Vehicle body control method, device and equipment, storage medium and computer program product

Abstract

The invention discloses a vehicle body control method, device and equipment, a storage medium and a computer program product, and relates to the technical field of vehicle control. The method comprises the steps that the first vehicle body vertical movement speed, the first vehicle body vertical movement acceleration and the movement speed of the electric control shock absorber in the vehicle running process are obtained, and under the condition that the direction of the first vehicle body vertical movement speed is consistent with the direction of the first vehicle body vertical movement acceleration, the electric control shock absorber is started; first damping force jointly corresponding to the vertical movement speed of the first vehicle body and the vertical movement acceleration of the first vehicle body is obtained, then a target current value jointly corresponding to the first damping force and the movement speed of the electric control shock absorber is obtained, and the electric control shock absorber is controlled to generate damping force according to control current corresponding to the target current value; and controlling the vehicle body of the vehicle. According to the embodiment of the invention, the electric control shock absorber can be accurately controlled, the vehicle body can be accurately controlled to keep balance and stability in the vehicle driving process, and the driving experience of a user is improved.

Description

Technical Field

[0001] The present application belongs to the field of vehicle control technology, and in particular, relates to a vehicle body control method, device, equipment, storage medium and computer program product. 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] With the rapid development of vehicle technology, the demand for body control of vehicles equipped with electronically controlled shock absorbers is increasing. Therefore, a precise control strategy for vehicle electronically controlled shock absorbers is urgently needed to improve the user's driving experience. Summary of the invention

[0004] The embodiments of the present application provide a vehicle body control method, device, equipment, storage medium and computer program product, which can achieve precise control of the vehicle's electronically controlled shock absorber, and then precisely control the vehicle body, thereby improving the user's driving experience.

[0005] In a first aspect, an embodiment of the present application provides a vehicle body control method, the method comprising:

[0006] Acquiring vehicle motion information and a motion speed of the electronically controlled shock absorber during vehicle travel, wherein the vehicle motion information includes a first vehicle body vertical motion speed and a first vehicle body vertical motion acceleration;

[0007] When the direction of the first vehicle body vertical motion speed and the direction of the first vehicle body vertical motion acceleration are consistent, obtaining a first damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration;

[0008] Acquiring a target current value corresponding to the first damping force and the movement speed of the electronically controlled shock absorber;

[0009] The electronically controlled shock absorber is controlled to generate a damping force according to a control current corresponding to the target current value, so as to control the vehicle body.

[0010] In a second aspect, an embodiment of the present application provides a vehicle body control device, the device comprising:

[0011] An acquisition module, used to acquire vehicle motion information and a motion speed of the electronically controlled shock absorber during vehicle travel, wherein the vehicle motion information includes a first vehicle body vertical motion speed and a first vehicle body vertical motion acceleration;

[0012] a calculation module, configured to obtain a first damping force corresponding to the first vehicle body vertical motion velocity and the first vehicle body vertical motion acceleration when the direction of the first vehicle body vertical motion velocity and the direction of the first vehicle body vertical motion acceleration are consistent;

[0013] The calculation module is further used to obtain a target current value corresponding to the first damping force and the movement speed of the electronically controlled shock absorber;

[0014] The control module is used to control the electronically controlled shock absorber to generate a damping force according to a control current corresponding to a target current value, so as to control the body of the vehicle.

[0015] 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 vehicle body control method of the first aspect is implemented.

[0016] In a fourth aspect, an embodiment of the present application provides a computer storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the vehicle body control method of the first aspect is implemented.

[0017] In a fifth aspect, an embodiment of the present application provides a computer program product. When instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the vehicle body control method as in the first aspect.

[0018] In a sixth aspect, an embodiment of the present application provides a vehicle, the vehicle comprising at least one of the following:

[0019] A vehicle body control device as in any one of the embodiments of the second aspect;

[0020] An electronic device as in any one of the embodiments of the third aspect;

[0021] A computer storage medium as in any one of the embodiments of the fourth aspect;

[0022] A computer program product as in any embodiment of the fifth aspect.

[0023] In the vehicle body control method, device, equipment, storage medium and computer program product of the embodiment of the present application, since the direction of the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration during the vehicle driving process fully reflect the actual bumping degree of the vehicle, the damping force required to control the entire vehicle body can be determined according to the actual bumping degree of the vehicle by obtaining the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration, so as to obtain a more accurate first damping force required to control the vehicle body. By obtaining the accurate current value for controlling the damping force generated by the electronically controlled shock absorber based on the more accurate first damping force and the motion speed of the electronically controlled shock absorber, the electronically controlled shock absorber can be controlled to control the vehicle body according to the accurate current value, so as to achieve accurate control of the vehicle body and improve the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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.

[0025] Figure 1 is a flow chart of a vehicle body control method provided by an embodiment of the present application;

[0026] Figure 2 is a schematic diagram of the control principle of an electronically controlled shock absorber provided by an embodiment of the present application;

[0027] Figure 3 is a flow chart of a vehicle body control method provided by another embodiment of the present application;

[0028] Figure 4 is a schematic diagram of the structure of a vehicle body control device provided by an embodiment of the present application;

[0029] Figure 5 It is a schematic diagram of the structure of an electronic device provided by 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 the process, method, article or equipment 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 equipment. 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 equipment including the elements.

[0032] With the development of chassis technology, electronically controlled shock absorbers have been developed and used to improve body control. Electronically controlled shock absorbers are configured on the vehicle chassis, and generally multiple electronically controlled shock absorbers are configured. Electronically controlled shock absorbers may include an electronic control unit and an actuator, wherein the electronic control unit is used to calculate the control current based on the vehicle motion information, and output a control instruction including the control current to the actuator, so that the actuator responds to the control instruction and adjusts the oil flow inside the electronically controlled shock absorber according to the control current, thereby changing the damping characteristics, so that the vehicle can adapt to different driving conditions and road conditions. 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 the suspension characteristics and body control effects.

[0033] With the continuous development of vehicle technology and electronically controlled shock absorber technology, the demand for vehicle body control of vehicles equipped with electronically controlled shock absorbers is increasing, and there is an urgent need to integrate and analyze the control strategy of electronically controlled shock absorbers. Therefore, there is an urgent need for a precise control strategy for vehicle electronically controlled shock absorbers to meet the user's demand for precise control of the vehicle body and improve the user's driving experience.

[0034] In order to solve the problems of the prior art, the embodiments of the present application provide a vehicle body control method, device, equipment, storage medium and computer program product. In the embodiments of the present application, since the direction of the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration during the vehicle driving process fully reflect the actual degree of bumping of the vehicle, by obtaining the first damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration, the damping force required to control the entire vehicle body can be determined according to the actual degree of bumping of the vehicle, so as to obtain a more accurate first damping force required to control the vehicle body. By obtaining the accurate current value for controlling the damping force generated by the electronically controlled shock absorber based on the more accurate first damping force and the motion speed of the electronically controlled shock absorber, the electronically controlled shock absorber can be controlled to control the vehicle body according to the accurate current value, so as to achieve accurate control of the vehicle body and improve the user's driving experience.

[0035] The following first introduces the vehicle body control method provided in the embodiment of the present application.

[0036] Figure 1 FIG. 1 is a flow chart of a vehicle body control method provided by an embodiment of the present application. Figure 1 As shown, the method is applied to an electronically controlled shock absorber and may include the following steps: S101 to S104.

[0037] S101: Acquire vehicle motion information and a motion speed of an electronically controlled shock absorber during vehicle driving.

[0038] The vehicle motion information is used to characterize the driving state of the vehicle during driving. When the vehicle is in a bumpy state, the vehicle body will generate speed and acceleration in the vertical direction of the vehicle. The vehicle motion information may include a first vehicle body vertical motion speed and a first vehicle body vertical motion acceleration.

[0039] Multiple electronically controlled shock absorbers will generate movement speeds in the process of controlling vehicle body vibration reduction, and the movement speeds generated by each electronically controlled shock absorber in the process of controlling vehicle body vibration reduction are often different.

[0040] S102: When the direction of the first vehicle body vertical movement speed is consistent with the direction of the first vehicle body vertical movement acceleration, a first damping force corresponding to the first vehicle body vertical movement speed and the first vehicle body vertical movement acceleration is obtained.

[0041] The first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration are used to characterize a driving state of the vehicle in a bumpy state.

[0042] The first damping force is used to characterize the precise damping force actually required to control vehicle body balance and stability through the electronically controlled shock absorber when the vehicle is in a bumpy state and the vehicle motion information includes a first vehicle body vertical motion speed and a first vehicle body vertical motion acceleration.

[0043] The direction of the first vehicle body vertical motion velocity and the direction of the first vehicle body vertical motion acceleration are consistent, indicating that the vehicle is in a bumpy state, and at this time, the electronically controlled shock absorber needs to be controlled to reduce vibration of the vehicle. By obtaining the first damping force corresponding to the first vehicle body vertical motion velocity and the first vehicle body vertical motion acceleration, since the direction of the first vehicle body vertical motion velocity and the first vehicle body vertical motion acceleration fully reflect the actual bumpiness of the vehicle, and the damping force actually required to control the balance and stability of the vehicle body is determined according to the actual bumpiness of the vehicle, a more accurate first damping force value can be obtained, and the more accurate first damping force value is used to control the electronically controlled shock absorber of the vehicle, so that the vehicle body can be accurately controlled, thereby improving the user's driving experience.

[0044] S103: Obtaining a target current value corresponding to the first damping force and the movement speed of the electronically controlled shock absorber.

[0045] The target current value is used to characterize the magnitude of the control current required to control the electronically controlled shock absorber. By controlling the electronically controlled shock absorber with the control current corresponding to the target current, the damping force value applied by the electronically controlled shock absorber to the vehicle can be adjusted to achieve different degrees of vehicle body control.

[0046] By obtaining the target current value corresponding to the first damping force and the movement speed of the electronically-controlled shock absorber, that is, when determining the control current required to control the electronically-controlled shock absorber, the movement speed of the electronically-controlled shock absorber is taken into consideration at the same time, and the control current required for each electronically-controlled shock absorber can be determined specifically, so as to achieve precise control of each electronically-controlled shock absorber that controls the vehicle body, thereby achieving precise control of the entire vehicle body.

[0047] S104: Controlling the electronically controlled shock absorber to generate a damping force according to a control current corresponding to the target current value, so as to control the vehicle body.

[0048] By controlling the electronically controlled shock absorber to generate a damping force to control the vehicle body according to a control current corresponding to a target current value corresponding to the first damping force and the movement speed of the electronically controlled shock absorber, the size of the control current required for each electronically controlled shock absorber can be determined in a targeted manner to achieve precise control of each electronically controlled shock absorber that controls the vehicle body, thereby achieving precise control of the entire vehicle body.

[0049] In the embodiment of the present application, since the direction of the first body vertical motion speed and the first body vertical motion acceleration during the vehicle's driving process fully reflect the actual degree of bumping of the vehicle, by obtaining the first damping force corresponding to the first body vertical motion speed and the first body vertical motion acceleration, the damping force required to control the entire body can be determined according to the actual degree of bumping of the vehicle, so as to obtain a more accurate first damping force required to control the body. By obtaining an accurate current value for controlling the damping force generated by the electronically controlled shock absorber based on a more accurate first damping force and in combination with the movement speed of the electronically controlled shock absorber, the electronically controlled shock absorber can be controlled to control the vehicle body according to the accurate current value, so as to achieve accurate control of the vehicle body and enhance the user's driving experience.

[0050] In some embodiments, in order to ensure the accuracy of obtaining the first damping force, before step S102: obtaining the first damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration, the vehicle body control method may further include:

[0051] When the vertical motion speed of the vehicle body is a first preset value and the vertical motion acceleration of the vehicle body is a second preset value, adjusting and controlling the first damping force corresponding to the vehicle body until the vertical motion speed of the vehicle body and the vertical motion acceleration of the vehicle body are both zero, thereby obtaining a first damping force calibration value corresponding to the first vertical motion speed of the vehicle body and the first vertical motion acceleration of the vehicle body;

[0052] A first damping force mapping table corresponding to the vehicle is constructed according to a corresponding relationship between the vehicle body vertical motion speed, the vehicle body vertical motion acceleration and the first damping force calibration value.

[0053] Based on this, step S102: obtaining a first damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration may include:

[0054] A first damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration is determined in the first damping force mapping table.

[0055] The first preset value and the second preset value may be preset vehicle body vertical motion speed and vehicle body vertical motion acceleration for characterizing that the vehicle is in a bumpy state. The first preset value or the second preset value may be, for example, 1, 2, or 3. If the vehicle body vertical motion speed and the vehicle body vertical motion acceleration are both 0, it indicates that the vehicle body is in a balanced and stable state.

[0056] As an example, the vehicle is first controlled to generate bumps during driving, and the vertical motion speed and acceleration of the vehicle body in the bumpy state are obtained. Then, the first damping force corresponding to the target electronically controlled shock absorber is adjusted, and the first damping force is output to control the target electronically controlled shock absorber to control the vehicle body, so that the vertical motion speed and acceleration of the vehicle body become zero, that is, the vehicle body is restored to balance and stability. When the vertical motion speed and acceleration of the vehicle body become zero, that is, the vehicle body is restored to balance and stability, the first damping force at this time is recorded to obtain the corresponding relationship between the vertical motion speed, the vertical motion acceleration and the first damping force. The vertical motion speed and acceleration of the vehicle body are kept unchanged, and the above process is repeated to obtain multiple first damping forces. According to the multiple first damping forces, the calibrated first damping force corresponding to the vertical motion speed and the vertical motion acceleration of the vehicle body can be determined. By changing the vertical motion speed and vertical motion acceleration of the vehicle, and repeating the above steps, multiple corresponding relationships between the vertical motion speed, vertical motion acceleration and the calibrated first damping force can be obtained. A two-dimensional first damping force mapping table can be constructed with the vertical motion speed and vertical motion acceleration of the vehicle as coordinate axes and the calibrated first damping force as table data.

[0057] After determining the first damping force mapping table corresponding to the target vehicle, the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration can be first searched in the first damping force mapping table, and then the first damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration can be determined.

[0058] In this way, by first performing actual vehicle calibration, constructing a first damping force mapping table corresponding to the target vehicle, and then determining the first damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration in the first damping force mapping table, the accuracy of obtaining the first damping force can be ensured.

[0059] In some embodiments, in order to fully consider the influence of the vehicle speed and the vehicle motion mode on controlling the balance and stability of the vehicle body, so as to obtain the first damping force required for more accurate control of the balance and stability of the vehicle body, step S102: obtaining the first damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration may also include:

[0060] Determine, in a first damping force mapping table corresponding to the vehicle, a second damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration;

[0061] Obtaining a vehicle speed weight coefficient corresponding to the vehicle's driving speed and a mode gain coefficient corresponding to the vehicle's motion mode;

[0062] The first damping force is determined according to the product of the second damping force, the vehicle speed weight coefficient and the mode gain coefficient.

[0063] The vehicle speed weight coefficient is used to characterize the proportion of the first body vertical movement speed of the vehicle in determining the first damping force required to control the balance and stability of the vehicle body.

[0064] The mode gain coefficient is used to characterize the extent to which the vehicle's motion mode contributes to determining the first damping force required to control vehicle body balance and stability.

[0065] In some embodiments, the vehicle speed weight coefficient may be determined based on a corresponding relationship between the vehicle's driving speed and the vehicle speed weight coefficient.

[0066] As an example, the corresponding relationship between the vehicle speed and the vehicle speed weight coefficient may include: there is a positive correlation between the vehicle speed and the vehicle speed weight coefficient, that is, the vehicle speed weight coefficient increases as the vehicle speed increases.

[0067] In some embodiments, the mode gain coefficient may be determined based on the correspondence between the motion mode of the vehicle during driving and the mode gain coefficient, and the correspondence between the motion mode of the vehicle during driving and the mode gain coefficient may be manually set.

[0068] As an example, the corresponding relationship between the motion mode of the vehicle during driving and the mode gain coefficient may include:

[0069] When the vehicle's sports mode is the comfort mode during driving, the mode gain coefficient is 0.8;

[0070] When the vehicle's sports mode is the economic mode during driving, the mode gain coefficient is 1.0;

[0071] When the vehicle is in the sport mode during driving, the mode gain coefficient is 1.2.

[0072] As an example, the first damping force is determined according to the product of the second damping force, the vehicle speed weight coefficient and the mode gain coefficient, and the following expression can be used:

[0073] DFrq = DF*Gvs*Gmode (1)

[0074] Among them, DFrq represents the first damping force, DF represents the second damping force, Gvs represents the vehicle speed weight coefficient, and Gmode represents the mode gain coefficient.

[0075] In some embodiments, step S103: obtaining a target current corresponding to the first damping force and the movement speed of the electronically controlled shock absorber may include:

[0076] Obtaining the vertical movement speed of the first wheel of the vehicle;

[0077] When the direction of the vertical movement speed of the first vehicle body and the direction of the vertical movement speed of the first wheel are consistent, a target current corresponding to the first damping force and the movement speed of the electronically controlled shock absorber is obtained.

[0078] The first wheel vertical movement speed is used to characterize the movement speed of the wheels of the vehicle in the vertical direction.

[0079] The direction of the first body vertical motion speed is consistent with the direction of the first wheel vertical motion speed, indicating that the body and wheel of the vehicle both generate motion speed in the vertical direction, and the directions of the motion speeds generated by the body and wheel in the vertical direction are consistent, for example, both are vertically upward or vertically downward. In this state, the vehicle generates a control demand for body balance and stability, that is, it is necessary to control the electronically controlled shock absorber to generate the first damping force to control the body of the vehicle. In other states, the vehicle has already stabilized, and there is no need to control the electronically controlled shock absorber to control the body.

[0080] By obtaining the target current corresponding to the first damping force and the movement speed of the electronically controlled shock absorber only when the direction of the vertical movement speed of the first vehicle body is consistent with the direction of the vertical movement speed of the first wheel, that is, when the vehicle has an actual demand to control the stability of the vehicle body, and then controlling the electronically controlled shock absorber to control the vehicle body based on the control current corresponding to the target current, redundancy of vehicle computing resources and resource scheduling can be avoided, and unnecessary waste of resources can be avoided.

[0081] In some embodiments, in order to quickly obtain the current value required to control the electronically controlled shock absorber, step S103: obtaining a target current value corresponding to the first damping force and the movement speed of the electronically controlled shock absorber includes:

[0082] Obtaining a current mapping table of the electronically controlled shock absorber; the current mapping table is used to characterize the corresponding relationship between the first damping force, the movement speed of the electronically controlled shock absorber and the current value;

[0083] A target current value corresponding to the first damping force and the movement speed of the electronically controlled shock absorber is determined according to the current mapping table.

[0084] The current mapping table of the electronically controlled shock absorber may be used to query the current value of the control current required for the electronically controlled shock absorber to generate the first damping force at a certain movement speed.

[0085] By quickly querying the target current value required for controlling the electronically controlled shock absorber based on the current mapping table of the electronically controlled shock absorber, the immediacy of controlling the electronically controlled shock absorber can be improved, and the operating efficiency can be improved.

[0086] In some embodiments, the current mapping table of the electronically controlled shock absorber may be preset manually, which will not be described in detail here.

[0087] In order to better describe the solutions in the present application, some specific examples are given based on the above embodiments.

[0088] For example, a schematic diagram of an electronic control unit of an electronically controlled shock absorber provided in an embodiment of the present application can be as follows: Figure 2 shown.

[0089] like Figure 2 As shown, after receiving the input of information such as the vertical movement speed of the vehicle body, the vertical movement speed of the wheels, and the movement speed of the electronically controlled shock absorber, the electronic control unit can process the information such as the vertical movement speed of the vehicle body, the vertical movement speed of the wheels, and the movement speed of the electronically controlled shock absorber based on the control strategy, and obtain and output the control current corresponding to the electronically controlled shock absorber.

[0090] The flow chart of realizing body control based on control strategy can be shown as follows: Figure 3 shown.

[0091] like Figure 3 As shown, the process of implementing body control by the control strategy may include the following steps:

[0092] S301: Obtain the body vertical movement speed Vbody, the wheel vertical movement speed Vwheel and the movement speed Vdamper of the electronically controlled shock absorber.

[0093] S302: Determine whether Vbody*Vwheel>0; if so, execute step S303, if not, execute step S305.

[0094] By judging whether Vbody*Vwheel>0, it is determined whether the directions of the vertical movement speed of the vehicle body and the vertical movement speed of the wheel are consistent, that is, whether the vehicle is actually in a bumpy state.

[0095] S303: Obtain a target current corresponding to the first damping force and the movement speed Vdamper of the electronically controlled shock absorber.

[0096] S304: Controlling the electronically controlled shock absorber to generate a damping force to control the vehicle body according to the control current corresponding to the target current value.

[0097] S305: Complete one control cycle and return to execute step S301.

[0098] S306: The actuator does not respond.

[0099] Figure 4 4 is a schematic diagram of the structure of a vehicle body control device 400 provided in an embodiment of the present application. Figure 4 As shown, the device may include a data acquisition module 410 , a calculation module 420 , and a control module 430 .

[0100] An acquisition module 410 is used to acquire vehicle motion information and a motion speed of the electronically controlled shock absorber during the vehicle's travel, wherein the vehicle motion information includes a first vehicle body vertical motion speed and a first vehicle body vertical motion acceleration;

[0101] The calculation module 420 is used to obtain a first damping force corresponding to the first vehicle body vertical movement speed and the first vehicle body vertical movement acceleration when the direction of the first vehicle body vertical movement speed and the direction of the first vehicle body vertical movement acceleration are consistent;

[0102] The calculation module 420 is further used to obtain a target current value corresponding to the first damping force and the movement speed of the electronically controlled shock absorber;

[0103] The control module 430 is used to control the electronically controlled shock absorber to generate a damping force according to the control current corresponding to the target current value, so as to control the body of the vehicle.

[0104] In the embodiment of the present application, since the direction of the first body vertical motion speed and the first body vertical motion acceleration during the vehicle's driving process fully reflect the actual degree of bumping of the vehicle, by obtaining the first damping force corresponding to the first body vertical motion speed and the first body vertical motion acceleration, the damping force required to control the entire body can be determined according to the actual degree of bumping of the vehicle, so as to obtain a more accurate first damping force required to control the body. By obtaining an accurate current value for controlling the damping force generated by the electronically controlled shock absorber based on a more accurate first damping force and in combination with the movement speed of the electronically controlled shock absorber, the electronically controlled shock absorber can be controlled to control the vehicle body according to the accurate current value, so as to achieve accurate control of the vehicle body and enhance the user's driving experience.

[0105] In some embodiments, the body control device 400 further includes a calibration module and a construction module;

[0106] a calibration module, used for, before obtaining the first damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration, adjusting the first damping force corresponding to the control vehicle when the vehicle body vertical motion speed is a first preset value and the vehicle body vertical motion acceleration is a second preset value, until the vehicle body vertical motion speed and the vehicle body vertical motion acceleration are both zero, so as to obtain a first damping force calibration value corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration;

[0107] A construction module, used to construct a first damping force mapping table corresponding to the vehicle according to a correspondence between a vehicle body vertical motion speed, a vehicle body vertical motion acceleration and a first damping force calibration value;

[0108] The calculation module 420 is further configured to determine, in the first damping force mapping table, a first damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration.

[0109] In some embodiments, the calculation module 420 is further used to determine a second damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration in a first damping force mapping table corresponding to the vehicle;

[0110] The acquisition module 410 is further used to acquire a vehicle speed weight coefficient corresponding to the first vehicle body vertical motion speed and a mode gain coefficient corresponding to the vehicle motion mode;

[0111] The calculation module 420 is further configured to determine the first damping force according to the product of the second damping force, the vehicle speed weight coefficient and the mode gain coefficient.

[0112] In some embodiments, the acquisition module 410 is further used to acquire the vertical movement speed of the first wheel of the vehicle;

[0113] The calculation module 420 is further used to obtain a target current corresponding to the first damping force and the movement speed of the electronically controlled shock absorber when the direction of the vertical movement speed of the first vehicle body and the direction of the vertical movement speed of the first wheel are consistent.

[0114] In some embodiments, the acquisition module 410 is further used to acquire a current mapping table of the electronically controlled shock absorber; the current mapping table is used to characterize the corresponding relationship between the first damping force, the movement speed of the electronically controlled shock absorber and the current value;

[0115] The acquisition module 410 is further configured to determine, according to the current mapping table, a target current value corresponding to the first damping force and the movement speed of the electronically controlled shock absorber.

[0116] Figure 4 The various modules in the device shown can be implemented Figure 1 Each step in the above steps can achieve the corresponding technical effect, which will not be repeated here for the sake of brevity.

[0117] Figure 5 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0118] The electronic device may include a processor 501 and a memory 502 storing computer program instructions.

[0119] Specifically, the processor 501 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.

[0120] The memory 502 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 502 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 appropriate cases, the memory 502 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 502 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 502 is a non-volatile solid-state memory.

[0121] In certain 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. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of the present application.

[0122] The processor 501 implements any one of the vehicle body control methods in the above embodiments by reading and executing computer program instructions stored in the memory 502 .

[0123] In one example, the electronic device may further include a communication interface 503 and a bus 510. Figure 5 As shown, the processor 501, the memory 502, and the communication interface 503 are connected via a bus 510 and communicate with each other.

[0124] The communication interface 503 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0125] Bus 510 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 510 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0126] In addition, in combination with the vehicle body control method in the above embodiments, the embodiment of the present application 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 vehicle body control methods in the above embodiments is implemented.

[0127] An embodiment of the present application also provides a computer program product, including a computer program, which, when processed and executed, implements any one of the vehicle body control methods in the above embodiments.

[0128] In addition, the embodiment of the present application further provides a vehicle, which may include at least one of the following:

[0129] A vehicle body control device as in any one of the embodiments of the second aspect;

[0130] An electronic device as in any one of the embodiments of the third aspect;

[0131] A computer-readable storage medium as in any embodiment of the fourth aspect;

[0132] The computer program product in any one of the embodiments of the fifth aspect will not be described in detail here.

[0133] 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.

[0134] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0135] 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.

[0136] The above reference is to the flowchart and / or block diagram of the method, device, equipment, storage medium and computer program product according to the embodiment of the present application. 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.

[0137] 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 vehicle body control method, applied to an electronically controlled shock absorber, characterized in that: include: Acquiring vehicle motion information and the motion speed of the electronically controlled shock absorber during vehicle travel, wherein the vehicle motion information includes a first vehicle body vertical motion speed and a first vehicle body vertical motion acceleration; When the direction of the first vehicle body vertical motion speed is consistent with the direction of the first vehicle body vertical motion acceleration, obtaining a first damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration; Acquiring a target current value corresponding to the first damping force and a movement speed of the electronically controlled shock absorber; The electronically controlled shock absorber is controlled to generate a damping force according to a control current corresponding to the target current value, so as to control the body of the vehicle.

2. The method according to claim 1, characterized in that Before acquiring a first damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration, the method further includes: When the vertical movement speed of the vehicle body is a first preset value and the vertical movement acceleration of the vehicle body is a second preset value, adjusting and controlling the first damping force corresponding to the vehicle until the vertical movement speed of the vehicle body and the vertical movement acceleration of the vehicle body are both zero, thereby obtaining a first damping force calibration value corresponding to the first vertical movement speed of the vehicle body and the first vertical movement acceleration of the vehicle body; Constructing a first damping force mapping table corresponding to the vehicle according to a correspondence between the vehicle body vertical motion speed, the vehicle body vertical motion acceleration and the first damping force calibration value; The obtaining of a first damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration comprises: A first damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration is determined in the first damping force mapping table.

3. The method according to claim 1 or 2, characterized in that: The vehicle motion information includes the vehicle travel speed; the obtaining of the first damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration includes: Determining a second damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration in a first damping force mapping table corresponding to the vehicle; Acquire a vehicle speed weight coefficient corresponding to the vehicle's running speed and a mode gain coefficient corresponding to the vehicle's motion mode; The first damping force is determined according to a product of the second damping force, the vehicle speed weight coefficient, and the mode gain coefficient.

4. The method according to claim 1, characterized in that: The step of obtaining a target current corresponding to the first damping force and the movement speed of the electronically controlled shock absorber includes: Acquire a vertical movement speed of a first wheel of the vehicle; When the direction of the first vehicle body vertical movement speed is consistent with the direction of the first wheel vertical movement speed, a target current corresponding to the first damping force and the movement speed of the electronically controlled shock absorber is obtained.

5. The method according to claim 1, characterized in that The step of obtaining a target current value corresponding to the first damping force and the movement speed of the electronically controlled shock absorber includes: Acquire a current mapping table of the electronically controlled shock absorber; the current mapping table is used to characterize the corresponding relationship between the first damping force, the movement speed of the electronically controlled shock absorber and the current value; A target current value corresponding to the first damping force and the movement speed of the electronically controlled shock absorber is determined according to the current mapping table.

6. A vehicle body control device, applied to an electronically controlled shock absorber, characterized in that: The device comprises: An acquisition module, used for acquiring vehicle motion information and a motion speed of the electronically controlled shock absorber during vehicle travel, wherein the vehicle motion information includes a first vehicle body vertical motion speed and a first vehicle body vertical motion acceleration; a calculation module, configured to obtain a first damping force corresponding to the first vehicle body vertical motion speed and the first vehicle body vertical motion acceleration when the direction of the first vehicle body vertical motion speed and the direction of the first vehicle body vertical motion acceleration are consistent; The calculation module is further used to obtain a target current value corresponding to the first damping force and the movement speed of the electronically controlled shock absorber; A control module is used to control the electronically controlled shock absorber to generate a damping force according to a control current corresponding to the target current value, so as to control the body of the vehicle.

7. An electronic device, characterized in that: The device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the vehicle body control method as described in any one of claims 1 to 5 is implemented.

8. 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 vehicle body control method according to any one of claims 1 to 5 is implemented.

9. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the vehicle body control method as described in any one of claims 1 to 5.

10. A vehicle, characterized in that: Include at least one of the following: The vehicle body control device as claimed in claim 6; The electronic device as claimed in claim 7; The computer readable storage medium of claim 8; A computer program product as claimed in claim 9.

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