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

Abstract

The invention discloses a vehicle suspension control method, device and equipment, a medium, a product and a vehicle. Belongs to the technical field of suspension control, a vehicle suspension comprises shock absorbers arranged at respective corresponding positions in a vehicle and wheels, and the method comprises the following steps: acquiring suspension local motion data at different positions of the vehicle suspension and motion parameter data of the vehicle; determining overall motion data of the vehicle body based on the suspension local motion data at different positions of the vehicle suspension; and according to the overall motion data of the vehicle body and the motion parameter data of the vehicle, control electric parameters of each shock absorber are determined, so that the shock absorbers output damping force, and control over the vehicle suspension is achieved. According to the embodiment of the invention, the motion state of the vehicle can be integrally considered, and the suspension at different positions can be accurately controlled, so that the control effect of the suspension of the whole vehicle is improved.

Description

Technical Field

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

[0002] Currently in the field of vehicle suspension control, most vehicles use a 1 / 4 suspension model to analyze the vehicle suspension and realize suspension control of the entire vehicle. However, when using the 1 / 4 suspension model for whole vehicle control, the vehicle motion is not considered as a whole, resulting in poor control effect. Summary of the invention

[0003] The embodiments of the present application provide a vehicle suspension control method, device, equipment, medium, product and vehicle, which can consider the vehicle's motion state as a whole and accurately control the suspension at different positions, thereby improving the control effect of the entire vehicle suspension.

[0004] In one aspect, an embodiment of the present application provides a vehicle suspension control method, wherein the vehicle suspension includes shock absorbers disposed at positions corresponding to respective positions of vehicle wheels, the method comprising:

[0005] Acquiring suspension local motion data at different positions of the vehicle suspension and vehicle motion parameter data;

[0006] Determining overall motion data of the vehicle body based on local motion data of the suspension at different positions of the vehicle suspension;

[0007] According to the overall motion data of the vehicle body and the motion parameter data of the vehicle, the control electrical parameters of each shock absorber are determined so that the shock absorber outputs a damping force to realize the control of the vehicle suspension.

[0008] Optionally, the control electrical parameters include resident function request control electrical parameters, and the determining of the control electrical parameters of each shock absorber according to the overall motion data of the vehicle body and the motion parameter data of the vehicle includes:

[0009] For each shock absorber, electric parameter calculation is performed according to the overall motion data and the motion parameter data of the vehicle to obtain a reference control electric parameter, wherein the reference control electric parameter is used to control the initial damping force output by the vehicle suspension;

[0010] The overall motion data of the vehicle body and the motion parameter data of the vehicle are calculated and processed respectively by the skylight control strategy and the groundlight control strategy to obtain the skylight control electrical parameters and the groundlight control electrical parameters;

[0011] The reference electrical parameter, the floor shed control electrical parameter and the ceiling shed control electrical parameter are arbitrated according to a preset arbitration method to obtain a first arbitration electrical parameter, wherein the preset arbitration method is used to determine the first arbitration electrical parameter from the reference electrical parameter, the floor shed control electrical parameter and the ceiling shed control electrical parameter according to a preset priority order;

[0012] The first arbitration electric parameter is determined as a resident function request control electric parameter of each shock absorber.

[0013] Optionally, the control electrical parameters include non-resident function request control electrical parameters, and the determining of the control electrical parameters of each shock absorber according to the overall motion data of the vehicle body and the motion parameter data of the vehicle further includes:

[0014] When the vehicle is in a target working condition, determining a non-resident function request electrical parameter of each shock absorber based on the overall motion data of the vehicle body and the motion parameter data of the vehicle, wherein the target working condition includes at least one of wheel hop motion, steering motion, pitch motion, and being stimulated by a preset road surface, and the non-resident function request control electrical parameter includes at least one of shock absorber dead point protection electrical parameter, steering electrical parameter, pulse electrical parameter, anti-pitch electrical parameter, wheel hop electrical parameter, and grip electrical parameter;

[0015] When the non-resident function request control electrical parameter includes at least two of the shock absorber dead center protection electrical parameter, the steering electrical parameter, the pulse electrical parameter, the anti-pitch electrical parameter, the wheel hop electrical parameter and the grip electrical parameter, obtaining the priority of each non-resident function request control electrical parameter;

[0016] Based on the priority, the non-resident function request control electrical parameter is arbitrated according to a preset arbitration method to obtain a second arbitration electrical parameter;

[0017] The first arbitration electrical parameter and the second arbitration electrical parameter are arbitrated according to the preset arbitration method to obtain the control electrical parameter of each shock absorber.

[0018] Optionally, when the vehicle is in a steering motion, the non-resident function request control electrical parameters include steering electrical parameters corresponding to each shock absorber;

[0019] The determining of the non-resident function request control electric parameter of each shock absorber based on the overall motion data of the vehicle body and the motion parameter data of the vehicle comprises:

[0020] For each shock absorber, determining a steering direction based on the overall motion data of the vehicle body;

[0021] Classifying the plurality of shock absorbers according to the steering direction to obtain a compression side shock absorber and a tension side shock absorber;

[0022] Based on the motion parameter data of the vehicle, the electrical parameters corresponding to the compression side shock absorber and the tension side shock absorber are searched from the preset shock absorber stretching table and the preset shock absorber compression table respectively to obtain the steering electrical parameters corresponding to each shock absorber, wherein the preset shock absorber stretching table is used to represent the correspondence table between the motion parameter data of the vehicle and the electrical parameters of the shock absorber in the stretching state when the vehicle performs a steering motion, and the preset shock absorber compression table is used to represent the correspondence table between the motion parameter data of the vehicle and the electrical parameters of the shock absorber in the compression state when the vehicle performs a steering motion.

[0023] Optionally, after searching the preset vibration damping stretch table and the preset vibration damper compression table for electrical parameters corresponding to the compression side vibration damper and the tension side vibration damper to obtain the steering electrical parameters corresponding to each vibration damper, the method further includes:

[0024] Acquire a steering electrical parameter of a shock absorber corresponding to a front axle of the vehicle and a steering electrical parameter of a shock absorber corresponding to a rear axle of the vehicle;

[0025] After the steering electrical parameters of the shock absorber corresponding to the front axle of the vehicle are applied to the shock absorber corresponding to the front axle of the vehicle and a first preset time has passed, the steering electrical parameters of the shock absorber corresponding to the rear axle of the vehicle are applied to the shock absorber corresponding to the rear axle of the vehicle.

[0026] Optionally, when the vehicle is in pitch motion, the non-resident function request electrical parameter includes an anti-pitch electrical parameter, and determining the non-resident function request electrical parameter of each shock absorber based on the overall motion data of the vehicle body and the motion parameter data of the vehicle includes:

[0027] When it is detected that the vehicle starts to move from rest, determining the reference electrical parameter as the anti-pitch electrical parameter;

[0028] In the case where it is detected that the vehicle stops moving, determining the reference electrical parameter as the anti-pitch electrical parameter and determining the time when each of the shock absorbers applies the anti-pitch electrical parameter;

[0029] The anti-pitch electrical parameter is applied to the corresponding shock absorber according to each time of applying the anti-pitch electrical parameter, so that the vehicle suspension resists the pitching motion.

[0030] Optionally, the target operating condition further includes dynamic control motion, anti-lock motion and / or anti-skid motion, the non-resident function request electrical parameter includes a grip electrical parameter, and the non-resident function request electrical parameter of each shock absorber is determined based on the overall motion data of the vehicle body and the motion parameter data of the vehicle, including:

[0031] Obtaining the maximum electrical parameters of the shock absorber;

[0032] The maximum electrical parameter of the shock absorber is determined as the road-holding electrical parameter.

[0033] Optionally, motion sensors are provided at any at least three positions of the vehicle body, the suspension local motion data includes suspension acceleration, the overall motion data includes lateral motion data of the vehicle body, longitudinal motion data of the vehicle body and vertical motion data of the vehicle body, and the overall motion data of the vehicle body is determined based on the suspension local motion data at different positions of the vehicle suspension, including:

[0034] Acquire position information of at least three motion sensors, any two of the three motion sensors being located on the same target axis, wherein the target axis includes a front axis or a rear axis;

[0035] 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;

[0036] Determining lateral motion data of a vehicle body based on the suspension accelerations corresponding to the two motion sensors on the target axis and the first lateral distance of any motion sensor on the target axis;

[0037] The longitudinal motion data of the vehicle body and the vertical motion data of the vehicle body are respectively determined based on the first longitudinal distance, the first lateral distance and the suspension acceleration corresponding to the at least three motion sensors.

[0038] Optionally, motion sensors are provided at any at least three positions of the vehicle body, the overall motion data includes lateral motion data of the vehicle body, longitudinal motion data of the vehicle body and vertical motion data of the vehicle body, and the overall motion data of the vehicle body is determined based on the suspension local motion data at different positions of the vehicle suspension, including:

[0039] Acquire position information of at least three motion sensors, suspension acceleration detected by the motion sensors, and mass and moment of inertia of the vehicle suspension, wherein any two of the three motion sensors are located at the same target axis, and the target axis includes a front axle or a rear axle;

[0040] 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;

[0041] Determining lateral movement data of the vehicle body according to the at least three suspension accelerations, the first lateral distance, and the first longitudinal distance;

[0042] determining longitudinal motion data of a vehicle body based on a mass, a moment of inertia, at least three suspension accelerations, and a first longitudinal distance of the vehicle suspension;

[0043] The vertical motion data of the vehicle body is determined according to the suspension acceleration and the first lateral distance corresponding to the two motion sensors on the target axis, the mass and the moment of inertia of the vehicle suspension.

[0044] Optionally, a plurality of height sensors are provided at positions on the vehicle suspension corresponding to positions of vehicle wheels; and the method further comprises:

[0045] Acquiring height information of different positions of the vehicle suspension detected by a plurality of the height sensors;

[0046] The determining of the overall motion data of the vehicle body based on the local motion data of the suspension at different positions of the vehicle suspension comprises:

[0047] Based on the height information and the suspension local motion data at different positions of the vehicle suspension, the overall motion data of the vehicle body is determined.

[0048] On the other hand, an embodiment of the present application provides a vehicle suspension control device, the device comprising:

[0049] An acquisition module, used for acquiring suspension local motion data at different positions of the vehicle suspension and vehicle motion parameter data;

[0050] a determination module, configured to determine overall motion data of the vehicle body based on local motion data of the suspension at different positions of the vehicle suspension;

[0051] The determination module is also used to determine the control electrical parameters of each control shock absorber according to the overall motion data of the vehicle body and the motion parameter data of the vehicle, so that the shock absorber outputs a damping force to achieve control of the vehicle suspension.

[0052] On the other hand, an embodiment of the present application further provides a vehicle suspension control system, the system comprising: a suspension control module for executing the vehicle suspension control method as described in the first aspect, the suspension control module comprising a resident function request module and a non-resident function request module.

[0053] 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;

[0054] When the processor executes the computer program instructions, the vehicle suspension control method as described in the first aspect is implemented.

[0055] 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 control method described in the first aspect is implemented.

[0056] 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 control method as described in the first aspect.

[0057] In another aspect, an embodiment of the present application provides a vehicle, wherein the vehicle comprises at least one of:

[0058] The vehicle suspension control device as described above;

[0059] The electronic equipment mentioned above;

[0060] The computer-readable storage medium described above;

[0061] The computer program product described above.

[0062] The vehicle suspension control method, device, equipment, medium, product and vehicle of the embodiments of the present application can comprehensively consider the vehicle's motion parameters and the control electrical parameters of each shock absorber when controlling the vehicle suspension, so as to determine the overall motion data of the vehicle body, that is, analyze the overall motion data of the vehicle body in combination with the local motion data of the suspension stored at different positions of the vehicle suspension, so as to determine the control electrical parameters of each shock absorber through the overall motion data to achieve overall control of the vehicle suspension. Compared with controlling the vehicle suspension with a 1 / 4 suspension model, it can comprehensively consider the influence of each shock absorber in the whole vehicle on the vehicle suspension, so as to improve the control effect of the vehicle suspension. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] 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.

[0064] Figure 1 is a flow chart of a vehicle suspension control method provided by an embodiment of the present application;

[0065] Figure 2 is a flow chart of a method for determining overall motion data of a vehicle body provided by an embodiment of the present application;

[0066] Figure 3 is a geometric diagram of the position of the center of gravity of a motion sensor and a vehicle provided by another embodiment of the present application;

[0067] Figure 4 is a schematic structural diagram of a vehicle suspension control device provided by another embodiment of the present application;

[0068] Figure 5 is a structural schematic diagram of a vehicle suspension control system provided by another embodiment of the present application;

[0069] Figure 6 It is a structural diagram of an electronic device provided by yet another embodiment of the present application. DETAILED DESCRIPTION

[0070] 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.

[0071] 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.

[0072] In order to solve the problems of the prior art, the embodiments of the present application provide a vehicle suspension control method, device, equipment, medium, product and vehicle. In the embodiments of the present application, when controlling the vehicle suspension, the motion parameters of the vehicle and the control electrical parameters of each shock absorber are comprehensively considered to determine the overall motion data of the vehicle body, that is, the overall motion data of the vehicle body is analyzed by combining the local motion data of the suspension stored at different positions of the vehicle suspension, so as to determine the control electrical parameters of each shock absorber through the overall motion data to achieve the overall control of the vehicle suspension. Compared with the 1 / 4 suspension model to control the vehicle suspension, the influence of each shock absorber in the whole vehicle on the vehicle suspension can be comprehensively considered, thereby improving the control effect of the vehicle suspension. The vehicle suspension control method provided by the embodiments of the present application is first introduced below.

[0073] Figure 1 FIG. 1 is a flow chart of a vehicle suspension control method provided by an embodiment of the present application. Figure 1 As shown, the vehicle suspension control method provided in the embodiment of the present application may include S101-S103:

[0074] S101, obtaining suspension local motion data at different positions of the vehicle suspension and vehicle motion parameter data.

[0075] In an embodiment of the present application, the vehicle suspension may include shock absorbers arranged at positions corresponding to respective wheels of the vehicle. As an example, taking a passenger car as an example, shock absorbers are respectively arranged at the positions of the four wheels, that is, the local motion data of the suspension may be the motion data at each shock absorber.

[0076] In an embodiment of the present application, the motion parameter data of the vehicle may include the running speed and / or running acceleration of the vehicle, wherein the running acceleration may include longitudinal acceleration and lateral acceleration, wherein the direction of the longitudinal acceleration may be the direction of vehicle movement, and the direction of the lateral acceleration may be a direction horizontally and perpendicular to the direction of vehicle movement.

[0077] In some embodiments, in order to obtain local motion data of the suspension at different positions of the vehicle suspension, motion sensors are arranged at at least three positions of any vehicle body. The motion sensors can be velocity sensors or acceleration sensors, that is, they can detect motion parameter data of the vehicle suspension, and there is no limitation here.

[0078] S102, determining overall motion data of the vehicle body based on local motion data of the suspension at different positions of the vehicle suspension.

[0079] Reference Figure 2 In some embodiments, the suspension local motion data may include suspension acceleration, and the overall motion data may include lateral motion data of the vehicle body, longitudinal motion data of the vehicle body, and vertical motion data of the vehicle body. S102 may include:

[0080] S1021, acquiring position information of at least three motion sensors, where any two of the three motion sensors are located on the same target axis;

[0081] S1022, for each motion sensor, performing calculation 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;

[0082] S1023, determining lateral motion data of the vehicle body based on the suspension accelerations corresponding to the two motion sensors on the target axis and a first lateral distance of any motion sensor on the target axis;

[0083] S1024: Determine longitudinal motion data of the vehicle body and vertical motion data of the vehicle body based on a first longitudinal distance, a first lateral distance, and a suspension acceleration corresponding to at least three motion sensors.

[0084] 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. That is, a geometric structure diagram of the motion sensor and the center of gravity position of the vehicle can be constructed using the first lateral distance and the first longitudinal distance, and the overall motion data of the vehicle body can be calculated using this geometric structure diagram.

[0085] For details, see Figure 3 , Figure 3 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.

[0086] 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.

[0087] 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.

[0088] In this embodiment, taking the overall motion data of the vehicle body as acceleration as an example, in S1023, the overall motion data of the vehicle body is calculated by the following formulas (1)-(3):

[0089]

[0090] Among them, R A is the lateral acceleration of the vehicle suspension, H A is the longitudinal acceleration of the vehicle suspension, P Ais 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.

[0091] In some other embodiments, S102 may further include:

[0092] Acquire position information of at least three motion sensors, suspension acceleration detected by the motion sensors, and mass and moment of inertia of the vehicle suspension, wherein any two of the three motion sensors are located at the same target axis, and the target axis includes a front axle or a rear axle;

[0093] 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;

[0094] Determining lateral movement data of the vehicle body based on at least three suspension accelerations, a first lateral distance, and a first longitudinal distance;

[0095] determining longitudinal motion data of a vehicle body based on a mass, a moment of inertia, at least three suspension accelerations, and a first longitudinal distance of a vehicle suspension;

[0096] The vertical motion data of the vehicle body is determined according to the suspension acceleration and the first lateral distance corresponding to the two motion sensors on the target axis, the mass and the moment of inertia of the vehicle suspension.

[0097] In this embodiment, the motion data of the entire vehicle can be calculated by mass, moment of inertia, and suspension acceleration, and can be specifically calculated by the following formulas (4)-(6):

[0098] <![CDATA[H A =[(A FL +A FR )*L1+A RL *L2] / (L1+L2)]]> (4) <![CDATA[P A =[A RL *L2-(A FL +A FR )*L1]*m / I Y ]]> (5) <![CDATA[R A =(A FL *W1-A FR *W1)*m / I X ]]> (6)

[0099] 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, I X is the moment of inertia of the vehicle on the X axis, I Y is the moment of inertia of the vehicle on the Y axis, and m is the mass of the vehicle.

[0100] In some other embodiments, a plurality of height sensors are provided at positions on the vehicle suspension corresponding to positions of vehicle wheels, and the method may further include:

[0101] Acquire height information of different positions of a vehicle suspension detected by multiple height sensors;

[0102] S102 may also include:

[0103] 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.

[0104] 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.

[0105] 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.

[0106] S103, determining the control electrical parameters of each shock absorber according to the overall motion data of the vehicle body and the motion parameter data of the vehicle, so that the shock absorber outputs a damping force to achieve control of the vehicle suspension.

[0107] In an embodiment of the present application, when controlling the vehicle suspension, the vehicle's motion parameters and the control electrical parameters of each shock absorber are comprehensively considered to determine the overall motion data of the vehicle body, that is, the overall motion data of the vehicle body is analyzed in combination with the local motion data of the suspension stored at different positions of the vehicle suspension, so as to determine the control electrical parameters of each shock absorber through the overall motion data to achieve overall control of the vehicle suspension. Compared with controlling the vehicle suspension with a 1 / 4 suspension model, the influence of each shock absorber in the whole vehicle on the vehicle suspension can be comprehensively considered, thereby improving the control effect of the vehicle suspension.

[0108] In this embodiment, the control electrical parameter may include a resident function request control electrical parameter, which may be used to control the shock absorber during normal straight-line driving of the vehicle, wherein the resident function request control electrical parameter may be a resident function request control current.

[0109] In some embodiments, S103 may include:

[0110] For each shock absorber, the electrical parameters are calculated according to the overall motion data and the motion parameter data of the vehicle to obtain the reference control electrical parameters;

[0111] The overall motion data of the vehicle body and the motion parameter data of the vehicle are calculated and processed respectively by the skylight control strategy and the groundlight control strategy to obtain the skylight control electrical parameters and the groundlight control electrical parameters;

[0112] The reference electrical parameter, the floor shed control electrical parameter and the ceiling shed control electrical parameter are arbitrated according to a preset arbitration method to obtain a first arbitration electrical parameter, wherein the preset arbitration method is used to determine the first arbitration electrical parameter from the reference electrical parameter, the floor shed control electrical parameter and the ceiling shed control electrical parameter according to a preset priority order;

[0113] The first arbitration electric parameter is determined as a resident function request control electric parameter for each shock absorber.

[0114] In this embodiment, during the operation of the vehicle, in order to maintain the comfort of the vehicle during driving, it is necessary to control the damping force output by the shock absorber in real time, that is, for each shock absorber, it is necessary to first determine whether the vehicle can provide an initial damping force by controlling the shock absorber through the reference control electrical parameters during driving, and whether the reference electrical parameters can maintain the vehicle body motion state when encountering road excitation during driving, balance the damping force of the front and rear axles of the vehicle, and reduce the possibility of the vehicle pitching posture caused by road impact, that is, the reference control electrical parameters are used to control the initial damping force output by the vehicle suspension and maintain the initial operation of the shock absorber.

[0115] In addition, in this embodiment, the control electrical parameters of each shock absorber are determined by taking the vehicle speed as an example of the vehicle motion parameter data.

[0116] In some embodiments, when determining the baseline electrical parameters, an initial electrical parameter is first pre-set, and then as the vehicle travels, the vehicle speed, the lateral acceleration of the vehicle suspension, and the longitudinal acceleration of the vehicle suspension are used as gain values ​​and initial electrical parameters to determine the baseline control electrical parameters corresponding to each vehicle speed and overall motion data, and then the shock absorber is controlled to output the initial damping force according to the baseline control electrical parameters.

[0117] In other embodiments, during vehicle driving, in order to keep the vehicle body plane parallel to the ground at all times, the overall motion data and vehicle speed can be calculated and processed through a ceiling control strategy to obtain ceiling control electrical parameters, which are then applied to corresponding shock absorbers to keep the vehicle body plane parallel to the ground, thereby eliminating or weakening the effects of unexpected vehicle body movement and improving the first-order comfort of the vehicle.

[0118] Specifically, in this embodiment, the ceiling control strategy may adopt a conventional ceiling control strategy, which is not limited herein.

[0119] In other embodiments, in order to improve the second-order comfort of the vehicle during driving, the overall motion data and the motion parameter data of the vehicle can be calculated and processed through the ground shelf control strategy to obtain the ground shelf control electrical parameters, keep the force applied to the ground by the wheels stable, maintain the grip of the wheels, and thus improve the second-order comfort of the vehicle during driving.

[0120] In some embodiments, after obtaining the reference electrical parameters, the ground-hook control electrical parameters and the ceiling-hook control electrical parameters, the priority of the resident function request control electrical parameters can be determined according to influencing factors such as road conditions, vehicle hardware status information, road ahead information, load, etc., that is, the first arbitration electrical parameters can be determined from the reference electrical parameters, the ground-hook control electrical parameters and the ceiling-hook control electrical parameters according to the preset priority order, and the control electrical parameters of each shock absorber are determined by the first arbitration electrical parameters, and then the shock absorber outputs the corresponding damping force according to the first arbitration electrical parameters, thereby realizing control of the vehicle suspension.

[0121] In some embodiments, the control electrical parameter may further include a non-resident function request control electrical parameter, and S103 may further include:

[0122] When the vehicle is in a target operating condition, determining a non-resident function request electrical parameter of each shock absorber based on the overall motion data of the vehicle body and the motion parameter data of the vehicle;

[0123] When the non-resident function request control electric parameter includes at least two of the shock absorber dead center protection electric parameter, the steering electric parameter, the pulse electric parameter, the anti-pitch electric parameter, the wheel hop electric parameter and the grip electric parameter, obtaining the priority of each target electric parameter;

[0124] Arbitrating the target electrical parameter according to a preset arbitration method based on the priority to obtain a second arbitration electrical parameter;

[0125] The first arbitration electrical parameter and the second arbitration electrical parameter are arbitrated according to a preset arbitration method to obtain a non-resident function request control electrical parameter.

[0126] In some embodiments, as an example, the target operating condition includes at least one of wheel hop motion, steering motion, pitch motion, and preset road surface excitation, and the non-resident function requests control electrical parameters including at least one of shock absorber dead point protection electrical parameters, steering electrical parameters, pulse electrical parameters, anti-pitch electrical parameters, wheel hop electrical parameters, and grip electrical parameters.

[0127] In this embodiment, when the vehicle is in at least one of the target operating conditions, the vehicle suspension is affected by the target operating condition, and it is necessary to control the damping force output by the shock absorber through non-resident function request electrical parameters to achieve precise control of the vehicle suspension to maintain the comfort of the vehicle.

[0128] When at least two different non-resident function request electrical parameters appear, the control electrical parameters finally input to the shock absorber need to be determined by the priority of each non-resident function request electrical parameter to ensure the normal driving of the vehicle.

[0129] It is also worth noting that, under each target operating condition, there is at least one non-resident function requesting control of electrical parameters.

[0130] In some embodiments, when the vehicle is in different target operating conditions, the corresponding non-resident function request control electrical parameters are also different. For example, when the vehicle is in wheel hopping motion, the non-resident function request is affected by the wheel hop amplitude, and the vehicle may pitch, roll over, or wheel hop. When the wheel hop amplitude is large, the damping force output by the shock absorber may reach a threshold value. Therefore, the non-resident function request may include shock absorber dead point protection electrical parameters, wheel hop electrical parameters, and anti-pitch electrical parameters. For each target operating condition, the non-resident function request control electrical parameters need to be determined based on the overall motion data of the vehicle body and the motion parameter data of the vehicle.

[0131] The following is an example of determining different non-resident function request control electrical parameters for different target operating conditions.

[0132] Specifically, when the vehicle is subjected to preset road excitation, the vehicle may move violently in the vertical direction, resulting in the maximum damping force output by the shock absorber being unable to keep the vehicle suspension balanced. At this time, the shock absorber may be damaged if it is in the maximum damping force state for a long time. Therefore, it is necessary to set the shock absorber end point protection electrical parameters. The shock absorber end point protection electrical parameters can make the damping force output by the shock absorber less than the maximum damping force, thereby achieving good vehicle body and unsprung control.

[0133] In this embodiment, the shock absorber dead point protection electrical parameter can be determined by the height of the vehicle suspension corresponding to each shock absorber in the vehicle and the unsprung speed of the vehicle suspension. That is, when the height of the vehicle suspension exceeds the height threshold and / or the unsprung speed of the vehicle suspension is greater than the speed threshold, it is determined that the shock absorber dead point protection electrical parameter is included in the non-resident function request control electrical parameter.

[0134] In some embodiments, when the vehicle is in a steering motion, the non-resident function request control electrical parameter may include a steering electrical parameter corresponding to each shock absorber; determining the non-resident function request control electrical parameter of each shock absorber based on the overall motion data of the vehicle body and the motion parameter data of the vehicle may include:

[0135] For each shock absorber, determining a steering direction based on overall motion data of the vehicle body;

[0136] Classifying multiple shock absorbers according to the steering direction to obtain compression side shock absorbers and tension side shock absorbers;

[0137] Based on the vehicle's motion parameter data, electrical parameters corresponding to the compression side shock absorber and the tension side shock absorber are respectively searched from a preset shock absorber extension table and a preset shock absorber compression table to obtain the steering electrical parameters corresponding to each shock absorber.

[0138] In an embodiment of the present application, during the steering movement of the vehicle, in order to maintain the balance of the vehicle suspension and the comfort of the passengers, the steering direction of the vehicle will be determined according to the lateral, longitudinal and vertical operating directions of the vehicle suspension, and then the shock absorber corresponding to each wheel will be classified. That is, under the influence of the steering movement, the shock absorber can be divided into a compression side shock absorber and a tension side shock absorber, wherein the compression side shock absorber is a shock absorber in a compression state, and the tension side shock absorber is a shock absorber in a tension state.

[0139] Exemplarily, when the vehicle turns to the right, the shock absorber corresponding to the left wheel is the compression side shock absorber, and the shock absorber corresponding to the right wheel is the extension side shock absorber.

[0140] After obtaining the classification of each shock absorber, the electrical parameters corresponding to the compression side shock absorber and the tension side shock absorber can be found from the preset shock absorber extension table and the preset shock absorber compression table according to the motion parameter data of the vehicle on one side to determine the steering electrical parameters.

[0141] It is worth noting that, the preset shock absorber stretching table is used to represent the correspondence table between the vehicle's motion parameter data and the shock absorber electrical parameters in the stretching state when the vehicle is turning, and the preset shock absorber compression table is used to represent the correspondence table between the vehicle's motion parameter data and the shock absorber electrical parameters in the compression state when the vehicle is turning.

[0142] The preset shock absorber extension table and the preset shock absorber compression table are both determined through a large number of experiments.

[0143] Further, to ensure the comfort of passengers, after searching for electrical parameters corresponding to the compression side shock absorber and the tension side shock absorber in the preset shock absorption and stretching table and the preset shock absorber compression table and obtaining the steering electrical parameters corresponding to each shock absorber, the method may further include:

[0144] Obtaining steering electrical parameters of a shock absorber corresponding to a front axle of the vehicle and steering electrical parameters of a shock absorber corresponding to a rear axle of the vehicle;

[0145] After the steering electrical parameters of the shock absorber corresponding to the front axle of the vehicle are applied to the shock absorber corresponding to the front axle of the vehicle and a first preset time has passed, the steering electrical parameters of the shock absorber corresponding to the rear axle of the vehicle are applied to the shock absorber corresponding to the rear axle of the vehicle.

[0146] In this embodiment, with respect to the steering electrical parameters of the shock absorbers corresponding to the front axle and the rear axle, when applying the steering electrical parameters to the shock absorbers, the steering electrical parameters corresponding to the front axle shock absorber can be first applied to the corresponding shock absorber, and then after a first preset time period, the steering electrical parameters can be applied to the shock absorber corresponding to the rear axle to achieve a delay of the shock absorber corresponding to the rear axle, thereby reducing the blockage feeling of the vehicle suspension part corresponding to the rear axle shock absorber during steering, thereby improving the comfort of the vehicle suspension.

[0147] In some embodiments, when the vehicle is in pitch motion, the non-resident function request electrical parameters include anti-pitch electrical parameters, and the non-resident function request electrical parameters of each shock absorber are determined based on the overall motion data of the vehicle body and the motion parameter data of the vehicle, including:

[0148] When it is detected that the vehicle starts to move from rest, the reference electrical parameter is determined as the anti-pitch electrical parameter;

[0149] In the case where it is detected that the vehicle stops moving, determining the reference electrical parameter as the anti-pitch electrical parameter and determining the time when each shock absorber applies the anti-pitch electrical parameter;

[0150] The anti-pitch electrical parameter is applied to the corresponding shock absorber according to each time when the anti-pitch electrical parameter is applied, so that the vehicle suspension resists the pitching motion.

[0151] In this embodiment, when the vehicle is in a pitch motion, the impact of the vehicle's starting speed or the change in speed when the vehicle stops will cause the vehicle suspension to nod or raise its head, wherein the nodding action is that when the vehicle stops moving, the vehicle suspension at the front position moves downward, causing the vehicle to nod. At this time, the reference electrical parameter can be determined as the anti-pitch fixed parameter, and the moment when each shock absorber applies the anti-pitch electrical parameter can be determined at the same time, and then the anti-pitch electrical parameter is applied to the corresponding shock absorber according to the moment, so that the vehicle suspension can resist the pitch motion.

[0152] It is worth noting that the moment when each shock absorber applies the anti-pitch electrical parameter may be after the vehicle speed is reduced to 0 for a preset period of time or before the vehicle starts for a preset period of time.

[0153] In some embodiments, the target operating condition may further include dynamic control motion, anti-lock motion and / or anti-skid motion, the non-resident function request electrical parameter includes a grip electrical parameter, and the non-resident function request electrical parameter of each shock absorber is determined based on the overall motion data of the vehicle body and the motion parameter data of the vehicle, including:

[0154] Get the maximum electrical parameters of the shock absorber;

[0155] The maximum electrical parameter of the shock absorber is determined as the grip electrical parameter.

[0156] In this embodiment, when the brake controller sends out a dynamic control movement, anti-lock movement and / or anti-skid signal, the vehicle enters dynamic control movement, anti-lock movement and / or anti-skid movement. At this time, the vehicle is in a dangerous movement state and needs to control the shock absorber to maintain the balance of the vehicle body and reduce the possibility of rollover of the vehicle suspension. At this time, the maximum electrical parameter allowed by the shock absorber will be determined as the grip electrical parameter to maximize the balance of the vehicle suspension and ensure the safety of the passengers.

[0157] In addition, in some embodiments, when the vehicle is in the target operating condition and there are at least two non-resident function request control electrical parameters, it is necessary to sort the non-resident function request control electrical parameters according to the priority of each non-resident function request control electrical parameter, that is, to arbitrate the non-resident function request control electrical parameters to obtain the non-resident function request control electrical parameters that can ultimately control the shock absorber.

[0158] After respectively determining the resident function request control electrical parameters and the non-resident function request control electrical parameters, it is necessary to conduct a final arbitration on the resident function request control electrical parameters and the non-resident function request control electrical parameters to obtain the best shock absorber control electrical parameters for the vehicle under the current working conditions to ensure stable operation of the vehicle.

[0159] Reference Figure 4 The embodiment of the present application provides a vehicle suspension control device 400, which may include:

[0160] The acquisition module 401 may be used to acquire suspension local motion data at different positions of the vehicle suspension and motion parameter data of the vehicle;

[0161] A determination module 402 may be used to determine overall motion data of a vehicle body based on local motion data of the suspension at different positions of the vehicle suspension;

[0162] The determination module 402 may be further configured to determine the control electrical parameters of each control shock absorber according to the overall motion data of the vehicle body and the motion parameter data of the vehicle, so that the shock absorber outputs a damping force to achieve control of the vehicle suspension.

[0163] As an optional implementation manner, the control electrical parameter includes a resident function request control electrical parameter, and the determination module 402 may also be used to:

[0164] For each shock absorber, the electrical parameters are calculated according to the overall motion data and the motion parameter data of the vehicle to obtain the reference control electrical parameters, which are used to control the initial damping force output by the vehicle suspension;

[0165] The overall motion data of the vehicle body and the motion parameter data of the vehicle are calculated and processed respectively by the skylight control strategy and the groundlight control strategy to obtain the skylight control electrical parameters and the groundlight control electrical parameters;

[0166] The reference electrical parameter, the floor shed control electrical parameter and the ceiling shed control electrical parameter are arbitrated according to a preset arbitration method to obtain a first arbitration electrical parameter, wherein the preset arbitration method is used to determine the first arbitration electrical parameter from the reference electrical parameter, the floor shed control electrical parameter and the ceiling shed control electrical parameter according to a preset priority order;

[0167] The first arbitration electric parameter is determined as a resident function request control electric parameter for each shock absorber.

[0168] As an optional implementation manner, the control electrical parameters include non-resident function request control electrical parameters, and the determination module 402 may also be used to:

[0169] When the vehicle is in a target operating condition, determining a non-resident function request electrical parameter of each shock absorber based on the overall motion data of the vehicle body and the motion parameter data of the vehicle, wherein the target operating condition includes at least one of wheel hop motion, steering motion, pitch motion, and being stimulated by a preset road surface, and the non-resident function request control electrical parameter includes at least one of shock absorber dead point protection electrical parameter, steering electrical parameter, pulse electrical parameter, anti-pitch electrical parameter, wheel hop electrical parameter, and grip electrical parameter;

[0170] When the non-resident function request control electric parameter includes at least two of the shock absorber dead center protection electric parameter, the steering electric parameter, the pulse electric parameter, the anti-pitch electric parameter, the wheel hop electric parameter and the grip electric parameter, obtaining the priority of each non-resident function request control electric parameter;

[0171] Based on the priority, the non-resident function request control electrical parameters are arbitrated according to a preset arbitration method to obtain a second arbitration electrical parameter;

[0172] The first arbitration electrical parameter and the second arbitration electrical parameter are arbitrated according to a preset arbitration method to obtain a non-resident function request control electrical parameter.

[0173] As an optional implementation, when the vehicle is in a steering motion, the non-resident function requests the control electrical parameters to include the steering electrical parameters corresponding to each shock absorber; the determination module 402 may also be used to:

[0174] For each shock absorber, determining a steering direction based on overall motion data of the vehicle body;

[0175] Classifying multiple shock absorbers according to the steering direction to obtain compression side shock absorbers and tension side shock absorbers;

[0176] Based on the vehicle's motion parameter data, the electrical parameters corresponding to the compression side shock absorber and the tension side shock absorber are respectively searched from the preset shock absorber stretching table and the preset shock absorber compression table to obtain the steering electrical parameters corresponding to each shock absorber, wherein the preset shock absorber stretching table is used to represent the correspondence table between the vehicle's motion parameter data and the shock absorber electrical parameters in the stretching state when the vehicle is performing a steering motion, and the preset shock absorber compression table is used to represent the correspondence table between the vehicle's motion parameter data and the shock absorber electrical parameters in the compression state when the vehicle is performing a steering motion.

[0177] As an optional implementation, the determination module 402 may also be used to:

[0178] Obtaining steering electrical parameters of a shock absorber corresponding to a front axle of the vehicle and steering electrical parameters of a shock absorber corresponding to a rear axle of the vehicle;

[0179] After the steering electrical parameters of the shock absorber corresponding to the front axle of the vehicle are applied to the shock absorber corresponding to the front axle of the vehicle and a first preset time has passed, the steering electrical parameters of the shock absorber corresponding to the rear axle of the vehicle are applied to the shock absorber corresponding to the rear axle of the vehicle.

[0180] As an optional implementation, when the vehicle is in pitch motion, the non-resident function request electrical parameters include anti-pitch electrical parameters, and the determination module 402 may also be used to:

[0181] When it is detected that the vehicle starts to move from rest, the reference electrical parameter is determined as the anti-pitch electrical parameter;

[0182] In the case where it is detected that the vehicle stops moving, determining the reference electrical parameter as the anti-pitch electrical parameter and determining the time when each shock absorber applies the anti-pitch electrical parameter;

[0183] The anti-pitch electrical parameter is applied to the corresponding shock absorber according to each time when the anti-pitch electrical parameter is applied, so that the vehicle suspension resists the pitching motion.

[0184] As an optional implementation manner, the target operating condition further includes dynamic control motion, anti-lock motion and / or anti-skid motion, the non-resident function request electrical parameter includes a grip electrical parameter, and the determination module 402 may also be used for:

[0185] Get the maximum electrical parameters of the shock absorber;

[0186] The maximum electrical parameter of the shock absorber is determined as the grip electrical parameter.

[0187] As an optional implementation, motion sensors are provided at any at least three positions of the vehicle body, the local motion data of the suspension includes the suspension acceleration, and the overall motion data includes the lateral motion data of the vehicle body, the longitudinal motion data of the vehicle body, and the vertical motion data of the vehicle body. The determination module 402 may also be used to:

[0188] Acquire position information of at least three motion sensors, where any two of the three motion sensors are located on the same target axis, and the target axis includes a front axis or a rear axis;

[0189] 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;

[0190] Determining lateral motion data of the vehicle body based on the suspension accelerations corresponding to the two motion sensors on the target axis and a first lateral distance of any motion sensor on the target axis;

[0191] The longitudinal motion data of the vehicle body and the vertical motion data of the vehicle body are respectively determined based on the first longitudinal distance, the first lateral distance and the suspension acceleration corresponding to the at least three motion sensors.

[0192] As an optional implementation, motion sensors are provided at any at least three positions of the vehicle body, and the overall motion data includes lateral motion data of the vehicle body, longitudinal motion data of the vehicle body, and vertical motion data of the vehicle body. The determination module 402 may also be used to:

[0193] Acquire position information of at least three motion sensors, suspension acceleration detected by the motion sensors, and mass and moment of inertia of the vehicle suspension, wherein any two of the three motion sensors are located at the same target axis, and the target axis includes a front axle or a rear axle;

[0194] 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;

[0195] Determining lateral movement data of the vehicle body based on at least three suspension accelerations, a first lateral distance, and a first longitudinal distance;

[0196] determining longitudinal motion data of a vehicle body based on a mass, a moment of inertia, at least three suspension accelerations, and a first longitudinal distance of a vehicle suspension;

[0197] The vertical motion data of the vehicle body is determined according to the suspension acceleration and the first lateral distance corresponding to the two motion sensors on the target axis, the mass and the moment of inertia of the vehicle suspension.

[0198] As an optional implementation, a plurality of height sensors are provided at positions on the vehicle suspension corresponding to positions of the vehicle wheels; the determination module 402 may also be used for:

[0199] Acquire height information of different positions of a vehicle suspension detected by multiple height sensors;

[0200] Based on the local motion data of the suspension at different positions of the vehicle suspension, the overall motion data of the vehicle body is determined, including:

[0201] 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.

[0202] The present application also provides a vehicle suspension control system, referring to Figure 5 , Figure 5 A schematic structural diagram of a vehicle suspension control system 50 is shown.

[0203] The vehicle suspension control system 50 includes: a signal acquisition and processing module 51 and a suspension control module 52 .

[0204] In some embodiments, the signal acquisition and processing module 51 can collect the vehicle's motion parameter data and local motion data at different positions of the vehicle suspension, and determine the overall motion data of the vehicle body based on the vehicle's motion parameter data and the vehicle suspension's local motion data, so that the suspension control module 52 can output the control electrical parameters of each shock absorber based on the overall motion data of the vehicle body to achieve control of the vehicle suspension.

[0205] Specifically, the signal acquisition processing module 51 can also obtain data collected by other systems in the vehicle, for example, it can obtain vehicle hardware status information, network management information, road ahead information, vehicle load information and vehicle fault information through the vehicle overall controller. That is, the signal acquisition processing module can be connected to other control systems in the vehicle through a bus or other connection methods to obtain information in the vehicle.

[0206] In some other embodiments, the signal acquisition and processing module 51 and the suspension control module 52 can be integrated together. At the same time, the suspension control module 52 can also communicate directly with other systems in the vehicle to obtain vehicle hardware status information, network management information, road ahead information, vehicle load information and vehicle fault information.

[0207] In some other embodiments, in order to improve the control effect of the vehicle suspension, the signal acquisition and processing module 51 can also receive the driving mode input by the driver, and then the suspension control module 52 uses the driving mode as a gain to adjust the resident function request control electrical parameters or the non-resident function request control electrical parameters, so that the control effect of the vehicle suspension is more in line with the driving mode input by the driver, thereby improving the driving experience of the driver.

[0208] In some embodiments, the suspension control module 52 may execute the above-mentioned vehicle suspension control method to determine the control electrical parameters of each shock absorber in the vehicle, and output the control electrical parameters of each shock absorber to the corresponding shock absorber to achieve overall control of the vehicle suspension.

[0209] When controlling the vehicle suspension, the vehicle's motion parameters and the control electrical parameters of each shock absorber are comprehensively considered to determine the overall motion data of the vehicle body, that is, the overall motion data of the vehicle body is analyzed in combination with the local motion data of the suspension stored at different positions of the vehicle suspension, so as to determine the control electrical parameters of each shock absorber through the overall motion data to achieve overall control of the vehicle suspension. Compared with controlling the vehicle suspension with a 1 / 4 suspension model, the influence of each shock absorber in the whole vehicle on the vehicle suspension can be comprehensively considered, thereby improving the control effect of the vehicle suspension.

[0210] In some specific embodiments, the suspension control module 52 may include a resident function request module and a non-resident function request module, wherein the resident function request module is used to output resident function request control electrical parameters, and the non-resident function request module is used to output non-resident function request control electrical parameters.

[0211] Specifically, the resident function request module may include a benchmark submodule, a ceiling control submodule, a ground shelf submodule and a first arbitration submodule. The benchmark submodule can be used to calculate benchmark control electrical parameters based on the overall motion data and the vehicle's motion parameter data to control the initial damping force output by the vehicle suspension. The ceiling control submodule is provided with a ceiling control strategy to obtain the ceiling control electrical parameters, and the ground shelf control submodule is provided with a ground shelf control strategy to obtain the ground shelf control electrical parameters; the first arbitration submodule is used to determine the first arbitration electrical parameters according to a preset priority order for the benchmark electrical parameters, the ground shelf control electrical parameters and the ceiling control electrical parameters.

[0212] It is worth noting that, in this embodiment, the ceiling control strategy and the ground ceiling control strategy are existing control strategies and will not be described in detail here.

[0213] In some other embodiments, the non-resident function request module may include a dead-point protection submodule, a steering control submodule, a pulse control submodule, an anti-pitch submodule, a wheel hop suppression submodule and a grip optimization submodule.

[0214] In this embodiment, the stop point protection submodule can be used to output the shock absorber stop point protection electrical parameters, that is, the maximum control electrical parameter threshold and the minimum control electrical parameter threshold of each shock absorber can be set in the stop point protection submodule, the maximum control electrical parameter threshold is less than the maximum electrical parameter that the shock absorber can output, and the minimum control electrical parameter threshold is greater than the minimum electrical parameter that the shock absorber can output, that is, the stop point protection submodule can control the control electrical parameter output by the shock absorber to be between the maximum control electrical parameter threshold and the minimum control electrical parameter threshold when the vehicle encounters the target working condition, so as to reduce the possibility of damage to the shock absorber.

[0215] In some embodiments, the steering control submodule can be used to output steering electrical parameters, that is, the steering control submodule can determine whether the vehicle is in a steering motion based on the overall motion data of the vehicle body and the motion parameter data of the vehicle. If it is in a steering motion, the steering control submodule can determine the steering electrical parameters based on the overall motion data of the vehicle body and the motion parameter data of the vehicle, and output the corresponding steering electrical parameters to each shock absorber.

[0216] In some embodiments, the pulse control submodule can output pulse electrical parameters according to the road surface excitation collected by the signal acquisition and processing module to better control the movement of the vehicle body and vehicle suspension.

[0217] In some embodiments, the wheel hop control submodule is used to detect whether the vehicle is in a wheel hop motion. When the vehicle is in a wheel hop motion, the wheel hop control submodule determines the wheel hop electrical parameters of each shock absorber to control each shock absorber to output a corresponding damping force according to the corresponding wheel hop electrical parameters to suppress the wheel hop motion.

[0218] In some embodiments, the anti-pitch submodule can determine whether the vehicle is in a pitch motion based on the overall motion data of the vehicle body and the motion parameter data of the vehicle. If the vehicle is in a pitch motion, the anti-pitch submodule can determine the anti-pitch electrical parameters based on the overall motion data of the vehicle body and the motion parameter data of the vehicle to suppress the pitch motion of the vehicle.

[0219] Specifically, the pitching motion may be a head-up motion when the vehicle starts, or a head-nodding motion when the vehicle stops.

[0220] In some embodiments, the grip optimization submodule can output grip electrical parameters to cooperate with the dynamic control movement, anti-lock movement and / or anti-skid movement when the vehicle is in dynamic control movement, anti-lock movement and / or anti-skid movement.

[0221] In some embodiments, the suspension control module 52 may further include an arbitration module, which can determine the control electrical parameters of each shock absorber ultimately output by the suspension control module according to a preset arbitration strategy, that is, sort the control electrical parameters of resident function requests and the control electrical parameters of non-resident function requests according to priority, and finally obtain the control electrical parameters of each shock absorber, and input the control electrical parameters to each shock absorber, so that each shock absorber outputs the corresponding damping force according to the corresponding control electrical parameters, thereby improving the control effect of the vehicle suspension.

[0222] Figure 6 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0223] The electronic device may include a processor 601 and a memory 602 storing computer program instructions.

[0224] Specifically, the processor 601 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.

[0225] The memory 602 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 602 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 602 may include a removable or non-removable (or fixed) medium, or the memory 502 is a non-volatile solid-state memory. The memory 602 may be inside or outside the integrated gateway disaster recovery device.

[0226] In one example, the memory 602 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.

[0227] The memory 602 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 control method according to the first aspect of the present disclosure.

[0228] The processor 601 reads and executes the computer program instructions stored in the memory 602 to implement Figure 1 A vehicle suspension control method in the illustrated embodiment.

[0229] In one example, the electronic device may further include a communication interface 603 and a bus 604. Figure 6 As shown, the processor 601, the memory 602, and the communication interface 603 are connected via a bus 604 and communicate with each other.

[0230] The communication interface 603 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0231] Bus 604 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 604 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.

[0232] The electronic device can execute the vehicle suspension control method in the embodiment of the present application, thereby realizing the combination Figure 1-Figure 4A vehicle suspension control method and apparatus are described.

[0233] In addition, in combination with the vehicle suspension control method in the above embodiments, the present application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the vehicle suspension control methods in the above embodiments is implemented.

[0234] In an optional embodiment, in combination with the vehicle suspension control method in the above embodiments, the embodiment of the present application can be implemented by providing a computer program product, 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 control methods in the above embodiments.

[0235] 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.

[0236] 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.

[0237] 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.

[0238] 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.

[0239] 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.

[0240] 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 control method, characterized in that: The vehicle suspension includes shock absorbers disposed at positions corresponding to respective positions of vehicle wheels, and the method includes: Acquiring suspension local motion data at different positions of the vehicle suspension and vehicle motion parameter data; Determining overall motion data of the vehicle body based on local motion data of the suspension at different positions of the vehicle suspension; According to the overall motion data of the vehicle body and the motion parameter data of the vehicle, the control electrical parameters of each shock absorber are determined so that the shock absorber outputs a damping force to realize the control of the vehicle suspension.

2. The method according to claim 1, characterized in that: The control electrical parameters include resident function request control electrical parameters, and the control electrical parameters of each shock absorber are determined according to the overall motion data of the vehicle body and the motion parameter data of the vehicle, including: For each shock absorber, electric parameter calculation is performed according to the overall motion data and the motion parameter data of the vehicle to obtain a reference control electric parameter, wherein the reference control electric parameter is used to control the initial damping force output by the vehicle suspension; The overall motion data of the vehicle body and the motion parameter data of the vehicle are calculated and processed respectively by the skylight control strategy and the groundlight control strategy to obtain the skylight control electrical parameters and the groundlight control electrical parameters; The reference electrical parameter, the floor shed control electrical parameter and the ceiling shed control electrical parameter are arbitrated according to a preset arbitration method to obtain a first arbitration electrical parameter, wherein the preset arbitration method is used to determine the first arbitration electrical parameter from the reference electrical parameter, the floor shed control electrical parameter and the ceiling shed control electrical parameter according to a preset priority order; The first arbitration electric parameter is determined as a resident function request control electric parameter of each shock absorber.

3. The method according to claim 2, characterized in that The control electrical parameters include non-resident function request control electrical parameters, and the control electrical parameters of each shock absorber are determined according to the overall motion data of the vehicle body and the motion parameter data of the vehicle, and further include: When the vehicle is in a target working condition, determining a non-resident function request electrical parameter of each shock absorber based on the overall motion data of the vehicle body and the motion parameter data of the vehicle, wherein the target working condition includes at least one of wheel hop motion, steering motion, pitch motion, and being stimulated by a preset road surface, and the non-resident function request control electrical parameter includes at least one of shock absorber dead point protection electrical parameter, steering electrical parameter, pulse electrical parameter, anti-pitch electrical parameter, wheel hop electrical parameter, and grip electrical parameter; When the non-resident function request control electrical parameter includes at least two of the shock absorber dead center protection electrical parameter, the steering electrical parameter, the pulse electrical parameter, the anti-pitch electrical parameter, the wheel hop electrical parameter and the grip electrical parameter, obtaining the priority of each non-resident function request control electrical parameter; Based on the priority, the non-resident function request control electrical parameter is arbitrated according to a preset arbitration method to obtain a second arbitration electrical parameter; The first arbitration electrical parameter and the second arbitration electrical parameter are arbitrated according to the preset arbitration method to obtain the control electrical parameter of each shock absorber.

4. The method according to claim 3, characterized in that In the case where the vehicle is in a steering motion, the non-resident function request control electrical parameters include steering electrical parameters corresponding to each shock absorber; The determining of the non-resident function request control electric parameter of each shock absorber based on the overall motion data of the vehicle body and the motion parameter data of the vehicle comprises: For each shock absorber, determining a steering direction based on the overall motion data of the vehicle body; Classifying the plurality of shock absorbers according to the steering direction to obtain a compression side shock absorber and a tension side shock absorber; Based on the motion parameter data of the vehicle, the electrical parameters corresponding to the compression side shock absorber and the tension side shock absorber are searched from the preset shock absorber stretching table and the preset shock absorber compression table respectively to obtain the steering electrical parameters corresponding to each shock absorber, wherein the preset shock absorber stretching table is used to represent the correspondence table between the motion parameter data of the vehicle and the electrical parameters of the shock absorber in the stretching state when the vehicle performs a steering motion, and the preset shock absorber compression table is used to represent the correspondence table between the motion parameter data of the vehicle and the electrical parameters of the shock absorber in the compression state when the vehicle performs a steering motion.

5. The method according to claim 4, characterized in that After the electrical parameters corresponding to the compression side shock absorber and the tension side shock absorber are searched in the preset shock absorption and stretching table and the preset shock absorber compression table to obtain the steering electrical parameters corresponding to each shock absorber, the method further includes: Acquire a steering electrical parameter of a shock absorber corresponding to a front axle of the vehicle and a steering electrical parameter of a shock absorber corresponding to a rear axle of the vehicle; After the steering electrical parameters of the shock absorber corresponding to the front axle of the vehicle are applied to the shock absorber corresponding to the front axle of the vehicle and a first preset time has passed, the steering electrical parameters of the shock absorber corresponding to the rear axle of the vehicle are applied to the shock absorber corresponding to the rear axle of the vehicle.

6. The method according to claim 3, characterized in that In the case where the vehicle is in pitch motion, the non-resident function request electrical parameter includes an anti-pitch electrical parameter, and the non-resident function request electrical parameter of each shock absorber is determined based on the overall motion data of the vehicle body and the motion parameter data of the vehicle, including: In the case where it is detected that the vehicle starts to move from rest, determining the reference electrical parameter as the anti-pitch electrical parameter; In the case where it is detected that the vehicle stops moving, determining the reference electrical parameter as the anti-pitch electrical parameter and determining the time when each of the shock absorbers applies the anti-pitch electrical parameter; The anti-pitch electrical parameter is applied to the corresponding shock absorber according to each time of applying the anti-pitch electrical parameter, so that the vehicle suspension resists the pitching motion.

7. The method according to claim 3, characterized in that The target operating condition further includes dynamic control motion, anti-lock motion and / or anti-skid motion, the non-resident function request electrical parameter includes a grip electrical parameter, and the non-resident function request electrical parameter of each shock absorber is determined based on the overall motion data of the vehicle body and the motion parameter data of the vehicle, including: Obtaining the maximum electrical parameters of the shock absorber; The maximum electrical parameter of the shock absorber is determined as the road-grip electrical parameter.

8. The method according to claim 1, characterized in that A motion sensor is provided at any at least three positions of the vehicle body, the local motion data of the suspension includes the acceleration of the suspension, the overall motion data includes the lateral motion data of the vehicle body, the longitudinal motion data of the vehicle body and the vertical motion data of the vehicle body, and the overall motion data of the vehicle body is determined based on the local motion data of the suspension at different positions of the vehicle suspension, including: Acquire position information of at least three motion sensors, any two of the three motion sensors being located on the same target axis, wherein the target axis includes a front axis or a rear axis; 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; Determining lateral motion data of a vehicle body based on the suspension accelerations corresponding to the two motion sensors on the target axis and the first lateral distance of any motion sensor on the target axis; The longitudinal motion data of the vehicle body and the vertical motion data of the vehicle body are respectively determined based on the first longitudinal distance, the first lateral distance and the suspension acceleration corresponding to the at least three motion sensors.

9. The method according to claim 1, characterized in that: Motion sensors are arranged at at least three positions of the vehicle body, the overall motion data includes lateral motion data of the vehicle body, longitudinal motion data of the vehicle body and vertical motion data of the vehicle body, and the overall motion data of the vehicle body is determined based on the suspension local motion data at different positions of the vehicle suspension, including: Acquire position information of at least three motion sensors, suspension acceleration detected by the motion sensors, and mass and moment of inertia of the vehicle, wherein any two of the three motion sensors are located at the same target axis, and the target axis includes a front axle or a rear axle; 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; determining lateral motion data of the vehicle body according to the suspension acceleration, the first lateral distance, and the first longitudinal distance; Determining longitudinal motion data of a vehicle body based on a mass, a moment of inertia, a suspension acceleration, and a first longitudinal distance of the vehicle; The vertical motion data of the vehicle body is determined according to the suspension acceleration and the first lateral distance corresponding to the two motion sensors on the target axis, the mass and the moment of inertia of the vehicle suspension.

10. The method according to claim 1, characterized in that A plurality of height sensors are arranged at positions on the vehicle suspension corresponding to positions of the vehicle wheels; and the method further comprises: Acquiring height information of different positions of the vehicle suspension detected by a plurality of the height sensors; The determining of the overall motion data of the vehicle body based on the local motion data of the suspension at different positions of the vehicle suspension comprises: Based on the height information and the suspension local motion data at different positions of the vehicle suspension, the overall motion data of the vehicle body is determined.

11. A vehicle suspension control device, characterized in that: The device comprises: An acquisition module, used for acquiring suspension local motion data at different positions of the vehicle suspension and vehicle motion parameter data; a determination module, configured to determine overall motion data of the vehicle body based on local motion data of the suspension at different positions of the vehicle suspension; The determination module is also used to determine the control electrical parameters of each control shock absorber according to the overall motion data of the vehicle body and the motion parameter data of the vehicle, so that the shock absorber outputs a damping force to achieve control of the vehicle suspension.

12. A vehicle suspension control system, characterized in that: The system comprises: A suspension control module, configured to execute the vehicle suspension control method according to any one of claims 1 to 10; The suspension control module includes a resident function request module and a non-resident function request module.

13. 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 control method according to any one of claims 1 to 10 is implemented.

14. 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 control method according to any one of claims 1 to 10 is implemented.

15. 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 control method as described in any one of claims 1 to 10.

16. A vehicle, characterized in that: The vehicle comprises at least one of: The vehicle suspension control device as claimed in claim 12; The electronic device as claimed in claim 13; The computer readable storage medium of claim 14; The computer program product of claim 15.

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