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

Abstract

The invention discloses a vehicle control method, device and equipment, a medium, a product and a vehicle, and relates to the technical field of vehicles. The vehicle control method comprises the steps that under the condition that a first wheel of a vehicle is excited by a road surface, the acceleration, the height and the unsprung movement speed of the first wheel are obtained; according to the acceleration, the height and the unsprung movement speed of the first wheel, excitation information corresponding to road surface excitation borne by the first wheel is determined; according to the excitation information, determining a first electrical parameter which needs to be applied to a shock absorber of a second wheel when the second wheel of the vehicle is subjected to road excitation; wherein the second wheel corresponds to the first wheel front and back; and under the condition that the second wheel is excited by the road surface, a shock absorber of the second wheel is controlled to generate damping force according to the first electric parameter so as to restrain vibration of the second wheel when the second wheel is excited by the road surface. According to the scheme disclosed by the invention, the riding comfort of the vehicle can be dynamically improved in the driving process of the vehicle.

Description

Technical Field

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

[0002] Vehicle ride comfort refers to the comfortable feeling that the vehicle brings to the driver and passengers during driving.

[0003] In the related art, the ride comfort of the vehicle is usually improved by adding a lumbar cushion to provide support for the waist, adjusting the seat position, using soft and long-stroke springs for the shock absorber to improve the shock absorption effect, etc. The above methods can only improve the ride comfort of the vehicle statically, but cannot dynamically improve the ride comfort of the vehicle during the vehicle driving process. Summary of the invention

[0004] The embodiments of the present application provide a vehicle control method, device, equipment, medium, product and vehicle, which can solve the problem that the vehicle riding comfort cannot be dynamically improved during vehicle driving.

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

[0006] When a first wheel of the vehicle is excited by a road surface, obtaining an acceleration, a height and an unsprung speed of the first wheel;

[0007] determining excitation information corresponding to a road surface excitation received by the first wheel according to the acceleration, height and unsprung speed of the first wheel;

[0008] Determine, according to the excitation information, a first electrical parameter that needs to be applied to a shock absorber of a second wheel when a second wheel of the vehicle is excited by a road surface; wherein the second wheel is a wheel corresponding to the front and rear of the first wheel;

[0009] When the second wheel is excited by the road surface, the shock absorber of the second wheel is controlled to generate a damping force according to the first electrical parameter to suppress the vibration of the second wheel when the second wheel is excited by the road surface.

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

[0011] an acquisition module, for acquiring the acceleration, height and unsprung speed of the first wheel when the first wheel of the vehicle is excited by the road surface;

[0012] A first determination module, configured to determine excitation information corresponding to a road surface excitation received by the first wheel according to the acceleration, height and unsprung motion speed of the first wheel;

[0013] A second determination module is used to determine, based on the excitation information, a first electrical parameter that needs to be applied to a shock absorber of a second wheel when a second wheel of the vehicle is excited by a road surface; wherein the second wheel is a wheel corresponding to the front and rear of the first wheel;

[0014] The first control module is used to control the shock absorber of the second wheel to generate a damping force according to the first electrical parameter when the second wheel is excited by the road surface, so as to suppress the vibration of the second wheel when the second wheel is excited by the road surface.

[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 steps of the vehicle control method provided in the embodiment of the present application are implemented.

[0016] 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 vehicle control method provided in the embodiment of the present application are implemented.

[0017] 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 vehicle control method provided in the embodiment of the present application are implemented.

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

[0019] The vehicle control device provided by the embodiment of the present application;

[0020] The electronic device provided by the embodiment of the present application;

[0021] The computer-readable storage medium provided by the embodiments of the present application.

[0022] In the embodiment of the present application, when the first wheel of the vehicle is excited by the road surface, the acceleration, height and unsprung speed of the first wheel are obtained; according to the acceleration, height and unsprung speed of the first wheel, the excitation information corresponding to the road surface excitation received by the first wheel is determined; according to the excitation information, the first electrical parameter to be applied to the shock absorber of the second wheel when the second wheel of the vehicle is excited by the road surface is determined; wherein the second wheel is a wheel corresponding to the front and rear of the first wheel; when the second wheel is excited by the road surface, the shock absorber of the second wheel is controlled to generate a damping force according to the first electrical parameter to suppress the vibration of the second wheel when the second wheel is excited by the road surface. In this way, after the first wheel of the vehicle is excited by the road surface, when the second wheel corresponding to the front and rear of the first wheel is excited by the road surface, the shock absorber of the second wheel is suppressed according to the road surface excitation received by the first wheel, the vibration of the second wheel when the second wheel is excited by the road surface can be suppressed, the vibration of the second wheel when the second wheel is excited by the road surface can be timely reduced, good vehicle body and unsprung control can be achieved, and the vehicle ride comfort during vehicle driving is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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.

[0024] Figure 1 is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0025] Figure 2 is a schematic diagram of a process of controlling a vehicle provided in an embodiment of the present application;

[0026] Figure 3 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0027] Figure 4 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] 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.

[0029] 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.

[0030] The vehicle 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.

[0031] Figure 1 FIG. 1 is a flow chart of a vehicle control method provided in an embodiment of the present application. Figure 1 As shown, the vehicle control method may include:

[0032] Step 101: When a first wheel of a vehicle is excited by a road surface, the acceleration, height and unsprung speed of the first wheel are obtained;

[0033] In some possible implementations of the embodiments of the present application, road surface excitation refers to a dynamic force on the vehicle caused by a change in road surface profile or road surface height. The embodiments of the present application do not limit the method used to detect whether the wheel is subjected to road surface excitation, and any available method can be applied to the embodiments of the present application.

[0034] In some possible implementations of the present application, the acceleration of the wheel in the present application can be detected by a vehicle body acceleration sensor, and the height and unsprung speed of the wheel can be detected by a height sensor. The unsprung vertical speed is the speed of the unsprung mass (such as the wheel) in the vertical direction.

[0035] Step 102: determining excitation information corresponding to the road surface excitation received by the first wheel according to the acceleration, height and unsprung speed of the first wheel;

[0036] In some possible implementations of the embodiments of the present application, step 102 may include: calculating the product of a first absolute value of the acceleration of the first wheel, a second absolute value of the height of the first wheel, and a third absolute value of the unsprung motion speed of the first wheel, to obtain excitation information corresponding to the road surface excitation received by the first wheel.

[0037] For example, assuming that the left front wheel of the vehicle is excited by the road surface, the acceleration, height and unsprung motion speed of the left front wheel of the vehicle are obtained as BodyAcc_FL, CornerHeiPosn_FL and Damper V_FL respectively. |BodyAcc_FL| is calculated and multiplied by |CornerHeiPosn_FL|, and then multiplied by |Damper V_FL| to obtain the excitation information corresponding to the road surface excitation received by the left front wheel.

[0038] Step 103: determining, based on the excitation information, a first electrical parameter that needs to be applied to a shock absorber of a second wheel of the vehicle when the second wheel is excited by the road surface; wherein the second wheel is a wheel corresponding to the front and rear of the first wheel;

[0039] In some possible implementations of the embodiment of the present application, the electrical parameter in the embodiment of the present application includes current or voltage. The corresponding relationship of the wheels in the embodiment of the present application is: the left front wheel corresponds to the left rear wheel, and the right front wheel corresponds to the right rear wheel.

[0040] In some possible implementations of the embodiments of the present application, step 103 may include: when the excitation information is greater than or equal to a first threshold and less than or equal to a second threshold, determining, based on the correspondence between the electrical parameters, wheel height and unsprung movement speed, a second electrical parameter corresponding to the height and unsprung movement speed of the second wheel when the second wheel is excited by the road surface, wherein the first threshold is less than the second threshold; and determining the second electrical parameter as the first electrical parameter.

[0041] In some possible implementations of the embodiments of the present application, a correspondence between the electrical parameter, the wheel height, and the unsprung speed may be established in advance. Optionally, a calibrator may calibrate the electrical parameter corresponding to a certain wheel height and a certain unsprung speed, obtain the correspondence between the electrical parameter, the wheel height, and the unsprung speed, and calibrate the first threshold and the second threshold.

[0042] Exemplarily, assuming that the left front wheel of the vehicle is first excited by the road surface, it is determined that the excitation information of the left front wheel being excited by the road surface is greater than or equal to a first threshold and less than or equal to a second threshold. When the left rear wheel is excited by the road surface, the electrical parameters corresponding to the height and unsprung speed of the left rear wheel are determined based on the correspondence between the electrical parameters, wheel height and unsprung speed, and the determined electrical parameters are used as the electrical parameters that need to be applied to the shock absorbers corresponding to the left and right wheels.

[0043] In some possible implementations of the embodiments of the present application, the vehicle control method provided by the embodiments of the present application may also include: when the excitation information is less than a first threshold, determining the electrical parameter requested by the electrical parameter request when the second wheel is excited by the road surface as the first electrical parameter, wherein the electrical parameter request is used to request the electrical parameter to be applied to the shock absorber of the second wheel.

[0044] In some possible implementations of the embodiments of the present application, the electrical parameter request for applying electrical parameters to the shock absorber of the second wheel when the second wheel is stimulated by the road surface includes but is not limited to: a skyhook control request, a groundhook control request, a steering operation request, etc.

[0045] Exemplarily, assuming that the left front wheel of the vehicle is first excited by the road surface, it is determined that the excitation information of the left front wheel excited by the road surface is less than a first threshold value. When the left rear wheel is excited by the road surface, a skyhook control request is obtained. The electrical parameters requested by the skyhook control request are determined as the electrical parameters that need to be applied to the shock absorbers corresponding to the left and right wheels.

[0046] In some possible implementations of the embodiments of the present application, the vehicle control method provided by the embodiments of the present application may also include: when the excitation information is greater than a second threshold, determining the electrical parameter applied to the shock absorber of the first wheel when the first wheel is excited by the road surface as the first electrical parameter.

[0047] For example, assuming that the left front wheel of the vehicle is first excited by the road surface, when the left front wheel of the vehicle is excited by the road surface, the electrical parameter applied to the shock absorber of the left front wheel is I FL When the left rear wheel is stimulated by the road surface, I FL Determine the electrical parameters that need to be applied to the shock absorber of the left rear wheel.

[0048] Step 104: When the second wheel is excited by the road surface, the shock absorber of the second wheel is controlled to generate a damping force according to the first electrical parameter to suppress the vibration of the second wheel when the second wheel is excited by the road surface.

[0049] In some possible implementations of the embodiments of the present application, step 104 may include: applying a first electrical parameter to the shock absorber of the second wheel to change the damping force generated by the shock absorber of the second wheel, thereby suppressing the vibration of the second wheel when the second wheel is excited by the road surface.

[0050] In the embodiment of the present application, when the first wheel of the vehicle is excited by the road surface, the acceleration, height and unsprung speed of the first wheel are obtained; according to the acceleration, height and unsprung speed of the first wheel, the excitation information corresponding to the road surface excitation received by the first wheel is determined; according to the excitation information, the first electrical parameter to be applied to the shock absorber of the second wheel when the second wheel of the vehicle is excited by the road surface is determined; wherein the second wheel is a wheel corresponding to the front and rear of the first wheel; when the second wheel is excited by the road surface, the shock absorber of the second wheel is controlled to generate a damping force according to the first electrical parameter to suppress the vibration of the second wheel when the second wheel is excited by the road surface. In this way, after the first wheel of the vehicle is excited by the road surface, when the second wheel corresponding to the front and rear of the first wheel is excited by the road surface, the shock absorber of the second wheel is suppressed according to the road surface excitation received by the first wheel, the vibration of the second wheel when the second wheel is excited by the road surface can be suppressed, the vibration of the second wheel when the second wheel is excited by the road surface can be timely reduced, good vehicle body and unsprung control can be achieved, and the vehicle ride comfort during vehicle driving is improved.

[0051] In some possible implementations of the embodiments of the present application, when the excitation information is greater than or equal to the first threshold and less than or equal to the second threshold and when the second wheel is excited by the road surface, before the shock absorber of the second wheel is controlled according to the first electrical parameter to generate the damping force, the vehicle control method provided in the embodiments of the present application may also include: when the second wheel is not excited by the road surface, controlling the shock absorber of the second wheel to generate the damping force according to the third electrical parameter, wherein the third electrical parameter is the minimum electrical parameter that needs to be applied to the shock absorber of the second wheel.

[0052] Exemplarily, assuming that the left front wheel of the vehicle is first excited by the road surface, it is determined that the excitation information of the left front wheel being excited by the road surface is greater than or equal to the first threshold and less than or equal to the second threshold. When the left rear wheel is not excited by the road surface, the minimum electrical parameters are first applied to the shock absorbers corresponding to the left and right wheels to meet the upcoming road surface excitation. When the left rear wheel is excited by the road surface, the electrical parameters corresponding to the height and unsprung movement speed of the left rear wheel are determined according to the correspondence between the electrical parameters, wheel height and unsprung movement speed. The determined electrical parameters are used as the electrical parameters that need to be applied to the shock absorbers corresponding to the left and right wheels, and then the determined electrical parameters are applied to the shock absorbers of the left and right wheels to change the damping force generated by the shock absorbers of the left and right wheels, thereby suppressing the vibration of the left and right wheels when the left and right wheels are excited by the road surface.

[0053] When the first wheel in the embodiment of the present application is the front wheel of the vehicle body, the riding comfort of the rear seats of the vehicle can be improved; when the first wheel in the embodiment of the present application is the rear wheel of the vehicle body, the riding comfort of the driver's seat and the co-driver's seat can be improved.

[0054] It can be understood that when the vehicle is moving forward, the first wheel in the embodiment of the present application is the front wheel of the vehicle body; when the vehicle is moving backward (for example, when reversing), the first wheel in the embodiment of the present application is the rear wheel of the vehicle body.

[0055] In some possible implementations of the embodiments of the present application, when the excitation information corresponding to the road surface excitation received by the first wheel is less than a first threshold value, it indicates that the road surface excitation received by the first wheel is small; when the excitation information corresponding to the road surface excitation received by the first wheel is greater than a second threshold value, it indicates that the road surface excitation received by the first wheel is large; when the excitation information corresponding to the road surface excitation received by the first wheel is greater than or equal to the first threshold value and less than or equal to the second threshold value, it indicates that the road surface excitation received by the first wheel is medium or moderate.

[0056] In some possible implementations of the embodiments of the present application, when the first wheel is first subjected to road excitation and the road excitation received by the first wheel is relatively small, when the second wheel is subjected to the road excitation, the electrical parameters requested by the current electrical parameter request are applied to the shock absorber corresponding to the second wheel to change the damping force generated by the shock absorber; when the first wheel is first subjected to road excitation and the road excitation received by the first wheel is moderate, the minimum electrical parameters are first applied to the shock absorber corresponding to the second wheel to meet the road excitation, and when the second wheel is subjected to the road excitation, the electrical parameters corresponding to the height and the unsprung movement speed of the second wheel are determined according to the correspondence between the electrical parameters, the wheel height and the unsprung movement speed, and the determined electrical parameters are applied to the shock absorber corresponding to the second wheel to change the damping force generated by the shock absorber; when the first wheel is first subjected to road excitation and the road excitation received by the first wheel is relatively large, when the second wheel is subjected to the road excitation, the electrical parameters applied to the shock absorber corresponding to the first wheel when the first wheel is subjected to road excitation are applied to the shock absorber corresponding to the second wheel to change the damping force generated by the shock absorber.

[0057] Figure 2 Schematic diagram of the process of controlling a vehicle provided by an embodiment of the present application. The process of controlling a vehicle includes the following steps:

[0058] Step 201: Detect whether the first wheel is stimulated by the road surface, if yes, execute step 202, if no, end;

[0059] Step 202: determining excitation information corresponding to the road surface excitation received by the first wheel according to the acceleration, height and unsprung speed of the first wheel;

[0060] Step 203: Determine whether the incentive information is less than a first threshold, if yes, execute step 204, if no, execute step 205;

[0061] Step 204: when a second wheel corresponding to the front and rear of the first wheel is excited by the road surface, applying the electrical parameter requested by the current electrical parameter request to the shock absorber corresponding to the second wheel, so as to change the damping force generated by the shock absorber corresponding to the second wheel;

[0062] Step 205: Determine whether the incentive information is greater than or equal to the second threshold, if yes, execute step 206, if no, execute step 207;

[0063] Step 206: When the second wheel is excited by the road surface, the electrical parameters applied to the shock absorber corresponding to the first wheel when the first wheel is excited by the road surface are applied to the shock absorber corresponding to the second wheel, so as to change the damping force generated by the shock absorber corresponding to the second wheel;

[0064] Step 207: When the second wheel is not excited by the road surface, a minimum electrical parameter is applied to the shock absorber corresponding to the second wheel to change the damping force generated by the shock absorber corresponding to the second wheel;

[0065] Step 208: when the second wheel is excited by the road surface, determining the electrical parameters corresponding to the height and unsprung speed of the second wheel when the second wheel is excited by the road surface according to the corresponding relationship among the electrical parameters, the wheel height and the unsprung speed;

[0066] Step 209: applying the determined electrical parameters to the shock absorber corresponding to the second wheel to change the damping force generated by the shock absorber corresponding to the second wheel.

[0067] The implementation process of each step in the process of controlling the vehicle can be referred to Figure 1 The description in the illustrated embodiment will not be repeated in the embodiments of the present application.

[0068] The present application also provides a vehicle control device, such as Figure 3 shown. Figure 3 300 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application. The vehicle control device 300 may include:

[0069] An acquisition module 301 is used to acquire the acceleration, height and unsprung speed of the first wheel when the first wheel of the vehicle is excited by the road surface;

[0070] A first determination module 302, configured to determine excitation information corresponding to a road surface excitation received by the first wheel according to the acceleration, height and unsprung speed of the first wheel;

[0071] The second determination module 303 is used to determine, based on the excitation information, a first electrical parameter that needs to be applied to the shock absorber of the second wheel when the second wheel of the vehicle is excited by the road surface; wherein the second wheel is a wheel corresponding to the front and rear of the first wheel;

[0072] The first control module 304 is used to control the shock absorber of the second wheel to generate a damping force according to the first electrical parameter when the second wheel is excited by the road surface, so as to suppress the vibration of the second wheel when the second wheel is excited by the road surface.

[0073] In the embodiment of the present application, when the first wheel of the vehicle is excited by the road surface, the acceleration, height and unsprung speed of the first wheel are obtained; according to the acceleration, height and unsprung speed of the first wheel, the excitation information corresponding to the road surface excitation received by the first wheel is determined; according to the excitation information, the first electrical parameter to be applied to the shock absorber of the second wheel when the second wheel of the vehicle is excited by the road surface is determined; wherein the second wheel is a wheel corresponding to the front and rear of the first wheel; when the second wheel is excited by the road surface, the shock absorber of the second wheel is controlled to generate a damping force according to the first electrical parameter to suppress the vibration of the second wheel when the second wheel is excited by the road surface. In this way, after the first wheel of the vehicle is excited by the road surface, when the second wheel corresponding to the front and rear of the first wheel is excited by the road surface, the shock absorber of the second wheel is suppressed according to the road surface excitation received by the first wheel, the vibration of the second wheel when the second wheel is excited by the road surface can be suppressed, the vibration of the second wheel when the second wheel is excited by the road surface can be timely reduced, good vehicle body and unsprung control can be achieved, and the vehicle ride comfort during vehicle driving is improved.

[0074] In some possible implementations of the embodiment of the present application, the first determining module 302 may be specifically used to:

[0075] The product of a first absolute value of the acceleration of the first wheel, a second absolute value of the height of the first wheel, and a third absolute value of the unsprung speed of the first wheel is calculated to obtain the excitation information.

[0076] In some possible implementations of the embodiment of the present application, the second determining module 303 may be specifically used to:

[0077] When the excitation information is greater than or equal to the first threshold and less than or equal to the second threshold, the second electrical parameter corresponding to the height and unsprung movement speed of the second wheel when the second wheel is excited by the road surface is determined according to the correspondence between the electrical parameters, wheel height and unsprung movement speed, wherein the first threshold is less than the second threshold; the second electrical parameter is determined as the first electrical parameter.

[0078] In some possible implementations of the embodiments of the present application, the vehicle control device 300 provided in the embodiments of the present application may further include:

[0079] The second control module is used to control the shock absorber of the second wheel to generate a damping force according to a third electrical parameter when the excitation information is greater than or equal to the first threshold and less than or equal to the second threshold and when the second wheel is not excited by the road surface, wherein the third electrical parameter is the minimum electrical parameter that needs to be applied to the shock absorber of the second wheel.

[0080] In some possible implementations of the embodiment of the present application, the second determining module 303 may be specifically used to:

[0081] When the excitation information is less than the first threshold, the electrical parameter requested by the electrical parameter request is determined as the first electrical parameter when the second wheel is excited by the road surface, wherein the electrical parameter request is used to request the electrical parameter applied to the shock absorber of the second wheel.

[0082] In some possible implementations of the embodiment of the present application, the second determining module 303 may be specifically used to:

[0083] When the excitation information is greater than the second threshold, an electrical parameter applied to the shock absorber of the first wheel when the first wheel is excited by the road surface is determined as the first electrical parameter.

[0084] Figure 4 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0085] The electronic device may include a processor 401 and a memory 402 storing computer program instructions.

[0086] Specifically, the processor 401 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.

[0087] Memory 402 may include a large capacity memory for data or instructions. By way of example and not limitation, memory 402 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, memory 402 may include a removable or non-removable (or fixed) medium. In appropriate cases, memory 402 may be inside or outside of an electronic device. In some specific embodiments, memory 402 is a non-volatile solid-state memory.

[0088] 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 vehicle control method according to the present application.

[0089] The processor 401 implements the steps of the vehicle control method provided in the embodiment of the present application by reading and executing the computer program instructions stored in the memory 402.

[0090] In one example, the electronic device may further include a communication interface 403 and a bus 410. Figure 4 As shown, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 and communicate with each other.

[0091] The communication interface 403 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0092] The bus 410 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 410 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.

[0093] The electronic device can execute the vehicle control method provided in the embodiment of the present application, thereby achieving the corresponding technical effects of the vehicle control method provided in the embodiment of the present application.

[0094] In addition, in combination with the vehicle control method 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 vehicle control method 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.

[0095] 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 vehicle control method 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.

[0096] The present application provides a vehicle, comprising at least one of the following items:

[0097] The vehicle control device provided by the embodiment of the present application;

[0098] The electronic device provided by the embodiment of the present application;

[0099] The computer-readable storage medium provided by the embodiments of the present application.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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 control method, characterized in that: The method comprises: When a first wheel of a vehicle is excited by a road surface, obtaining an acceleration, a height and an unsprung speed of the first wheel; determining excitation information corresponding to the road surface excitation according to the acceleration, the height and the unsprung motion speed; Determine, according to the excitation information, a first electrical parameter that needs to be applied to a shock absorber of a second wheel of the vehicle when the second wheel is excited by the road surface; wherein the second wheel is a wheel corresponding to the front and rear of the first wheel; When the second wheel is excited by the road surface, the shock absorber of the second wheel is controlled to generate a damping force according to the first electrical parameter to suppress vibration of the second wheel when the second wheel is excited by the road surface.

2. The method according to claim 1, characterized in that The determining, according to the acceleration, the height and the unsprung motion speed, the excitation information corresponding to the road surface excitation comprises: The excitation information is obtained by calculating the product of the first absolute value of the acceleration, the second absolute value of the height, and the third absolute value of the unsprung motion speed.

3. The method according to claim 2, characterized in that The determining, based on the excitation information, a first electrical parameter that needs to be applied to a shock absorber of the second wheel when the second wheel of the vehicle is excited by the road surface comprises: When the excitation information is greater than or equal to a first threshold and less than or equal to a second threshold, determining a second electrical parameter corresponding to the height of the second wheel and the unsprung speed of the second wheel when the second wheel is excited by the road surface according to a correspondence among the electrical parameter, the wheel height, and the unsprung speed, wherein the first threshold is less than the second threshold; The second electrical parameter is determined as the first electrical parameter.

4. The method according to claim 3, characterized in that Before controlling the shock absorber of the second wheel to generate a damping force according to the first electrical parameter when the second wheel is excited by the road surface, the method further includes: When the second wheel is not excited by the road surface, the shock absorber of the second wheel is controlled to generate a damping force according to a third electrical parameter, wherein the third electrical parameter is a minimum electrical parameter that needs to be applied to the shock absorber of the second wheel.

5. The method according to claim 3, characterized in that: The determining, based on the excitation information, a first electrical parameter that needs to be applied to a shock absorber of the second wheel when the second wheel of the vehicle is excited by the road surface comprises: When the excitation information is less than the first threshold, the electrical parameter requested by the electrical parameter request when the second wheel is subjected to the road surface excitation is determined as the first electrical parameter, wherein the electrical parameter request is used to request the electrical parameter applied to the shock absorber of the second wheel.

6. The method according to claim 3, characterized in that The determining, based on the excitation information, a first electrical parameter that needs to be applied to a shock absorber of the second wheel when the second wheel of the vehicle is excited by the road surface comprises: When the excitation information is greater than the second threshold, an electrical parameter applied to the shock absorber of the first wheel when the first wheel is excited by the road surface is determined as the first electrical parameter.

7. A vehicle control device, characterized in that: The device comprises: an acquisition module, configured to acquire the acceleration, height and unsprung speed of the first wheel when the first wheel of the vehicle is excited by the road surface; A first determination module, configured to determine excitation information corresponding to the road surface excitation according to the acceleration, the height and the unsprung motion speed; A second determination module is used to determine, based on the excitation information, a first electrical parameter that needs to be applied to a shock absorber of a second wheel of the vehicle when the second wheel is excited by the road surface; wherein the second wheel is a wheel corresponding to the front and rear of the first wheel; The first control module is used to control the shock absorber of the second wheel to generate a damping force according to the first electrical parameter when the second wheel is excited by the road surface, so as to suppress the vibration of the second wheel when the second wheel is excited by the road surface.

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 vehicle control method 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 vehicle control method 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 vehicle control method 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 vehicle control device according to claim 7; The electronic device according to claim 8; The computer readable storage medium of claim 9.

Images