Z represents 0, LP represents a small positive value, and VP represents a large positive value.

[0082] Furthermore, in other embodiments, taking the target motion data as pitch velocity and pitch acceleration as an example, that is, if the vehicle generates pitch velocity and pitch acceleration in the vertical direction, then it is necessary to control the electronically controlled shock absorber to perform shock absorption in the pitch direction, that is, it is necessary to calculate the control requirement force for controlling the electronically controlled shock absorber in the pitch direction.

[0083] Specifically, it can be achieved through the following steps:

[0084] ① Obtain the second fuzzy rule, the third fuzzy rule and the second membership function corresponding to the pitch velocity and the pitch acceleration;

[0085] ② Based on the pitch velocity, the pitch acceleration and the second fuzzy rule, determine the second fuzzy value;

[0086] ③ Based on the pitch velocity, the pitch acceleration and the third fuzzy rule, determine the third fuzzy value;

[0087] ④ Based on the second membership function, defuzzify the second fuzzy value and the third fuzzy value to obtain the first force value and the second force value;

[0088] ⑤ Using the first force value as the control demand force of the electronically controlled shock absorbers at the left front and right front of the vehicle;

[0089] ⑥ The second force value is used as the control demand force of the electronically controlled shock absorbers at the rear left and rear right of the vehicle.

[0090] In this embodiment, the second membership function may refer to an output membership function.

[0091] In this embodiment, since the pitch speed refers to the speed at which the vehicle rotates around its horizontal axis (i.e., the axis from the front to the rear of the vehicle), during the actual driving of the vehicle, in order to ensure the stability of the vehicle's driving, it is necessary to control the front of the vehicle (including the left front and right front) and the rear of the vehicle (including the left rear and right rear) separately, that is, the control requirements of the electronically controlled shock absorbers at the front and rear of the vehicle are different.

[0092] For example, Figure 5 A schematic diagram of pitch motion fuzzy control logic provided in an embodiment of the present application, such as Figure 5 As shown, after the pitch motion velocity and the pitch motion acceleration are fuzzified through the input membership function, there are two corresponding inputs (i.e., two fuzzy numbers), and then the two fuzzy numbers are converted into corresponding fuzzy values ​​(i.e., the second fuzzy value and the third fuzzy value) through the pitch motion fuzzy rule base (including the second fuzzy rule and the third fuzzy rule), and the fuzzification is performed through the second fuzzy value, the third fuzzy value and the second membership function, that is, four required forces (including the left front target force, the right front target force, the left rear target force and the right rear target force) are obtained.

[0093] Among them, the left front target force is used to represent the control requirement force of the electronically controlled shock absorber at the left front of the vehicle, the right front target force is used to represent the control requirement force of the electronically controlled shock absorber at the right front of the vehicle, the left rear target force represents the control requirement force of the electronically controlled shock absorber at the left rear of the vehicle, and the right rear target force represents the control requirement force of the electronically controlled shock absorber at the right rear of the vehicle.

[0094] Among them, VN represents a large negative value, LN represents a small negative value, Z represents 0, LP represents a small positive value, and VP represents a large positive value.

[0095] It should be noted that, unlike the vertical motion fuzzy rule base mentioned in the above embodiment, this embodiment is divided into two fuzzy rules, wherein the second fuzzy rule is used to calculate the control demand force of the electronically controlled shock absorber at the left front and right front of the vehicle (i.e. corresponding to the first force value), and the third fuzzy rule is used to calculate the control demand force of the electronically controlled shock absorber at the left rear and right rear of the vehicle (i.e. corresponding to the third force value). Both can share an output domain (i.e. the second membership function, wherein the second membership function is used as the output membership function).

[0096] Furthermore, in other embodiments, taking the target motion data as rolling velocity and rolling acceleration as an example, that is, if the vehicle generates rolling velocity and rolling acceleration in the lateral direction, then it is necessary to control the electronically controlled shock absorber to perform shock absorption in the lateral direction, that is, it is necessary to calculate the control requirement force for controlling the electronically controlled shock absorber in the lateral direction.

[0097] Specifically, it can be achieved through the following steps:

[0098] 1. Obtaining the fourth fuzzy rule, the fifth fuzzy rule and the third membership function corresponding to the rolling velocity and the rolling acceleration;

[0099] 2. determining a fourth fuzzy value based on the rolling velocity, the rolling acceleration and the fourth fuzzy rule;

[0100] 3. determining a fifth fuzzy value based on the rolling velocity, the rolling acceleration and the fifth fuzzy rule;

[0101] 4. Based on the third membership function, perform a defuzzification operation on the fourth fuzzy value and the fifth fuzzy value to obtain a third force value and a fourth force value;

[0102] 5. Using the third force value as the control demand force of the electronically controlled shock absorbers at the right front and right rear of the vehicle;

[0103] 6. The fourth force value is used as the control demand force of the electronically controlled shock absorbers at the left front and left rear of the vehicle.

[0104] In this embodiment, since the rolling speed refers to the speed at which the vehicle rotates around its longitudinal axis (i.e., the left-right symmetry axis of the vehicle), when the vehicle has a rolling speed, the control demand forces of the electronically controlled shock absorbers on both sides of the vehicle are obviously different, and different fuzzy rules (i.e., the fourth fuzzy rule and the fifth fuzzy rule) are configured for this purpose. Among them, the fourth fuzzy rule is used to calculate the control demand forces of the electronically controlled shock absorbers on the right front and right rear of the vehicle (i.e., corresponding to the third force value), and the fifth fuzzy rule is used to calculate the control demand forces of the electronically controlled shock absorbers on the left front and left rear of the vehicle (i.e., corresponding to the fourth force value).

[0105] For example, Figure 6 A schematic diagram of the roll motion fuzzy control logic provided by the embodiment of the present application, such as Figure 6 As shown, the pitch motion velocity and the pitch motion acceleration are used as input signals. After being fuzzified by the input membership function, there are two corresponding fuzzy numbers. Then, the two fuzzy numbers are respectively converted by the fourth fuzzy rule and the fifth fuzzy rule to obtain two fuzzy values ​​(i.e., the fourth fuzzy value and the fifth fuzzy value). The fourth fuzzy value is calculated by the third membership function (the third membership function is the output membership function) to obtain the third force value, which is used as the control demand force of the electronically controlled shock absorbers at the right front and right rear of the vehicle, and the fifth fuzzy value is calculated by the third membership function to obtain the fourth force value, which is used as the control demand force of the electronically controlled shock absorbers at the left front and left rear of the vehicle.

[0106] In the above embodiment, the fuzzy rule determines the control effect of the electronically controlled shock absorber. Specifically:

[0107] (1) According to the fuzzy rules of vertical motion control, the following control effect can be obtained: the smaller the vertical velocity and vertical acceleration, the smaller the control damping; the larger the vertical velocity and vertical acceleration, the larger the control damping. Among them, the control damping of the electronically controlled shock absorber in the four directions is the same, that is, the corresponding control demand force is the same.

[0108] (2) According to the fuzzy rules of pitch motion control, the following effect can be obtained: for the electronically controlled shock absorber in front of the vehicle (i.e., the electronically controlled shock absorber on the left front and right front): the smaller the pitch velocity and pitch acceleration, the greater the control damping; the greater the pitch velocity and pitch acceleration, the smaller the control damping. For the two electronically controlled shock absorbers at the rear of the vehicle (i.e., the electronically controlled shock absorber on the right rear and right front of the vehicle): the smaller the pitch velocity and pitch acceleration, the smaller the control damping; the greater the pitch velocity and pitch acceleration, the greater the control damping.

[0109] (3) According to the fuzzy rules of roll motion control, the following effect can be obtained: for the two right electronically controlled shock absorbers (including the right front and right rear electronically controlled shock absorbers): the smaller the roll velocity and roll acceleration, the greater the control damping; the greater the roll velocity and roll acceleration, the smaller the control damping. For the two left electronically controlled shock absorbers (including the left front and right front electronically controlled shock absorbers): the smaller the roll velocity and roll acceleration, the smaller the control damping; the greater the roll velocity and roll acceleration, the greater the control damping.

[0110] The embodiment of the present application calls appropriate control damping in real time to control the electronically controlled shock absorbers in four directions of the vehicle according to the dynamic rules of fuzzy control, which can further improve the effect of body control and eliminate the negative impact of excessive control to the greatest extent, thereby improving the vehicle's driving smoothness.

[0111] In other embodiments, Figure 7 The signal processing diagram of the control system provided in the embodiment of the present application describes the motion state of the entire vehicle by the motion of the vehicle's center of mass. It is assumed that the target motion data also includes three sets of data: vertical velocity and vertical acceleration, pitch velocity and pitch acceleration, and roll velocity and roll acceleration. Figure 7 As shown, the vertical velocity and vertical acceleration are represented by the vertical motion signal of the vehicle's center of mass. The pitch velocity and pitch acceleration are represented by the pitch motion signal of the vehicle's center of mass. The roll velocity and roll acceleration are represented by the roll motion signal of the vehicle's center of mass. These three motion signals can be simultaneously input into the fuzzy control strategy of vehicle body smoothness (including the first to fifth fuzzy rules, the first to third membership functions, etc. mentioned above) to realize the calculation of the control demand force of the electronically controlled shock absorber in each direction of the vehicle body, and then based on the control demand force of the electronically controlled shock absorber in each direction, the matching left front shock absorber current (for controlling the electronically controlled shock absorber in the left front), right front shock absorber current (for controlling the electronically controlled shock absorber in the right front), left rear shock absorber current (for controlling the electronically controlled shock absorber in the left front), and right rear shock absorber current (for controlling the electronically controlled shock absorber in the right rear) are obtained.

[0112] Furthermore, in some other embodiments, the vehicle motion control weight coefficient can also be input to weight the vehicle motion data. Specifically, assuming that various sensors and measuring devices of the vehicle collect data, and combining physical principles and calculation methods, the initial motion state data is analyzed and calculated to be called the initial motion state. It includes at least one set of data in vertical velocity and vertical acceleration, pitch velocity and pitch acceleration, roll velocity and roll acceleration; then on this basis, based on the motion control weight coefficient, each set of data in the initial motion state can be weighted to obtain the target motion data.

[0113] Furthermore, the vehicle motion control weight coefficient can be configured according to actual needs. For example, the vehicle motion control weight coefficient can be configured according to vehicle speed, load, driving mode, etc. This is more flexible and allows the vehicle to obtain a better shock absorption effect in different driving scenarios, thereby improving the smoothness of vehicle driving.

[0114] Figure 8 The control flow diagram provided in the embodiment of the present application is as follows: Figure 8 As shown, assuming that the target motion data also includes three sets of data: vertical velocity and vertical acceleration, pitch velocity and pitch acceleration, and roll velocity and roll acceleration, then after gain (for example, the motion control weight coefficient mentioned above is used for gain), fuzzy logic control can be performed through input membership function, output membership function and corresponding damping fuzzy control rules, and finally the control demand force of each electronically controlled shock absorber in three directions (i.e., vertical control demand force, pitch control demand force and roll control demand force) is output. After the control demand forces in these three directions are summed to obtain the total control demand force, the corresponding control current is obtained by looking up the table based on the damping characteristics to control the operation of the electronically controlled shock absorber in each direction respectively.

[0115] For example, Fig. 9 A schematic diagram for determining the total control demand force provided in the embodiment of the present application is shown in FIG. Fig. 9 As shown, after calculating the control demand force in each movement direction (the movement direction here refers to the vertical direction, pitch direction and roll direction) through the above-mentioned fuzzy control strategy, the control demand force in each movement direction can be summed up to finally obtain the total control demand force of each electronically controlled shock absorber, and then the control current of each electronically controlled shock absorber can be obtained by looking up the table according to the speed of the shock absorber and the measured damping characteristics.

[0116] Fig.10 A schematic diagram of the control effect provided in the embodiment of the present application, such as Fig.10As shown in the figure, when the vehicle moves, fuzzy control can be used to refine the control current of the front and rear axles to eliminate the discomfort caused by excessive control. When the vehicle pitches and jumps at the same time, the summation logic can be used to strengthen the control current, quickly absorb the energy of the vehicle movement, and restore the vehicle to smooth driving.

[0117] The process of converting the damping force into electric current is realized according to the shock absorber speed, and the time difference of the shock absorber movement is better reflected.

[0118] Fig.11 : is a structural diagram of the electronically controlled shock absorber control device provided in the embodiment of the present application. Fig.11 As shown, the electronically controlled shock absorber control device 1100 based on fuzzy control may include a state acquisition module 1110 , a rule determination module 1120 , a force value determination module 1130 , an electrical parameter determination module 1140 and a work control module 1150 .

[0119] Among them, the state acquisition module 1110 is used to obtain the target motion data during the vehicle's driving process, and the target motion data includes at least one set of data in the vertical speed and vertical acceleration, pitch speed and pitch acceleration, roll speed and roll acceleration. The rule determination module 1120 is used to determine the membership function and at least one fuzzy rule corresponding to each set of data in the target motion data in the fuzzy rule base based on the pre-configured correspondence relationship. The force value determination module 1130 is used to determine the control demand force of the electronically controlled shock absorber on the vehicle based on the membership function and at least one fuzzy rule corresponding to each set of data. The electrical parameter determination module 1140 is used to determine the control electrical parameters of the electronically controlled shock absorber based on the control demand force. The working control module 1150 is used to control the electronically controlled shock absorber based on the control electrical parameters.

[0120] In one example, at least one electronically controlled shock absorber is disposed at the left front, left rear, right front, and right rear of the vehicle.

[0121] In one example, when the target motion data includes vertical velocity and vertical acceleration, the force value determination module can be specifically used to: obtain a first fuzzy rule and a first membership function corresponding to the vertical velocity and the vertical acceleration; determine a first fuzzy value corresponding to the vertical velocity and the vertical acceleration based on the vertical velocity, the vertical acceleration and the first fuzzy rule; and perform a defuzzification operation on the first fuzzy value based on the first membership function to obtain a force value as the control requirement force of each electronically controlled shock absorber.

[0122] In one example, when the target motion data includes pitch velocity and pitch acceleration, the force value determination module can be specifically used to: obtain a second fuzzy rule, a third fuzzy rule and a second membership function corresponding to the pitch velocity and the pitch acceleration; determine a second fuzzy value based on the pitch velocity, the pitch acceleration and the second fuzzy rule; determine a third fuzzy value based on the pitch velocity, the pitch acceleration and the third fuzzy rule; perform a defuzzification operation on the second fuzzy value and the third fuzzy value based on the second membership function to obtain a first force value and a second force value; use the first force value as the control requirement force of the electronically controlled shock absorbers at the left front and right front of the vehicle; use the second force value as the control requirement force of the electronically controlled shock absorbers at the left rear and right rear of the vehicle.

[0123] In one example, when the target motion data includes rolling velocity and rolling acceleration, the force value determination module can be specifically used to: obtain the fourth fuzzy rule, the fifth fuzzy rule and the third membership function corresponding to the rolling velocity and the rolling acceleration; determine the fourth fuzzy value based on the rolling velocity, the rolling acceleration and the fourth fuzzy rule; determine the fifth fuzzy value based on the rolling velocity, the rolling acceleration and the fifth fuzzy rule; perform defuzzification operations on the fourth fuzzy value and the fifth fuzzy value based on the third membership function to obtain the third force value and the fourth force value; use the third force value as the control requirement force of the electronically controlled shock absorbers at the right front and right rear of the vehicle; use the fourth force value as the control requirement force of the electronically controlled shock absorbers at the left front and left rear of the vehicle.

[0124] In one example, when the target motion data includes more than two groups of data, the force value determination module can be specifically used to: determine the control demand component force of each electronically controlled shock absorber under each group of data based on the membership function corresponding to each group of data and at least one fuzzy rule; and sum the control demand component forces of the electronically controlled shock absorber under each group of data as the control demand force of the electronically controlled shock absorber.

[0125] In one example, the state acquisition module can be specifically used to: obtain the vehicle's motion control weight coefficient based on at least one of the vehicle's speed, load, and driving mode; obtain the vehicle's initial motion state during driving, the initial motion state including at least one set of data including vertical velocity and vertical acceleration, pitch velocity and pitch acceleration, and roll velocity and roll acceleration; and weight each set of data in the initial motion state based on the motion control weight coefficient to obtain target motion data.

[0126] In one example, the electrical parameter determination module may be specifically used to: obtain the speed of each electronically controlled shock absorber; and determine the control electrical parameters of the electronically controlled shock absorber in a preset table according to the control required force and speed.

[0127] Fig.12 Schematic diagram of the hardware structure of the electronic device provided by the embodiment of the present invention. Fig.12As shown, the electronic device 1200 may include a processor 1201 and a memory 1202 storing computer program instructions.

[0128] Specifically, the processor 1201 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present invention.

[0129] The memory 1202 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 1202 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In one example, the memory 1202 may include a removable or non-removable (or fixed) medium, or the memory 1202 is a non-volatile solid-state memory. The memory 1202 may be inside or outside the integrated gateway disaster recovery device.

[0130] In one example, the memory 1202 may be a read-only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0131] The memory 1202 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage media device, an optical storage media device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0132] The processor 1201 implements the method in the above embodiment by reading and executing the computer program instructions stored in the memory 1202 .

[0133] In one example, the electronic device 1200 may further include a communication interface 1203 and a bus 1204. Fig.12As shown, the processor 1201, the memory 1202, and the communication interface 1203 are connected through a bus 1204 and communicate with each other. The communication interface 1203 is mainly used to implement the communication between the modules, devices, units and / or equipment in the embodiment of the present invention. The bus 1204 includes hardware, software or both, and couples the components of the online data traffic billing device to each other. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a Memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable busses or a combination of two or more of these. Where appropriate, the bus 304 may include one or more buses. Although embodiments of the present invention describe and illustrate specific buses, the present invention contemplates any suitable bus or interconnect.

[0134] In addition, in combination with the method in the above embodiment, the embodiment of the present invention can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the methods in the above embodiment is implemented.

[0135] An embodiment of the present application also provides a computer program product, including a computer program, which implements any one of the methods in the above embodiments when the computer program is processed and executed.

[0136] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0137] The functional blocks shown in the structural block diagram described above can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), appropriate firmware, plug-in, function card, etc. When implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or communication link by a data signal carried in a carrier. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, read-only memory (Read-Only Memory, ROM), flash memory, erasable read-only memory (Erasable ReadOnly Memory, EROM), floppy disks, compact disc read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical discs, hard disks, optical fiber media, radio frequency (Radio Frequency, RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0138] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0139] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0140] The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.

Claims

1. A control method for an electronically controlled shock absorber based on fuzzy control, characterized in that: include: Acquiring target motion data during vehicle driving, wherein the target motion data includes at least one set of data of vertical velocity and vertical acceleration, pitch velocity and pitch acceleration, and roll velocity and roll acceleration; Based on the pre-configured corresponding relationship, determining the membership function and at least one fuzzy rule corresponding to each group of data in the target motion data in the fuzzy rule base; Determining a control demand force of an electronically controlled shock absorber on the vehicle based on a membership function corresponding to each set of data and at least one fuzzy rule; determining control electrical parameters of the electronically controlled shock absorber based on the control demand force; Based on the control electric parameter, the electronically controlled shock absorber is controlled.

2. The method according to claim 1, characterized in that: At least one electronically controlled shock absorber is disposed at the left front, left rear, right front and right rear of the vehicle.

3. The method according to claim 2, characterized in that When the target motion data includes a vertical velocity and a vertical acceleration, determining the control demand force of the electronically controlled shock absorber on the vehicle based on a membership function corresponding to each set of data and at least one fuzzy rule includes: Acquire a first fuzzy rule and a first membership function corresponding to the vertical velocity and the vertical acceleration; Based on the vertical velocity, the vertical acceleration and the first fuzzy rule, determining a first fuzzy value commonly corresponding to the vertical velocity and the vertical acceleration; Based on the first membership function, a defuzzification operation is performed on the first fuzzy value to obtain a force value as the control demand force of each electronically controlled shock absorber.

4. The method according to claim 2, characterized in that: When the target motion data includes pitch velocity and pitch acceleration, determining the control demand force of the electronically controlled shock absorber on the vehicle based on the membership function corresponding to each set of data and at least one fuzzy rule includes: Acquire a second fuzzy rule, a third fuzzy rule and a second membership function corresponding to the pitch velocity and the pitch acceleration; determining a second fuzzy value based on the pitch velocity, the pitch acceleration and the second fuzzy rule; Determining a third fuzzy value based on the pitch velocity, the pitch acceleration and a third fuzzy rule; Based on the second membership function, performing a defuzzification operation on the second fuzzy value and the third fuzzy value to obtain a first force value and a second force value; Using the first force value as the control demand force of the electronically controlled shock absorbers at the left front and right front of the vehicle; The second force value is used as the control requirement force of the electronically controlled shock absorbers at the rear left and rear right of the vehicle.

5. The method according to claim 2, characterized in that: When the target motion data includes a rolling velocity and a rolling acceleration, determining the control demand force of the electronically controlled shock absorber on the vehicle based on a membership function corresponding to each set of data and at least one fuzzy rule includes: Acquire a fourth fuzzy rule, a fifth fuzzy rule and a third membership function corresponding to the rolling velocity and the rolling acceleration; determining a fourth fuzzy value based on the rolling velocity, the rolling acceleration and a fourth fuzzy rule; determining a fifth fuzzy value based on the rolling velocity, the rolling acceleration and a fifth fuzzy rule; Based on the third membership function, performing a defuzzification operation on the fourth fuzzy value and the fifth fuzzy value to obtain a third force value and a fourth force value; Using the third force value as the control demand force of the electronically controlled shock absorbers at the right front and right rear of the vehicle; The fourth force value is used as the control requirement force of the electronically controlled shock absorbers at the left front and left rear of the vehicle.

6. The method according to any one of claims 1 to 5, characterized in that When the target motion data includes more than two groups of data, determining the control demand force of the electronically controlled shock absorber on the vehicle based on the membership function corresponding to each group of data and at least one fuzzy rule includes: Determine the control demand component of each electronically controlled shock absorber under each set of data based on the membership function corresponding to each set of data and at least one fuzzy rule; The control demand force of the electronically controlled shock absorber under each set of data is summed up to serve as the control demand force of the electronically controlled shock absorber.

7. The method according to any one of claims 1 to 5, characterized in that The step of obtaining target motion data during vehicle driving includes: Based on at least one of the vehicle speed, load, and driving mode, obtaining a motion control weight coefficient of the vehicle; Acquiring an initial motion state of the vehicle during driving, wherein the initial motion state includes at least one set of data of vertical velocity and vertical acceleration, pitch velocity and pitch acceleration, and roll velocity and roll acceleration; Based on the motion control weight coefficient, each set of data in the initial motion state is weighted to obtain the target motion data.

8. The method according to any one of claims 1 to 5, characterized in that The step of determining the control electrical parameters of each electronically controlled shock absorber based on the control demand force comprises: Get the speed of each electronically controlled shock absorber; According to the control demand force and speed, control electrical parameters of the electronically controlled shock absorber are determined in a preset table.

9. An electronically controlled shock absorber control device based on fuzzy control, characterized in that: include: A state acquisition module, used to acquire target motion data during vehicle driving, wherein the target motion data includes at least one set of data of vertical velocity and vertical acceleration, pitch velocity and pitch acceleration, and roll velocity and roll acceleration; A rule determination module, used to determine, in a fuzzy rule base, a membership function and at least one fuzzy rule corresponding to each group of data in the target motion data based on a pre-configured corresponding relationship; A force value determination module, used for determining a control demand force of the electronically controlled shock absorber on the vehicle based on a membership function corresponding to each set of data and at least one fuzzy rule; an electrical parameter determination module, configured to determine control electrical parameters of the electronically controlled shock absorber based on the control demand force; The working control module is used to control the electronically controlled shock absorber based on the control electric parameter.

10. A vehicle, characterized in that: The vehicle comprises: a processor and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the method according to any one of claims 1-8.

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