Vehicle suspension ground shed control method, device, equipment, medium, product and vehicle

Abstract

The invention discloses a vehicle suspension ground shed control method, device and equipment, a medium, a product and a vehicle. The method comprises the following steps: acquiring sprung vertical motion data, sprung vertical motion data, sprung mass and unsprung mass; respectively calculating an unsprung acting force and a sprung acting force of the wheel based on the data of the unsprung mass and the corresponding sprung vertical motion as well as the sprung mass and the corresponding sprung vertical motion; acquiring a preset damping coefficient of each shock absorber, and adjusting the preset damping coefficient so as to determine the damping force of the shock absorber based on the adjusted preset damping coefficient, the unsprung acting force and the sprung acting force; according to the preset mapping relation between the damping force of the shock absorber and the control electric parameters, the control electric parameters corresponding to the damping force of the shock absorber are determined, so that the shock absorber outputs the corresponding damping force. According to the embodiment of the invention, the second-order comfort of the vehicle in the driving process is improved, meanwhile, the rolling and pitching of the vehicle body can be reduced, and the safety of a driver and passengers is improved.

Description

Technical Field

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

[0002] When the vehicle is driving, the vehicle suspension system can transmit all the forces between the wheels and the vehicle body, and its performance directly affects the first-order comfort and second-order comfort of the vehicle.

[0003] At present, a vehicle suspension system is usually composed of an air suspension + a continuously damped variable shock absorber structure or a coil spring and a continuously damped variable shock absorber structure. For these vehicle suspension systems, a ceiling control method is usually used to control the vehicle suspension system, that is, ceiling control is used to perform damping control on the vehicle body above the coil spring in the vehicle to achieve control of the vehicle body posture and ensure the comfort of the vehicle.

[0004] However, although the use of only skylight control can ensure the first-order comfort of the vehicle, it will lack second-order comfort. Moreover, when the vehicle encounters sudden road conditions or high-speed turns, skylight control can only control the vertical vibration of the vehicle body and cannot respond in time and maintain the vehicle's driving posture, affecting the safety of the driver and passengers. Summary of the invention

[0005] The embodiments of the present application provide a vehicle suspension ground shelf control method, device, equipment, medium, product and vehicle, which can improve the second-order comfort during vehicle driving, and can quickly adjust the vehicle suspension, reduce the roll and pitch of the vehicle body, maintain the vehicle's driving posture, and improve the safety of the driver and passengers.

[0006] On the one hand, an embodiment of the present application provides a vehicle suspension ground shelf control method, wherein the vehicle suspension includes a shock absorber disposed at a position corresponding to a vehicle wheel, and the method includes:

[0007] Obtaining unsprung vertical motion data, sprung vertical motion data, sprung mass, and unsprung mass;

[0008] For each wheel on the vehicle, based on the unsprung mass and its corresponding unsprung vertical motion, the sprung mass and its corresponding sprung vertical motion data, respectively calculate the unsprung force and the sprung force of the wheel, wherein the unsprung force is used to represent the force exerted by the non-vehicle suspension structure in the vehicle on the ground through the wheel, and the sprung force is used to represent the force exerted by the vehicle suspension in the vehicle on the ground through the wheel;

[0009] Acquiring a preset damping coefficient of each shock absorber, and adjusting the preset damping coefficient so that a damping force of the shock absorber determined based on the adjusted preset damping coefficient, the unsprung force, and the sprung force is less than a preset damping threshold;

[0010] According to the mapping relationship between the damping force of the shock absorber and the control electrical parameter, the control electrical parameter corresponding to the damping force of the shock absorber is determined, so that the shock absorber outputs the corresponding damping force according to the control electrical parameter.

[0011] Optionally, the unsprung vertical motion data includes unsprung acceleration, and the sprung vertical motion data includes sprung acceleration;

[0012] The unsprung force and the sprung force of the wheel are calculated based on the unsprung mass and its corresponding unsprung vertical motion data, the sprung mass and its corresponding sprung vertical motion data, respectively, including:

[0013] According to Newton's second law, the unsprung force of the wheel is calculated based on the unsprung mass and its corresponding unsprung acceleration;

[0014] The sprung force of the wheel is calculated based on the sprung mass and its corresponding sprung acceleration according to Newton's second law.

[0015] Optionally, the adjusting the preset damping coefficient includes:

[0016] respectively obtaining the movement directions of the unsprung acceleration and the sprung acceleration;

[0017] When the unsprung acceleration and the sprung acceleration have the same movement direction, reducing the preset damping coefficient to obtain a first adjustment damping coefficient;

[0018] The first adjustment damping coefficient is determined as the adjusted preset damping coefficient.

[0019] Optionally, when the directions of the unsprung acceleration and the sprung acceleration are inconsistent, the adjusting the preset damping coefficient so that the damping force of the shock absorber determined based on the adjusted preset damping coefficient, the unsprung force and the sprung force is less than a preset damping threshold value further includes:

[0020] The preset damping coefficient is adjusted according to a preset adjustment strategy to obtain an adjusted preset damping coefficient, so that the damping force of the shock absorber determined based on the adjusted preset damping coefficient, the unsprung force and the sprung force is zero.

[0021] Optionally, the damping force of the shock absorber determined based on the adjusted preset damping coefficient, the unsprung force and the sprung force includes:

[0022] determining a first unsprung damping force based on a product of the preset damping coefficient and the unsprung force;

[0023] When the unsprung acceleration and the sprung acceleration have the same movement direction, the first unsprung damping force is adjusted according to the first adjustment damping coefficient to obtain a second unsprung damping force;

[0024] The second unsprung damping force and the sprung force are summed to determine a damping force of the shock absorber.

[0025] Optionally, the unsprung vertical motion data includes an unsprung velocity, and the sprung vertical motion data includes a sprung velocity. The calculating of the unsprung force and the sprung force of the wheel based on the unsprung mass and its corresponding unsprung vertical motion, and the sprung mass and its corresponding sprung vertical motion data, respectively, includes:

[0026] calculating the unsprung impulse of the wheel according to the unsprung mass and its corresponding unsprung speed;

[0027] calculating the sprung impulse of the wheel according to the sprung mass and its corresponding sprung velocity;

[0028] The unsprung impulse and the sprung impulse are differentiated respectively to obtain the unsprung force and the sprung force.

[0029] Optionally, the mapping relationship between the preset damping force of the shock absorber and the control electrical parameter includes a mapping relationship between a tension state of the shock absorber and the control electrical parameter and a mapping relationship between a compression state of the shock absorber and the control electrical parameter, and determining the control electrical parameter corresponding to the damping force of the shock absorber according to the mapping relationship between the preset damping force of the shock absorber and the control electrical parameter includes:

[0030] Obtaining the movement direction of the sprung droop movement data;

[0031] When the movement direction is upward, determining the control electrical parameter corresponding to the damping force of the shock absorber according to the mapping relationship between the stretching state of the shock absorber and the control electrical parameter;

[0032] When the movement direction is downward, the control electrical parameters corresponding to the damping force of the shock absorber are determined according to the compression state of the shock absorber and the control electrical parameters.

[0033] On the other hand, an embodiment of the present application provides a vehicle suspension floor shelf control device, the device comprising:

[0034] An acquisition module, used for acquiring unsprung vertical motion data, sprung vertical motion data, sprung mass and unsprung mass;

[0035] a calculation module, for calculating, for each wheel on the vehicle, an unsprung force and a sprung force of the wheel based on the unsprung mass and its corresponding unsprung vertical motion data, the sprung mass and its corresponding sprung vertical motion data, the unsprung force being used to represent a force exerted by a non-vehicle suspension structure in the vehicle on the ground through the wheel, and the sprung force being used to represent a force exerted by a vehicle suspension in the vehicle on the ground through the wheel;

[0036] an adjusting module, configured to obtain a preset damping coefficient of each shock absorber, and adjust the preset damping coefficient so that a damping force of the shock absorber determined based on the adjusted preset damping coefficient, the unsprung force, and the sprung force is less than a preset damping threshold;

[0037] The determination module is used to determine the control electrical parameters corresponding to the damping force of the shock absorber according to the mapping relationship between the damping force of the shock absorber and the control electrical parameters, so that the shock absorber outputs the corresponding damping force according to the control electrical parameters.

[0038] In another aspect, an embodiment of the present application provides an electronic device, the device comprising: a processor and a memory storing computer program instructions;

[0039] When the processor executes the computer program instructions, the vehicle suspension floor shed method as described in the first aspect is implemented.

[0040] On the other hand, an embodiment of the present application provides a computer storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the vehicle suspension floor shed method as described in the first aspect is implemented.

[0041] On the other hand, 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 suspension ground shelf method as described in the first aspect.

[0042] In another aspect, an embodiment of the present application provides a vehicle, wherein the vehicle comprises at least one of:

[0043] The vehicle suspension control device as described above;

[0044] The electronic equipment mentioned above;

[0045] The computer-readable storage medium described above;

[0046] The computer program product described above.

[0047] The vehicle suspension ground shelf control method, device, equipment, medium, product and vehicle of the embodiments of the present application can calculate the unsprung force and the sprung force respectively when controlling the current of the shock absorber, and adjust the current of the shock absorber by adjusting the preset damping coefficient to keep the unsprung force and the sprung force constant, thereby improving the stability of the vehicle suspension, thereby improving the second-order comfort during vehicle driving, and at the same time can quickly adjust the vehicle suspension, reduce the roll and pitch of the vehicle body, maintain the driving posture of the vehicle, and improve the safety of the driver and passengers. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] 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.

[0049] Figure 1 It is a flow chart of a vehicle suspension floor shed control method provided by an embodiment of the present application;

[0050] Figure 2 is a geometric diagram of the position of the center of gravity of a vehicle and a motion sensor provided by an embodiment of the present application;

[0051] Figure 3 is a flow chart of a method for determining the damping force of a shock absorber provided by an embodiment of the present application;

[0052] Figure 4 is a structural schematic diagram of a vehicle suspension floor shed control device provided by another embodiment of the present application;

[0053] Figure 5 It is a structural schematic diagram of an electronic device provided in yet another embodiment of the present application. DETAILED DESCRIPTION

[0054] 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.

[0055] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0056] In order to solve the problems of the prior art, the embodiments of the present application provide a vehicle suspension ground canopy control method, device, equipment, medium, product and vehicle. When controlling the current of the shock absorber, the unsprung force and the sprung force are calculated respectively, and the current of the shock absorber is adjusted by adjusting the preset damping coefficient to keep the unsprung force and the sprung force constant, thereby improving the stability of the vehicle suspension, thereby improving the second-order comfort during vehicle driving, and at the same time being able to quickly adjust the vehicle suspension, reduce the roll and pitch of the vehicle body, maintain the driving posture of the vehicle, and improve the safety of the driver and passengers.

[0057] The following first introduces the vehicle suspension floor shelf control method provided in the embodiment of the present application.

[0058] Figure 1 FIG. 1 is a flow chart of a vehicle suspension floor shed control method provided by an embodiment of the present application. Figure 1 As shown, the vehicle suspension floor shelf control method may include S101-S104:

[0059] S101, obtaining unsprung vertical motion data, sprung vertical motion data, sprung mass, and unsprung mass.

[0060] In an embodiment of the present application, the vehicle suspension may include a shock absorber arranged at a position corresponding to the vehicle wheel, and a height sensor is arranged on the vehicle suspension at a position corresponding to the shock absorber. The height sensor can obtain height information of the vehicle suspension in the vertical direction, and the unsprung vertical motion data can be calculated through the height information. As an example, the unsprung vertical motion data may include unsprung vertical acceleration or unsprung vertical velocity.

[0061] In addition, in this embodiment, motion sensors can be set at any at least three positions on the vehicle body, and the at least three motion sensors can detect the motion data of the vehicle body in the vertical direction, and the sprung vertical acceleration or the sprung vertical velocity can be calculated based on the motion data.

[0062] Specifically, when the unsprung vertical motion data includes the unsprung vertical acceleration, calculating the unsprung vertical motion data may include:

[0063] Acquire position information of at least three motion sensors, any two of which are located on the same target axis;

[0064] For each motion sensor, calculation is performed based on the position information and the center of gravity position of the vehicle to obtain a first lateral distance and a first longitudinal distance between each motion sensor and the center of gravity position;

[0065] The vertical motion data of the vehicle body is determined based on the first longitudinal distance, the first lateral distance and the suspension acceleration corresponding to the at least three motion sensors.

[0066] For details, see Figure 2 , Figure 2 A geometric diagram of the motion sensor and the center of gravity of the vehicle is shown, wherein FL represents the position of the motion sensor corresponding to the shock absorber at the left front wheel position of the vehicle, FR represents the position of the motion sensor corresponding to the shock absorber at the right front wheel position of the vehicle, RL represents the position of the motion sensor corresponding to the shock absorber at the left rear wheel position of the vehicle, and O represents the center of gravity of the vehicle.

[0067] In an embodiment of the present application, a coordinate system can be established with the center of gravity as the coordinate origin, the longitudinal movement axis of the vehicle suspension as the X-axis, and the lateral movement axis of the vehicle suspension as the Y-axis. The coordinates of each motion sensor are determined according to the position information pre-input by the three sensors, and then the first lateral distance and the first longitudinal distance are determined by the coordinates of the motion sensor, wherein the first lateral distance of FL is W1, the first longitudinal distance of FL is L1, the first lateral distance of FR is W1, the first longitudinal distance of FR is L1, the first lateral distance of RL is W2, and the first longitudinal distance of RL is L2.

[0068] As an example, FR and FL are on the same target axis, and the target axis includes the front axis or the rear axis. In this example, the position information corresponding to the two motion sensors of the front axis and their corresponding local motion data are used.

[0069] In this embodiment, when determining the overall motion data of the vehicle body, it is first necessary to perform geometric calculations using the position information of at least three motion sensors and the center of gravity position of the vehicle to obtain a first lateral distance and a first longitudinal distance between each motion sensor and the center of gravity position of the vehicle. The overall motion data of the vehicle body can be calculated using the following formulas (1)-(3):

[0070]

[0071] Among them, R A is the lateral acceleration of the vehicle suspension, H A is the longitudinal acceleration of the vehicle suspension, P A is the vertical acceleration of the vehicle suspension, A FL is the acceleration detected by the motion sensor at the FL position, A FR is the acceleration detected by the motion sensor at the FR position, A RL is the acceleration detected by the motion sensor at the RL position.

[0072] In some other embodiments, the method may further include:

[0073] Acquire height information of different positions of a vehicle suspension detected by multiple height sensors;

[0074] Based on the height information and the local movement data of the suspension at different positions of the vehicle suspension, the overall movement data of the vehicle body are determined.

[0075] Specifically, in an embodiment of the present application, the height information of different positions of the vehicle suspension during the movement of the vehicle can be obtained by a height sensor arranged on the vehicle suspension, the vertical motion data of the vehicle body can be determined by the height information, and then the lateral motion data of the vehicle body and the longitudinal motion data of the vehicle body can be determined by the local motion data of the suspension at different positions of the vehicle suspension.

[0076] In this embodiment, the overall motion data of the vehicle body is determined by the local motion data of the suspension at different positions of the vehicle suspension, which can integrate the overall working condition of the vehicle suspension, realize the overall motion state analysis of the vehicle suspension, improve the control basis for controlling the electrical parameters of each shock absorber, and more accurately analyze the damping force output by the shock absorber.

[0077] In some other embodiments, the user can input the sprung mass and unsprung mass in advance so that they can be directly obtained, wherein the sprung mass is the mass of the structure directly acted upon by the vehicle suspension, and the unsprung mass is the mass of the structure not directly acted upon by the vehicle suspension, such as the mass of structures not supported by the vehicle suspension, such as wheels and hubs.

[0078] S102, for each wheel on the vehicle, respectively calculating the unsprung force and the sprung force of the wheel based on the unsprung mass and its corresponding unsprung vertical motion data, the sprung mass and its corresponding sprung vertical motion data.

[0079] As an example, the unsprung force is used to represent the force exerted by non-vehicle suspension structures in the vehicle on the ground through the wheels, and the sprung force is used to represent the force exerted by the vehicle suspension in the vehicle on the ground through the wheels.

[0080] In this embodiment, S102 may include:

[0081] According to Newton's second law, the unsprung force on the wheel is calculated based on the unsprung mass and its corresponding unsprung acceleration;

[0082] According to Newton's second law, the sprung force on the wheel is calculated from the sprung mass and its corresponding sprung acceleration.

[0083] In this embodiment, when the unsprung vertical motion data includes the unsprung acceleration and the sprung vertical motion data includes the sprung acceleration, the unsprung force and the sprung force can be calculated respectively according to Newton's second law, that is, the unsprung force can be calculated according to the unsprung mass and the unsprung acceleration, and the sprung force can be calculated according to the sprung mass and the sprung acceleration. It can be understood that according to Newton's second law, the force of the unsprung structure on the ground and the force of the sprung structure on the ground through the wheels can be determined, wherein the unsprung structure is a structure that can be directly supported by the vehicle suspension, and the sprung structure can be a structure indirectly supported by the vehicle suspension.

[0084] In some other embodiments, when the unsprung vertical motion data includes the unsprung velocity, the sprung vertical motion data includes the sprung velocity, and the motion sensor is an acceleration sensor, S102 may further include:

[0085] Calculate the unsprung impulse of the wheel based on the unsprung mass and its corresponding unsprung velocity;

[0086] Calculate the sprung impulse of the wheel based on the sprung mass and its corresponding sprung velocity;

[0087] The unsprung impulse and the sprung impulse are differentiated to obtain the unsprung force and the sprung force respectively.

[0088] In the embodiment of the present application, the unsprung speed and the sprung speed can be respectively integrated according to time to obtain the unsprung speed and the sprung speed, and then the unsprung impulse of the wheel can be calculated by the unsprung mass and the unsprung speed, and the sprung impulse can be calculated by the sprung mass and its corresponding sprung speed;

[0089] Then, by differentiating the unsprung impulse and the sprung impulse respectively, the unsprung force and the sprung force can be obtained.

[0090] In some other embodiments, the motion sensor may be a velocity sensor. In the case where the motion sensor is a velocity sensor, the unsprung force and the sprung force corresponding to each shock absorber position may be directly determined according to the unsprung velocity and the sprung velocity.

[0091] S103, obtaining a preset damping coefficient of each shock absorber, and adjusting the preset damping coefficient so that the damping force of the shock absorber determined based on the adjusted preset damping coefficient, the unsprung force, and the sprung force is less than a preset damping threshold.

[0092] In some embodiments, the damping force of the shock absorber determined by adjusting the preset damping coefficient, unsprung force and sprung force is always less than a preset damping threshold, so that the damping force output by the shock absorber can maintain the dynamic balance of the unsprung structure and the sprung structure, thereby keeping the force applied to the ground by the unsprung structure and the sprung structure through the wheels constant or varying within a preset range.

[0093] It is worth noting that the preset damping threshold is determined by the staff through a large number of experiments.

[0094] In this embodiment, the goal of vehicle suspension ground shelf control is to keep the unsprung force and the sprung force equal or the difference between the unsprung force and the sprung force within a preset range. Based on this goal, the unsprung force can be adjusted by controlling the damping force output by the shock absorber to achieve the goal.

[0095] In this embodiment, the force F exerted by the wheel on the ground can be expressed by the following formula (4):

[0096] <![CDATA[F=(m1+m2)*g-(k1*m1*a1+m2*a2)]]> (4)

[0097] Among them, m1 is the unsprung mass corresponding to each wheel position in the vehicle, m2 is the sprung mass corresponding to each wheel position in the vehicle, a1 is the unsprung vertical motion data corresponding to the vehicle wheel position, a2 is the sprung vertical motion data corresponding to the vehicle wheel position, g is the gravitational acceleration, and k1 is the preset damping coefficient.

[0098] Specifically, in some embodiments, through a large number of experiments, it can be known that the sprung acceleration is less than half of the unsprung acceleration. Therefore, according to the above formula (4), it can be known that k1*m1*a1 is the damping force that the shock absorber needs to provide, and the preset damping coefficient is adjusted to keep k1*m1*a1+m2*a2 constant, that is, by adjusting the preset damping coefficient K1, the damping force of the shock absorber is changed, and then the damping force of the shock absorber makes k1*m1*a1+m2*a2 maintain constant or change within a preset range, which can ensure that the force exerted by the wheel on the ground remains unchanged or changes within a preset range, thereby improving the second-order comfort of the vehicle during driving.

[0099] In some embodiments, in order to ensure that the force exerted by the wheel on the ground remains unchanged or changes within a preset range, it is necessary to determine the damping force of the shock absorber. In the process of determining the damping force of the shock absorber, it is first necessary to determine the movement directions of the unsprung acceleration and the sprung acceleration. The movement directions of the unsprung acceleration and the sprung acceleration determine the adjustment method of the damping force of the shock absorber.

[0100] In some embodiments, adjusting the preset damping coefficient may include:

[0101] Obtain the movement directions of the unsprung acceleration and the sprung acceleration respectively;

[0102] When the movement directions of the unsprung acceleration and the sprung acceleration are consistent, reducing the preset damping coefficient to obtain a first adjustment damping coefficient;

[0103] The first adjustment damping coefficient is determined as the adjusted preset damping coefficient.

[0104] Specifically, when the sign of the unsprung acceleration is consistent with the sign of the sprung acceleration, it means that the unsprung structure and the sprung structure are moving in the same direction at this time, and the force of the wheel on the ground will change at this time. At this time, in order to reduce the change, it is necessary to reduce the preset damping coefficient to obtain the first adjustment damping coefficient, and the first adjustment damping coefficient is determined as the adjusted preset damping coefficient. At this time, the damping force of the shock absorber determined according to the first adjustment damping coefficient, the unsprung force and the sprung force can keep the force of the wheel on the ground constant or change within a preset range, which can ensure that the force of the wheel on the ground is unchanged or changes within a preset range, thereby improving the second-order comfort of the vehicle during driving.

[0105] In other embodiments, when the directions of the unsprung acceleration and the sprung acceleration are inconsistent, adjusting the preset damping coefficient so that the damping force of the shock absorber determined based on the adjusted preset damping coefficient, the unsprung force and the sprung force is less than a preset damping threshold, further comprising:

[0106] The preset damping coefficient is adjusted according to the preset adjustment strategy to obtain an adjusted preset damping coefficient, so that the damping force of the shock absorber determined based on the adjusted preset damping coefficient, the unsprung force and the sprung force is zero.

[0107] In this embodiment, when the sign of the unsprung acceleration is inconsistent with the sign of the sprung acceleration, it indicates that the unsprung structure and the sprung structure of the vehicle are moving towards each other. At this time, in order to ensure the second-order comfort of the vehicle, it is necessary to make the unsprung force equal to the sprung force to maintain the equal force of the wheel on the ground. The preset damping coefficient can be adjusted through a preset adjustment strategy to adjust the damping force of the shock absorber, thereby changing the unsprung force, and then making the unsprung force equal to the sprung force to ensure that the force exerted by the wheel on the ground remains unchanged.

[0108] It is worth noting that the preset adjustment strategy can be implemented by using fuzzy control or other adjustment control strategies, that is, it is only necessary that the adjusted preset damping coefficient obtained by adjusting according to the preset adjustment strategy can keep the unsprung force or the sprung force equal.

[0109] See also Figure 3Further, the damping force of the shock absorber determined based on the adjusted preset damping coefficient, the unsprung force and the sprung force may include:

[0110] S1031, determining a first unsprung damping force based on a product of a preset damping coefficient and an unsprung force;

[0111] S1032, when the movement directions of the unsprung acceleration and the sprung acceleration are consistent, adjusting the first unsprung damping force according to the first adjustment damping coefficient to obtain a second unsprung damping force;

[0112] S1033: sum the second unsprung damping force and the sprung force to determine the damping force of the shock absorber.

[0113] Specifically, when the sign of the unsprung acceleration is consistent with the sign of the sprung acceleration, it means that the unsprung structure and the sprung structure are moving in the same direction. At this time, the force exerted by the wheel on the ground will change. At this time, the first unsprung damping force is adjusted according to the first adjustment damping coefficient to obtain the second unsprung damping force. The damping force of the shock absorber is determined by the second unsprung damping force and the sprung force to suppress the change in the force exerted by the wheel on the ground, thereby ensuring the second-order comfort of the vehicle.

[0114] In some embodiments, during vehicle driving, the shock absorber can determine a first unsprung damping force based on a preset damping coefficient and unsprung force before adjustment. The first unsprung damping force is the initial damping force output by the shock absorber and is used to maintain the initial balance of the vehicle. When it is necessary to control the damping force of the shock absorber, the damping force of the shock absorber can be adjusted by adjusting the preset damping coefficient to achieve a dynamic balance between the unsprung structure and the sprung structure.

[0115] In some embodiments, the preset damping coefficient can be obtained based on a large number of experimental tests and can be determined as a mapping relationship between the wheel vertical velocity or the wheel vertical acceleration and the damping coefficient, so as to facilitate the rapid determination of the preset damping coefficient and quickly adjust the unsprung damping force to ensure that the unsprung force and the sprung force remain unchanged or change within a preset range.

[0116] In some other embodiments, the preset damping coefficient can be determined by comprehensively considering the road surface roughness, the lateral acceleration of the vehicle, or the suspension mode of the vehicle suspension. That is, the preset damping coefficient can be determined by comprehensively considering the road surface roughness, the lateral acceleration of the vehicle, or the suspension mode of the vehicle suspension through a large number of experiments.

[0117] S104, determining a control electrical parameter corresponding to the damping force of the shock absorber according to a preset mapping relationship between the damping force of the shock absorber and the control electrical parameter, so that the shock absorber outputs a corresponding damping force according to the control electrical parameter.

[0118] In some embodiments, as an example, the mapping relationship between the preset shock absorber damping force and the control electrical parameter includes the mapping relationship between the shock absorber extension state and the control electrical parameter and the mapping relationship between the shock absorber compression state and the control electrical parameter. S104 may include:

[0119] Obtain the motion direction of the droop motion data under the sprung spring;

[0120] When the movement direction is upward, the control electrical parameter corresponding to the damping force of the shock absorber is determined according to the mapping relationship between the stretching state of the shock absorber and the control electrical parameter;

[0121] When the movement direction is downward, the control electrical parameters corresponding to the damping force of the shock absorber are determined according to the compression state of the shock absorber and the control electrical parameters.

[0122] In this embodiment, in order to maintain the force exerted by the wheel on the ground unchanged or within a preset range, the direction of movement of the unsprung sag motion data can be used to determine whether the shock absorber is in a compressed state or a stretched state, so as to facilitate determination of the control electrical parameters corresponding to the damping force of the shock absorber.

[0123] Specifically, when the movement direction is upward, it can be determined that the shock absorber is in a stretched state at this time, and the control electrical parameters can be obtained from the mapping relationship between the stretched state of the shock absorber and the control electrical parameters according to the preset damping coefficient, and the control electrical parameters are applied to the shock absorber, so that the shock absorber outputs the required damping force according to the control electrical parameters to maintain the force of the wheel on the ground, thereby improving the second-order comfort of the vehicle during driving, quickly adjusting the vehicle suspension, reducing the roll and pitch of the vehicle body, maintaining the driving posture of the vehicle, and improving the safety of the driver and passengers.

[0124] When the movement direction is downward, it can be determined that the shock absorber is in a compression state at this time. The control electrical parameters can be found from the mapping relationship between the compression state of the shock absorber and the control electrical parameters according to the preset damping coefficient, and the control electrical parameters are applied to the shock absorber, so that the shock absorber outputs the required damping force according to the control electrical parameters to maintain the force of the wheel on the ground, thereby improving the second-order comfort of the vehicle during driving, quickly adjusting the vehicle suspension, reducing the roll and pitch of the vehicle body, maintaining the driving posture of the vehicle, and improving the safety of the driver and passengers.

[0125] See also Figure 4 The embodiment of the present application further provides a vehicle suspension floor shed control device 400, and the vehicle suspension floor shed control device 400 may include:

[0126] An acquisition module 401 is used to acquire unsprung vertical motion data, sprung vertical motion data, sprung mass and unsprung mass;

[0127] a calculation module 402, for calculating, for each wheel on the vehicle, an unsprung force and a sprung force of the wheel based on the unsprung mass and its corresponding unsprung vertical motion data, the sprung mass and its corresponding sprung vertical motion data, wherein the unsprung force is used to represent the force exerted by the non-vehicle suspension structure in the vehicle on the ground through the wheel, and the sprung force is used to represent the force exerted by the vehicle suspension in the vehicle on the ground through the wheel;

[0128] An adjustment module 403 is used to obtain a preset damping coefficient of each shock absorber, and adjust the preset damping coefficient so that the damping force of the shock absorber determined based on the adjusted preset damping coefficient, the unsprung force and the sprung force is less than a preset damping threshold;

[0129] The determination module 404 is used to determine the control electrical parameter corresponding to the damping force of the shock absorber according to the preset mapping relationship between the damping force of the shock absorber and the control electrical parameter, so that the shock absorber outputs the corresponding damping force according to the control electrical parameter.

[0130] As an optional implementation, the unsprung vertical motion data includes the unsprung acceleration, and the sprung vertical motion data includes the sprung acceleration; the calculation module 402 may also be used for:

[0131] According to Newton's second law, the unsprung force on the wheel is calculated based on the unsprung mass and its corresponding unsprung acceleration;

[0132] According to Newton's second law, the sprung force on the wheel is calculated from the sprung mass and its corresponding sprung acceleration.

[0133] As an optional implementation, the adjustment module 403 may also be used to:

[0134] Obtain the movement directions of the unsprung acceleration and the sprung acceleration respectively;

[0135] When the movement directions of the unsprung acceleration and the sprung acceleration are consistent, reducing the preset damping coefficient to obtain a first adjustment damping coefficient;

[0136] The first adjustment damping coefficient is determined as the adjusted preset damping coefficient.

[0137] As an optional implementation, when the directions of the unsprung acceleration and the sprung acceleration are inconsistent, the adjustment module 403 may also be used to:

[0138] The preset damping coefficient is adjusted according to the preset adjustment strategy to obtain an adjusted preset damping coefficient, so that the damping force of the shock absorber determined based on the adjusted preset damping coefficient, the unsprung force and the sprung force is zero.

[0139] As an optional implementation, the adjustment module 403 may also be used to:

[0140] determining a first unsprung damping force based on a product of a preset damping coefficient and an unsprung force;

[0141] When the unsprung acceleration and the sprung acceleration have the same movement direction, the first unsprung damping force is adjusted according to the first adjustment damping coefficient to obtain a second unsprung damping force;

[0142] The damping force of the shock absorber is determined by summing the second unsprung damping force and the sprung force.

[0143] As an optional implementation, the unsprung vertical motion data includes the unsprung velocity, and the sprung vertical motion data includes the sprung velocity. The calculation module 402 may also be used for:

[0144] Calculate the unsprung impulse of the wheel based on the unsprung mass and its corresponding unsprung velocity;

[0145] Calculate the sprung impulse of the wheel based on the sprung mass and its corresponding sprung velocity;

[0146] The unsprung impulse and the sprung impulse are differentiated to obtain the unsprung force and the sprung force respectively.

[0147] As an optional implementation manner, the mapping relationship between the preset shock absorber damping force and the control electrical parameter includes a mapping relationship between the shock absorber extension state and the control electrical parameter and a mapping relationship between the shock absorber compression state and the control electrical parameter. The determination module 404 may also be used to:

[0148] Obtain the motion direction of the droop motion data under the sprung spring;

[0149] When the movement direction is upward, the control electrical parameters corresponding to the damping force of the shock absorber are determined according to the mapping relationship between the stretching state of the shock absorber and the control electrical parameters;

[0150] When the movement direction is downward, the control electrical parameters corresponding to the damping force of the shock absorber are determined according to the compression state of the shock absorber and the control electrical parameters.

[0151] Figure 5 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0152] The electronic device may include a processor 501 and a memory 502 storing computer program instructions.

[0153] 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.

[0154] 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 one example, the memory 502 may include a removable or non-removable (or fixed) medium, or the memory 502 is a non-volatile solid-state memory. The memory 502 may be inside or outside the integrated gateway disaster recovery device.

[0155] In one example, the memory 502 may be a read-only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0156] The memory 502 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 vehicle suspension floor shed control method according to the first aspect of the present disclosure.

[0157] The processor 501 reads and executes the computer program instructions stored in the memory 502 to implement Figure 1 A vehicle suspension floor shelf control method in the illustrated embodiment.

[0158] In one example, the electronic device may further include a communication interface 503 and a bus 504. Figure 5 As shown, the processor 501, the memory 502, and the communication interface 503 are connected via a bus 504 and communicate with each other.

[0159] 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.

[0160] Bus 504 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 (Accelerated Graphics Port, AGP) or other graphics bus, enhanced industry standard architecture (Extended Industry Standard Architecture, EISA) bus, front side bus (Front Side Bus, FSB), hypertransmission (Hyper Transport, HT) interconnection, industry standard architecture (IndustryStandard 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 504 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.

[0161] The electronic device can execute the vehicle suspension ground shelf control method in the embodiment of the present application, thereby realizing the combination Figure 1-Figure 4 A vehicle suspension floor shelf control method and apparatus are described.

[0162] In addition, in combination with the vehicle suspension floor shed control method in the above embodiment, 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 the processor, any one of the vehicle suspension floor shed control methods in the above embodiment is implemented.

[0163] In an optional embodiment, in combination with the vehicle suspension ground shelter control method in the above-mentioned embodiment, the embodiment of the present application may provide a computer program product for implementation, and the instructions in the computer program product are executed by a processor of an electronic device, so that the electronic device can implement any one of the vehicle suspension ground shelter control methods in the above-mentioned embodiments.

[0164] In an optional embodiment, in combination with the vehicle suspension control method in the above embodiment, the embodiment of the present application may provide a vehicle, which may include at least one of the above: a vehicle suspension control device, an electronic device, a computer-readable storage medium and a computer program product.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] The above are only specific implementation methods 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 suspension floor shed control method, characterized in that: The vehicle suspension includes a shock absorber disposed at a position corresponding to a wheel of the vehicle, and the method includes: Obtaining unsprung vertical motion data, sprung vertical motion data, sprung mass, and unsprung mass; For each wheel on the vehicle, based on the unsprung mass and its corresponding unsprung vertical motion, the sprung mass and its corresponding sprung vertical motion data, respectively calculate the unsprung force and the sprung force of the wheel, wherein the unsprung force is used to represent the force exerted by the non-vehicle suspension structure in the vehicle on the ground through the wheel, and the sprung force is used to represent the force exerted by the vehicle suspension in the vehicle on the ground through the wheel; Acquiring a preset damping coefficient of each shock absorber, and adjusting the preset damping coefficient so that a damping force of the shock absorber determined based on the adjusted preset damping coefficient, the unsprung force, and the sprung force is less than a preset damping threshold; According to the mapping relationship between the damping force of the shock absorber and the control electrical parameter, the control electrical parameter corresponding to the damping force of the shock absorber is determined, so that the shock absorber outputs the corresponding damping force according to the control electrical parameter.

2. The method according to claim 1, characterized in that The unsprung vertical motion data includes unsprung acceleration, and the sprung vertical motion data includes sprung acceleration; The unsprung force and the sprung force of the wheel are calculated based on the unsprung mass and its corresponding unsprung vertical motion data, the sprung mass and its corresponding sprung vertical motion data, respectively, including: According to Newton's second law, the unsprung force of the wheel is calculated based on the unsprung mass and its corresponding unsprung acceleration; The sprung force of the wheel is calculated based on the sprung mass and its corresponding sprung acceleration according to Newton's second law.

3. The method according to claim 1, characterized in that The adjusting the preset damping coefficient comprises: respectively obtaining the movement directions of the unsprung acceleration and the sprung acceleration; When the unsprung acceleration and the sprung acceleration have the same movement direction, reducing the preset damping coefficient to obtain a first adjustment damping coefficient; The first adjustment damping coefficient is determined as the adjusted preset damping coefficient.

4. The method according to claim 3, characterized in that When the directions of the unsprung acceleration and the sprung acceleration are inconsistent, the preset damping coefficient is adjusted so that the damping force of the shock absorber determined based on the adjusted preset damping coefficient, the unsprung force and the sprung force is less than a preset damping threshold, and further includes: The preset damping coefficient is adjusted according to a preset adjustment strategy to obtain an adjusted preset damping coefficient, so that the damping force of the shock absorber determined based on the adjusted preset damping coefficient, the unsprung force and the sprung force is zero.

5. The method according to claim 3, characterized in that: The damping force of the shock absorber is determined based on the adjusted preset damping coefficient, the unsprung force and the sprung force, including: determining a first unsprung damping force based on a product of the preset damping coefficient and the unsprung force; When the unsprung acceleration and the sprung acceleration have the same movement direction, the first unsprung damping force is adjusted according to the first adjustment damping coefficient to obtain a second unsprung damping force; The second unsprung damping force and the sprung force are summed to determine a damping force of the shock absorber.

6. The method according to claim 1, characterized in that The unsprung vertical motion data includes an unsprung velocity, the sprung vertical motion data includes a sprung velocity, and the unsprung force and the sprung force of the wheel are calculated based on the unsprung mass and its corresponding unsprung vertical motion, the sprung mass and its corresponding sprung vertical motion data, respectively, including: calculating the unsprung impulse of the wheel according to the unsprung mass and its corresponding unsprung speed; calculating the sprung impulse of the wheel according to the sprung mass and its corresponding sprung velocity; The unsprung impulse and the sprung impulse are differentiated respectively to obtain the unsprung force and the sprung force.

7. The method according to claim 1, characterized in that The mapping relationship between the preset damping force of the shock absorber and the control electrical parameter includes a mapping relationship between the tension state of the shock absorber and the control electrical parameter and a mapping relationship between the compression state of the shock absorber and the control electrical parameter. The determining the control electrical parameter corresponding to the damping force of the shock absorber according to the mapping relationship between the preset damping force of the shock absorber and the control electrical parameter includes: Obtaining the movement direction of the sprung droop movement data; When the movement direction is upward, determining the control electrical parameter corresponding to the damping force of the shock absorber according to the mapping relationship between the stretching state of the shock absorber and the control electrical parameter; When the movement direction is downward, the control electrical parameters corresponding to the damping force of the shock absorber are determined according to the compression state of the shock absorber and the control electrical parameters.

8. A vehicle suspension floor shed control device, characterized in that: The device comprises: An acquisition module, used for acquiring unsprung vertical motion data, sprung vertical motion data, sprung mass and unsprung mass; a calculation module, for calculating, for each wheel on the vehicle, an unsprung force and a sprung force of the wheel based on the unsprung mass and its corresponding unsprung vertical motion data, the sprung mass and its corresponding sprung vertical motion data, the unsprung force being used to represent a force exerted by a non-vehicle suspension structure in the vehicle on the ground through the wheel, and the sprung force being used to represent a force exerted by a vehicle suspension in the vehicle on the ground through the wheel; an adjusting module, configured to obtain a preset damping coefficient of each shock absorber, and adjust the preset damping coefficient so that a damping force of the shock absorber determined based on the adjusted preset damping coefficient, the unsprung force, and the sprung force is less than a preset damping threshold; The determination module is used to determine the control electrical parameters corresponding to the damping force of the shock absorber according to the mapping relationship between the damping force of the shock absorber and the control electrical parameters, so that the shock absorber outputs the corresponding damping force according to the control electrical parameters.

9. 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 suspension floor shelf control method according to any one of claims 1 to 7 is implemented.

10. 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 suspension floor shed control method according to any one of claims 1 to 7 is implemented.

11. 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 suspension floor shed control method as described in any one of claims 1 to 7.

12. A vehicle, characterized in that: The vehicle includes at least one of the following: A vehicle suspension floor shed control device as claimed in claim 8; An electronic device as claimed in claim 9; A computer-readable storage medium as claimed in claim 10; A computer program product as claimed in claim 11.

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