Ceiling control method, device, equipment, medium, product and vehicle

Abstract

The invention discloses a ceiling control method, device and equipment, a medium, a product and a vehicle, and relates to the technical field of vehicles. The ceiling control method comprises the following steps: acquiring motion state information of a vehicle and unsprung motion speeds of a plurality of wheels; determining a first damping force corresponding to the fluctuating velocity, a second damping force corresponding to the first pitch angle velocity and a third damping force corresponding to the first roll angle velocity; according to the damping force distribution gain, the first damping force, the second damping force and the third damping force, fourth damping force corresponding to each shock absorber in the multiple shock absorbers is determined; according to the unsprung movement speeds of the multiple wheels and the fourth damping force corresponding to each shock absorber, first electrical parameters corresponding to the multiple shock absorbers are determined; and according to the first electrical parameters corresponding to the multiple shock absorbers, damping force generated by the multiple shock absorbers is controlled, and ceiling control is carried out. According to the scheme disclosed by the invention, the safety and riding comfort of the vehicle can be improved.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a ceiling control method, device, equipment, medium, product and vehicle. Background Art

[0002] Suspension is a general term for all force-transmitting connection devices between the car body and wheels. Its function is to transmit the force and torque acting between the wheels and the car body, and to buffer the impact force transmitted to the car body by uneven roads, and reduce the vibration caused thereby, so as to ensure that the car can run smoothly. Suspension usually includes elastic elements (such as springs) and shock absorbers, which can quickly attenuate the vibration of the car, improve the driving smoothness of the car, and enhance the adhesion between the wheels and the ground.

[0003] Suspension control usually includes skylight control, ground clearance control, vehicle height control, vehicle pitch control and wheel hop suppression control.

[0004] In the related art, when performing skyhook control, the damping force calculated based on the overall movement of the vehicle body is not reasonably distributed to each shock absorber, which affects the driving safety and riding comfort of the vehicle. Summary of the invention

[0005] The embodiments of the present application provide a ceiling control method, device, equipment, medium, product and vehicle, which can solve the problems of poor driving safety and riding comfort of the vehicle.

[0006] In a first aspect, an embodiment of the present application provides a skyhook control method for a suspension system, wherein the suspension system includes a plurality of shock absorbers corresponding to a plurality of wheels, and the skyhook control method for the suspension system includes:

[0007] Acquire the motion state information of the vehicle and the unsprung motion speeds of the plurality of wheels, wherein the motion state information includes: a heave speed, a first pitch angular velocity, and a first roll angular velocity;

[0008] Determining a first damping force corresponding to the heave velocity, a second damping force corresponding to the first pitch angular velocity, and a third damping force corresponding to the first roll angular velocity;

[0009] Determining a fourth damping force corresponding to each of the plurality of shock absorbers according to the damping force distribution gain, the first damping force, the second damping force, and the third damping force;

[0010] Determining first electrical parameters corresponding to the plurality of shock absorbers respectively according to the unsprung movement speeds of the plurality of wheels and the fourth damping force corresponding to each shock absorber respectively;

[0011] According to the first electrical parameters respectively corresponding to the plurality of shock absorbers, the damping forces generated by the plurality of shock absorbers are controlled to perform skyhook control.

[0012] In a second aspect, an embodiment of the present application provides a skyhook control device of a suspension system, wherein the suspension system includes a plurality of shock absorbers corresponding to a plurality of wheels, and the skyhook control device of the suspension system includes:

[0013] An acquisition module, used to acquire the motion state information of the vehicle and the unsprung motion speeds of the multiple wheels, wherein the motion state information includes: a heave speed, a first pitch angular speed, and a first roll angular speed;

[0014] A first determination module, used to determine a first damping force corresponding to the heave velocity, a second damping force corresponding to the first pitch angular velocity, and a third damping force corresponding to the first roll angular velocity;

[0015] a second determination module, configured to determine a fourth damping force corresponding to each of the plurality of shock absorbers according to the damping force distribution gain, the first damping force, the second damping force, and the third damping force;

[0016] A third determination module, configured to determine first electrical parameters respectively corresponding to the plurality of shock absorbers according to the unsprung movement speeds of the plurality of wheels and the fourth damping force respectively corresponding to each shock absorber;

[0017] The control module is used to control the damping force generated by the plurality of shock absorbers according to the first electrical parameters respectively corresponding to the plurality of shock absorbers, so as to perform skyhook control.

[0018] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the steps of the ceiling control method of the suspension system provided in the embodiment of the present application are implemented.

[0019] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the steps of the ceiling control method of the suspension system provided in the embodiment of the present application are implemented.

[0020] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes computer program instructions, and when the computer program instructions are executed by a processor, the steps of the ceiling control method of the suspension system provided in the embodiment of the present application are implemented.

[0021] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising at least one of the following items:

[0022] A ceiling control device for a suspension system provided in an embodiment of the present application;

[0023] The electronic device provided by the embodiment of the present application;

[0024] The computer-readable storage medium provided by the embodiments of the present application.

[0025] In the embodiment of the present application, the heave speed, the first pitch angular velocity, the first roll angular velocity and the unsprung motion speed of the vehicle are obtained; the first damping force corresponding to the heave speed, the second damping force corresponding to the first pitch angular velocity and the third damping force corresponding to the first roll angular velocity are determined; the fourth damping force corresponding to each of the multiple shock absorbers is determined according to the damping force distribution gain, the first damping force, the second damping force and the third damping force; the first electrical parameters corresponding to the multiple shock absorbers are determined according to the unsprung motion speed of the multiple wheels and the fourth damping force corresponding to each shock absorber; the damping forces generated by the multiple shock absorbers are controlled according to the first electrical parameters corresponding to the multiple shock absorbers to perform skyhook control. In this way, the damping force can be reasonably distributed to each shock absorber, thereby improving the driving safety and riding comfort of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0027] Figure 1 is a flow chart of a ceiling control method of a suspension system provided in an embodiment of the present application;

[0028] Figure 2 is a structural schematic diagram of a ceiling control device of a suspension system provided in an embodiment of the present application;

[0029] Figure 3 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0031] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0032] The ceiling control method, device, equipment, medium, product and vehicle provided in the embodiments of the present application are described in detail below in conjunction with the accompanying drawings through specific embodiments and their application scenarios.

[0033] Figure 1 1 is a flow chart of a ceiling control method of a suspension system provided in an embodiment of the present application. The suspension system includes a plurality of shock absorbers corresponding to a plurality of wheels. Figure 1 As shown, the skyhook control method of the suspension system may include:

[0034] Step 101: acquiring motion state information of a vehicle and unsprung motion speeds of a plurality of wheels, wherein the motion state information includes: a heave speed, a first pitch angular velocity, and a first roll angular velocity;

[0035] In some possible implementations of the embodiments of the present application, an acceleration sensor can be used to detect the vehicle's heave speed, pitch angular velocity, and roll angular velocity to obtain the vehicle's motion state information; and a height sensor can be used to detect the unsprung motion speed of the wheel.

[0036] Step 102: determining a first damping force corresponding to the heave velocity, a second damping force corresponding to the first pitch angular velocity, and a third damping force corresponding to the first roll angular velocity;

[0037] In some possible implementations of the embodiments of the present application, the first damping force corresponding to the heaving speed of the vehicle may be determined according to the corresponding relationship between the heaving speed and the damping force.

[0038] In some possible implementations of the embodiments of the present application, the first torque corresponding to the first pitch angular velocity can be determined based on the corresponding relationship between the pitch angular velocity and the vehicle torque; and the quotient of the first torque and the wheelbase of the vehicle can be determined as the second damping force.

[0039] In some possible implementations of the embodiments of the present application, a second torque corresponding to the first roll angular velocity is determined based on the correspondence between the roll angular velocity and the vehicle torque; and the quotient of the second torque and the wheelbase of the vehicle is determined as the third damping force.

[0040] In some possible implementations of the embodiments of the present application, the correspondence between the heave velocity and the damping force, the correspondence between the pitch angular velocity and the vehicle torque, and the correspondence between the roll angular velocity and the vehicle torque can be calibrated in advance. The embodiments of the present application do not limit the method used to calibrate the correspondence between the heave velocity and the damping force, the correspondence between the pitch angular velocity and the vehicle torque, and the correspondence between the roll angular velocity and the vehicle torque. Any available method can be applied to the embodiments of the present application.

[0041] Step 103: determining a fourth damping force corresponding to each of the plurality of shock absorbers according to the damping force distribution gain, the first damping force, the second damping force and the third damping force;

[0042] In some possible implementations of the embodiments of the present application, the damping force distribution gain in the embodiments of the present application includes but is not limited to: the damping force proportion gain of each wheel, the front and rear axle damping force proportion gain, and the front and rear load damping force proportion gain.

[0043] In some possible implementations of the embodiments of the present application, the damping force proportion gain of each wheel and the damping force proportion gain of the front and rear axles can be calibrated in advance, and the front and rear load damping force proportion gain can be determined according to the front load and the rear load of the vehicle. The embodiments of the present application do not limit the method used to calibrate the damping force proportion gain of each wheel and the damping force proportion gain of the front and rear axles and to determine the front and rear load damping force proportion gain, and any available method can be applied to the embodiments of the present application.

[0044] In some possible implementations of the embodiments of the present application, step 103 may include: for the first shock absorber, determining, according to the damping force distribution gain, a first component of the first damping force corresponding to the first shock absorber, a second component of the second damping force, and a third component of the third damping force; wherein the first shock absorber is any one of the multiple shock absorbers; and determining the sum of the first component, the second component, and the third component as the fourth damping force corresponding to the first shock absorber.

[0045] Exemplarily, the gain of the damping force proportion of each wheel is taken as an example for explanation.

[0046] Assume that the first damping force is F1, the second damping force is F2, and the third damping force is F3; the damping force proportion gains of the left front wheel, the left rear wheel, the right front wheel, and the right rear wheel are gainFL, gainBL, gainFR, and gainBR, respectively.

[0047] For the shock absorber corresponding to the left front wheel, the first component of the first damping force is F1*gainFL, the second component of the second damping force is F2*gainFL, and the first component of the third damping force is F3*gainFL. Then the fourth damping force corresponding to the shock absorber corresponding to the left front wheel is: F1*gainFL+F2*gainFL+F3*gainFL.

[0048] For the shock absorber corresponding to the left rear wheel, the first component of the first damping force is F1*gainBL, the second component of the second damping force is F2*gainBL, and the first component of the third damping force is F3*gainBL. Then the fourth damping force corresponding to the shock absorber corresponding to the left rear wheel is: F1*gainBL+F2*gainBL+F3*gainBL.

[0049] For the shock absorber corresponding to the right front wheel, the first component of the first damping force is F1*gainFR, the second component of the second damping force is F2*gainFR, and the first component of the third damping force is F3*gainFR. Then the fourth damping force corresponding to the shock absorber corresponding to the right front wheel is: F1*gainFR+F2*gainFR+F3*gainFR.

[0050] For the shock absorber corresponding to the right rear wheel, the first component of the first damping force is F1*gainBR, the second component of the second damping force is F2*gainBR, and the first component of the third damping force is F3*gainBR. Then the fourth damping force corresponding to the shock absorber corresponding to the right rear wheel is: F1*gainBR+F2*gainBR+F3*gainBR.

[0051] Step 104: determining first electrical parameters corresponding to the plurality of shock absorbers respectively according to the unsprung movement speeds of the plurality of wheels and the fourth damping force corresponding to each shock absorber respectively;

[0052] In some possible implementations of the embodiments of the present application, the electrical parameters in the embodiments of the present application include current or voltage.

[0053] In some possible implementations of the embodiments of the present application, step 104 may include: for the second shock absorber, when the unsprung motion speed of the wheel corresponding to the second shock absorber is greater than 0, determining the electrical parameters corresponding to the second shock absorber according to the first corresponding relationship, the fourth damping force corresponding to the second shock absorber and the unsprung motion speed of the wheel corresponding to the second shock absorber; wherein the second shock absorber is any one of the multiple shock absorbers, and the first corresponding relationship is the corresponding relationship between the unsprung motion speed, the damping force and the electrical parameters when the unsprung motion speed is greater than 0.

[0054] In some possible implementations of the embodiments of the present application, the first correspondence may be stored in a shock absorber stretch characteristic table, wherein the shock absorber stretch characteristic table stores the correspondence between the unsprung motion speed, the damping force and the electrical parameters.

[0055] For example, taking the shock absorber corresponding to the left front wheel as an example, when the unsprung movement speed of the left front wheel is greater than 0, the electrical parameters corresponding to the unsprung movement speed of the left front wheel and the fourth damping force are found from the shock absorber stretch characteristic table to obtain the electrical parameters corresponding to the shock absorber corresponding to the left front wheel.

[0056] In some possible implementations of the embodiments of the present application, step 104 may also include: for the second shock absorber, when the unsprung movement speed of the wheel corresponding to the second shock absorber is less than 0, determining the electrical parameter corresponding to the fourth damping force corresponding to the second shock absorber according to the second corresponding relationship, the fourth damping force corresponding to the second shock absorber and the unsprung movement speed of the wheel corresponding to the second shock absorber; wherein the second corresponding relationship is the corresponding relationship among the unsprung movement speed, the damping force and the electrical parameter when the unsprung movement speed is less than 0.

[0057] In some possible implementations of the embodiments of the present application, the second correspondence may be stored in a shock absorber compression characteristic table, wherein the shock absorber compression characteristic table stores the correspondence between the unsprung motion speed, the damping force and the electrical parameters.

[0058] Exemplarily, taking the shock absorber corresponding to the left front wheel as an example, when the unsprung movement speed of the left front wheel is less than 0, the electrical parameters corresponding to the unsprung movement speed of the left front wheel and the fourth damping force are found from the shock absorber lookup characteristic table to obtain the electrical parameters corresponding to the shock absorber corresponding to the left front wheel.

[0059] Step 105: Controlling the damping forces generated by the plurality of shock absorbers according to the first electrical parameters respectively corresponding to the plurality of shock absorbers to perform skyhook control.

[0060] In some possible implementations of the embodiments of the present application, in step 105, for each shock absorber among the plurality of shock absorbers, corresponding electrical parameters may be applied to each shock absorber to control the damping force generated by each shock absorber.

[0061] Exemplarily, for the shock absorber corresponding to the left front wheel, the electrical parameters corresponding to the shock absorber corresponding to the left front wheel found above are applied to the shock absorber corresponding to the left front wheel to control the damping force generated by the shock absorber corresponding to the left front wheel.

[0062] In the embodiment of the present application, the heave speed, the first pitch angular velocity, the first roll angular velocity and the unsprung motion speed of the vehicle are obtained; the first damping force corresponding to the heave speed, the second damping force corresponding to the first pitch angular velocity and the third damping force corresponding to the first roll angular velocity are determined; the fourth damping force corresponding to each of the multiple shock absorbers is determined according to the damping force distribution gain, the first damping force, the second damping force and the third damping force; the first electrical parameters corresponding to the multiple shock absorbers are determined according to the unsprung motion speed of the multiple wheels and the fourth damping force corresponding to each shock absorber; the damping forces generated by the multiple shock absorbers are controlled according to the first electrical parameters corresponding to the multiple shock absorbers to perform skyhook control. In this way, the damping force can be reasonably distributed to each shock absorber, thereby improving the driving safety and riding comfort of the vehicle.

[0063] The embodiment of the present application also provides a ceiling control device for a suspension system, wherein the suspension system includes a plurality of shock absorbers corresponding to a plurality of wheels, such as Figure 2 shown. Figure 2 : is a structural schematic diagram of a ceiling control device 200 of a suspension system provided in an embodiment of the present application. The ceiling control device 200 of the suspension system may include:

[0064] An acquisition module 201 is used to acquire the motion state information of the vehicle and the unsprung motion speeds of multiple wheels, wherein the motion state information includes: a heave speed, a first pitch angular velocity, and a first roll angular velocity;

[0065] A first determination module 202, configured to determine a first damping force corresponding to a heave velocity, a second damping force corresponding to a first pitch angular velocity, and a third damping force corresponding to a first roll angular velocity;

[0066] A second determination module 203, configured to determine a fourth damping force corresponding to each of the plurality of shock absorbers according to the damping force distribution gain, the first damping force, the second damping force and the third damping force;

[0067] A third determination module 204 is used to determine first electrical parameters corresponding to the plurality of shock absorbers respectively according to the unsprung movement speeds of the plurality of wheels and the fourth damping force corresponding to each shock absorber respectively;

[0068] The control module 205 is used to control the damping force generated by the multiple shock absorbers according to the first electrical parameters respectively corresponding to the multiple shock absorbers, so as to perform skyhook control.

[0069] In the embodiment of the present application, the heave speed, the first pitch angular velocity, the first roll angular velocity and the unsprung motion speed of the vehicle are obtained; the first damping force corresponding to the heave speed, the second damping force corresponding to the first pitch angular velocity and the third damping force corresponding to the first roll angular velocity are determined; the fourth damping force corresponding to each of the multiple shock absorbers is determined according to the damping force distribution gain, the first damping force, the second damping force and the third damping force; the first electrical parameters corresponding to the multiple shock absorbers are determined according to the unsprung motion speed of the multiple wheels and the fourth damping force corresponding to each shock absorber; the damping forces generated by the multiple shock absorbers are controlled according to the first electrical parameters corresponding to the multiple shock absorbers to perform skyhook control. In this way, the damping force can be reasonably distributed to each shock absorber, thereby improving the driving safety and riding comfort of the vehicle.

[0070] In some possible implementations of the embodiments of the present application, the first determining module 202 may be specifically configured to:

[0071] Determining a first torque corresponding to a first pitch angular velocity according to a corresponding relationship between the pitch angular velocity and the vehicle torque;

[0072] The quotient of the first torque and the wheelbase of the vehicle is determined as the second damping force.

[0073] In some possible implementations of the embodiments of the present application, the first determining module 202 may be specifically configured to:

[0074] Determining a second torque corresponding to the first roll angular velocity according to a corresponding relationship between the roll angular velocity and the vehicle torque;

[0075] The quotient of the second torque and the wheelbase of the vehicle is determined as the third damping force.

[0076] In some possible implementations of the embodiment of the present application, the second determining module 203 may be specifically used to:

[0077] For the first shock absorber, according to the damping force distribution gain, determine a first component of the first damping force, a second component of the second damping force, and a third component of the third damping force corresponding to the first shock absorber; wherein the first shock absorber is any one of the multiple shock absorbers;

[0078] The sum of the first component, the second component and the third component is determined as the fourth damping force corresponding to the first shock absorber.

[0079] In some possible implementations of the embodiment of the present application, the third determining module 204 may be specifically used to:

[0080] For the second shock absorber, when the unsprung motion speed of the wheel corresponding to the second shock absorber is greater than 0, the electrical parameters corresponding to the second shock absorber are determined according to the first corresponding relationship, the fourth damping force corresponding to the second shock absorber and the unsprung motion speed of the wheel corresponding to the second shock absorber; wherein the second shock absorber is any one of the multiple shock absorbers, and the first corresponding relationship is the corresponding relationship among the unsprung motion speed, the damping force and the electrical parameters when the unsprung motion speed is greater than 0.

[0081] In some possible implementations of the embodiment of the present application, the third determining module 204 may also be used to:

[0082] For the second shock absorber, when the unsprung motion speed of the wheel corresponding to the second shock absorber is less than 0, the electrical parameters corresponding to the second shock absorber are determined according to the second corresponding relationship, the fourth damping force corresponding to the second shock absorber and the unsprung motion speed of the wheel corresponding to the second shock absorber; wherein the second corresponding relationship is the corresponding relationship among the unsprung motion speed, the damping force and the electrical parameters when the unsprung motion speed is less than 0.

[0083] Figure 3 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0084] The electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0085] Specifically, the processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0086] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 302 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 302 may be inside or outside the electronic device. In some specific embodiments, the memory 302 is a non-volatile solid-state memory.

[0087] In some specific embodiments, the memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Therefore, generally, 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 skyhook control method of the suspension system according to the present application.

[0088] The processor 301 reads and executes the computer program instructions stored in the memory 302 to implement the steps of the ceiling control method of the suspension system provided in the embodiment of the present application.

[0089] In one example, the electronic device may further include a communication interface 303 and a bus 310. Figure 3 As shown, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0090] The communication interface 303 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0091] The bus 310 includes hardware, software or both, coupling the components of the electronic device to each other. For example, but 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 Bus (VLB) bus or other suitable buses or a combination of two or more of these. Where appropriate, the bus 310 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0092] The electronic device can execute the ceiling control method of the suspension system provided in the embodiment of the present application, thereby achieving the corresponding technical effects of the ceiling control method of the suspension system provided in the embodiment of the present application.

[0093] In addition, in combination with the ceiling control method of the suspension system in the above embodiment, the embodiment of the present application also provides a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, the steps of the ceiling control method of the suspension system provided in the embodiment of the present application are implemented. Examples of computer-readable storage media include non-transitory computer-readable media, such as ROM, RAM, magnetic disk or optical disk, etc.

[0094] An embodiment of the present application provides a computer program product, which includes computer program instructions; when the computer program instructions are executed by a processor, the steps of the ceiling control method of the suspension system provided in the embodiment of the present application are implemented, and the same technical effect can be achieved. To avoid repetition, they are not repeated here.

[0095] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0096] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), appropriate firmware, plug-in, function card, etc. When implemented in software, the elements of the present application 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" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable read-only memory (Erasable Read Only Memory, EROM), floppy disks, compact discs (Compact Disc Read-Only Memory, CD-ROM), optical disks, 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.

[0097] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0098] 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.

[0099] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A ceiling control method for a suspension system, characterized in that: The suspension system includes a plurality of shock absorbers corresponding to a plurality of wheels, and the method includes: Acquire the motion state information of the vehicle and the unsprung motion speeds of the plurality of wheels, wherein the motion state information includes: a heave speed, a first pitch angular velocity, and a first roll angular velocity; determining a first damping force corresponding to the heave velocity, a second damping force corresponding to the first pitch angular velocity, and a third damping force corresponding to the first roll angular velocity; determining a fourth damping force corresponding to each of the plurality of shock absorbers according to a damping force distribution gain, the first damping force, the second damping force, and the third damping force; Determining first electrical parameters respectively corresponding to the plurality of shock absorbers according to the unsprung movement speeds of the plurality of wheels and the fourth damping force respectively corresponding to each shock absorber; According to the first electrical parameters respectively corresponding to the plurality of shock absorbers, the damping forces generated by the plurality of shock absorbers are controlled to perform skyhook control.

2. The method according to claim 1, characterized in that Determining a second damping force corresponding to the first pitch angular velocity includes: Determining a first torque corresponding to the first pitch angular velocity according to a corresponding relationship between the pitch angular velocity and the vehicle torque; The quotient of the first torque and the wheelbase of the vehicle is determined as the second damping force.

3. The method according to claim 1, characterized in that Determining a second damping force corresponding to the first roll angular velocity includes: determining a second torque corresponding to the first roll angular velocity according to a corresponding relationship between the roll angular velocity and the vehicle torque; The quotient of the second torque and the wheelbase of the vehicle is determined as the third damping force.

4. The method according to claim 1, characterized in that: The step of determining a fourth damping force corresponding to each of the plurality of shock absorbers according to the damping force distribution gain, the first damping force, the second damping force, and the third damping force comprises: For a first shock absorber, determining, according to the damping force distribution gain, a first component of the first damping force, a second component of the second damping force, and a third component of the third damping force corresponding to the first shock absorber; wherein the first shock absorber is any one of the plurality of shock absorbers; The sum of the first component, the second component and the third component is determined as a fourth damping force corresponding to the first shock absorber.

5. The method according to claim 1, characterized in that The determining, according to the unsprung movement speeds of the multiple wheels and the fourth damping force corresponding to each shock absorber, the first electrical parameters corresponding to the multiple shock absorbers respectively include: For the second shock absorber, when the unsprung motion speed of the wheel corresponding to the second shock absorber is greater than 0, the electrical parameters corresponding to the second shock absorber are determined according to the first corresponding relationship, the fourth damping force corresponding to the second shock absorber and the unsprung motion speed of the wheel corresponding to the second shock absorber; wherein the second shock absorber is any one of the multiple shock absorbers, and the first corresponding relationship is the corresponding relationship among the unsprung motion speed, the damping force and the electrical parameters when the unsprung motion speed is greater than 0.

6. The method according to claim 5, characterized in that The determining of the first electrical parameters respectively corresponding to the plurality of shock absorbers according to the unsprung movement speeds of the plurality of wheels and the fourth damping force respectively corresponding to each shock absorber further includes: For the second shock absorber, when the unsprung motion speed of the wheel corresponding to the second shock absorber is less than 0, the electrical parameters corresponding to the second shock absorber are determined according to the second corresponding relationship, the fourth damping force corresponding to the second shock absorber and the unsprung motion speed of the wheel corresponding to the second shock absorber; wherein the second corresponding relationship is the corresponding relationship among the unsprung motion speed, the damping force and the electrical parameters when the unsprung motion speed is less than 0.

7. A ceiling control device for a suspension system, characterized in that: The suspension system includes a plurality of shock absorbers corresponding to a plurality of wheels, and the device includes: An acquisition module, configured to acquire the motion state information of the vehicle and the unsprung motion speeds of the plurality of wheels, wherein the motion state information includes: a heave speed, a first pitch angular speed, and a first roll angular speed; a first determining module, configured to determine a first damping force corresponding to the heave velocity, a second damping force corresponding to the first pitch angular velocity, and a third damping force corresponding to the first roll angular velocity; a second determining module, configured to determine a fourth damping force corresponding to each of the plurality of shock absorbers according to a damping force distribution gain, the first damping force, the second damping force, and the third damping force; A third determination module, configured to determine first electrical parameters respectively corresponding to the plurality of shock absorbers according to the unsprung movement speeds of the plurality of wheels and the fourth damping force respectively corresponding to each shock absorber; The control module is used to control the damping force generated by the plurality of shock absorbers according to the first electrical parameters respectively corresponding to the plurality of shock absorbers, so as to perform skyhook control.

8. An electronic device, characterized in that: The electronic device comprises: a processor and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the steps of the skyhook control method of the suspension system as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the steps of the skyhook control method of the suspension system according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises computer program instructions, which, when executed by a processor, implement the steps of the skyhook control method of the suspension system according to any one of claims 1 to 6.

11. A vehicle, characterized in that: The vehicle includes at least one of the following: The ceiling control device of the suspension system as claimed in claim 7; The electronic device according to claim 8; The computer readable storage medium of claim 9.

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