Electric control suspension control method, computing platform, vehicle and electric control suspension controller

Abstract

The invention relates to the technical field of vehicle control, and discloses an electric control suspension control method, a computing platform, a vehicle and an electric control suspension controller. The suspension rigidity, matched with the control torque, of an electric control suspension of the vehicle is determined; and controlling the electric control suspension based on the suspension rigidity. According to the electronic control suspension control method, the suspension rigidity of the electronic control suspension of the vehicle matched with the control torque is determined by receiving the control torque of the vehicle, the electronic control suspension is controlled on the basis of the determined suspension rigidity, the suspension rigidity is determined in time on the basis of the control torque of the vehicle, and the control accuracy of the electronic control suspension is improved. The problem that the suspension rigidity adjustment operation is lagged due to the fact that the suspension rigidity is adjusted based on steering or braking and the like is effectively solved, the response timeliness of the electronic control suspension to the vehicle control torque change is remarkably improved, and therefore the vehicle running stability and safety are effectively improved, and the user experience is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to an electronically controlled suspension control method, a computing platform, a vehicle and an electronically controlled suspension controller. Background Art

[0002] With the development of new energy vehicles, autonomous driving technology has gradually begun to be applied, and the application of autonomous driving technology has put forward new requirements for the vehicle chassis itself. Since autonomous driving is completely determined by the vehicle's autonomous driving, it has a faster response than human driving, so it has higher requirements for the dynamic response of the vehicle. In related technologies, the vehicle's electronically controlled suspension technology is designed based on human driving, and the electronically controlled suspension is only adjusted after the driver has steering or braking operations. The adjustment of the stiffness of the electronically controlled suspension is adjusted according to the steering or braking parameters input by the driver, and the driver has a prediction of the performance of the electronically controlled suspension.

[0003] However, in the self-driving state, the driving condition of the vehicle is completely controlled by the automatic driving controller. If the control input signal of the electronically controlled suspension stiffness adjustment designed based on the human driving state is continued to be used, it is easy to cause the response lag of the vehicle's electronically controlled suspension, and it is impossible to achieve a good match between the suspension characteristics and the vehicle's self-driving state. Therefore, how to reasonably and effectively control the electronically controlled suspension in the vehicle's self-driving state is a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, the present invention provides an electronically controlled suspension control method, a computing platform, a vehicle and an electronically controlled suspension controller to solve or partially solve how to reasonably and effectively control the electronically controlled suspension in the vehicle's self-driving state, which is a technical problem that needs to be solved urgently.

[0005] In a first aspect, the present invention provides an electronically controlled suspension control method, the method comprising:

[0006] receiving a control torque of a vehicle;

[0007] determining a suspension stiffness of an electronically controlled suspension of a vehicle that matches a control torque;

[0008] The electronically controlled suspension is controlled based on the suspension stiffness.

[0009] The electronically controlled suspension control method of the embodiment of the present invention receives the control torque of the vehicle, determines the suspension stiffness of the electronically controlled suspension of the vehicle that matches the control torque, and controls the electronically controlled suspension based on the determined suspension stiffness. The suspension stiffness is determined timely based on the control torque of the vehicle, and the problem of suspension stiffness adjustment operation lag caused by adjusting the suspension stiffness based on operations such as steering or braking is effectively avoided. The timeliness of the response of the electronically controlled suspension to the change of the vehicle control torque is significantly improved, thereby effectively improving the driving stability and safety of the vehicle and significantly improving the user experience.

[0010] In an optional implementation, receiving a control torque of a vehicle includes:

[0011] The vehicle's electronically controlled suspension controller receives a control torque determined by the vehicle's autonomous driving controller based on a driving trajectory.

[0012] In the electronically controlled suspension control method of the embodiment of the present invention, the electronically controlled suspension controller of the vehicle directly receives the control torque determined by the automatic driving controller according to the driving trajectory from the automatic driving controller of the vehicle, without receiving parameters for adjusting the electronically controlled suspension from the steering controller or the brake controller, etc. The electronically controlled suspension can determine the suspension stiffness of the electronically controlled suspension in advance, so that the suspension response is more timely.

[0013] In an optional implementation, the automatic driving controller determines the control torque according to the driving trajectory by the following operations:

[0014] The automatic driving controller obtains map information including at least a target driving range of the vehicle;

[0015] The control torque is determined based on the driving trajectory and map information.

[0016] The electronically controlled suspension control method of the embodiment of the present invention obtains map information including at least the target driving range of the vehicle, and determines the control torque according to the driving trajectory and the map information. Thus, the road conditions ahead are predicted based on the map information, and the suspension stiffness of the electronically controlled suspension is adjusted in advance, thereby realizing beyond-visual-range control, significantly improving the timeliness of suspension stiffness control, and effectively improving the stability and safety of the vehicle.

[0017] In an optional implementation, determining a suspension stiffness of an electronically controlled suspension of a vehicle that matches a control torque includes:

[0018] When the control torque is greater than a set threshold, the current speed of the vehicle is obtained;

[0019] Get the suspension stiffness that matches the current speed and control torque from a pre-configured suspension stiffness table.

[0020] In the electronically controlled suspension control method of the embodiment of the present invention, the pre-configured suspension stiffness table can be a mapping relationship determined based on experience or multiple tests for characterizing the corresponding suspension stiffness when the vehicle runs at different speeds and torques. Therefore, when the control torque is greater than the set threshold, the current speed of the vehicle is obtained, and the suspension stiffness matching the current speed and control torque is obtained from the pre-configured suspension stiffness table. The suspension stiffness matching the control torque is quickly determined by looking up the table, and the suspension stiffness is adjusted in a timely and effective manner, effectively ensuring the stability and safety of the vehicle.

[0021] In an optional implementation, controlling the electronically controlled suspension based on the suspension stiffness includes:

[0022] determining a control amount output to a stiffness adjustment component of an electronically controlled suspension according to the stiffness of the suspension;

[0023] Send the control amount to the stiffness adjustment component.

[0024] In an optional embodiment, the stiffness adjustment component includes at least one of a shock absorber and an air spring.

[0025] In an optional implementation, the control torque includes at least one of the following: steering torque, braking torque and driving torque.

[0026] In the electronically controlled suspension control method of the embodiment of the present invention, the control torque includes steering torque, and the electronically controlled suspension is controlled based on the suspension stiffness of the electronically controlled suspension of the vehicle that matches the steering torque, so that the vehicle is more stable and safe during turning. The control torque includes braking torque, and the electronically controlled suspension is controlled based on the suspension stiffness of the electronically controlled suspension of the vehicle that matches the braking torque, so that the nodding amount of the vehicle during deceleration can be better suppressed. The control torque includes driving torque, and the electronically controlled suspension is controlled based on the suspension stiffness of the electronically controlled suspension of the vehicle that matches the driving torque, so that the head-up phenomenon during acceleration of the vehicle can be better suppressed.

[0027] In an optional embodiment, the suspension stiffness includes at least one of the following: left front suspension stiffness, right front suspension stiffness, left rear suspension stiffness and right rear suspension stiffness.

[0028] In a second aspect, the present invention provides a computing platform, the computing platform comprising an autonomous driving controller and an electronically controlled suspension controller;

[0029] An autopilot controller for sending a control torque of the vehicle to an electronically controlled suspension controller;

[0030] The electronically controlled suspension controller communicates with the autopilot controller and is used to:

[0031] Receiving a control torque of the vehicle sent by the automatic driving controller;

[0032] determining a suspension stiffness of an electronically controlled suspension of a vehicle that matches a control torque;

[0033] The electronically controlled suspension is controlled based on the suspension stiffness.

[0034] In a third aspect, the present invention provides a vehicle, comprising:

[0035] Electronically controlled suspension;

[0036] An automatic driving controller connected to the electronically controlled suspension controller;

[0037] The electronically controlled suspension controller is connected to the automatic driving controller and receives the control torque of the vehicle from the automatic driving controller, thereby executing the electronically controlled suspension control method of the first aspect or any corresponding embodiment thereof.

[0038] In a fourth aspect, the present invention provides an electronically controlled suspension controller for a vehicle, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the electronically controlled suspension control method of the first aspect or any corresponding embodiment thereof by executing the computer instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 is a schematic diagram of an application scenario of an electronically controlled suspension control method according to an embodiment of the present invention;

[0041] Figure 2 FIG. 1 is a flow chart of an electronically controlled suspension control method according to an embodiment of the present invention. Figure 1 ;

[0042] Figure 3 FIG. 1 is a flow chart of an electronically controlled suspension control method according to an embodiment of the present invention. Figure 2 ;

[0043] Figure 4 A schematic diagram showing a self-driving controller sending a steering request instruction carrying a turning angle torque according to a driving trajectory;

[0044] Figure 5 A schematic diagram showing the electronically controlled suspension controller calculating the suspension stiffness based on the corner torque;

[0045] Figure 6 A schematic diagram showing the electronically controlled suspension controller controlling the electronically controlled suspension to turn with the suspension stiffness determined in step S302;

[0046] Figure 7 FIG. 1 is a flow chart of an electronically controlled suspension control method according to an embodiment of the present invention. Figure 3 ;

[0047] Figure 8 A schematic diagram showing an automatic driving controller sending an acceleration request command carrying a driving torque is shown;

[0048] Fig. 9A schematic diagram showing an electronically controlled suspension controller calculating and adjusting the suspension stiffness of the front and rear axles according to the driving torque;

[0049] Fig.10 A schematic diagram showing the electronically controlled suspension controller controlling the electronically controlled suspension to accelerate with the suspension stiffness determined in step S702;

[0050] Fig.11 FIG. 1 is a flow chart of an electronically controlled suspension control method according to an embodiment of the present invention. Figure 4 ;

[0051] Fig.12 A schematic diagram showing an automatic driving controller sending an acceleration request command carrying a driving torque is shown;

[0052] Fig.13 A schematic diagram showing an electronically controlled suspension controller calculating and adjusting the suspension stiffness of the front and rear axles according to the braking torque;

[0053] Fig.14 A schematic diagram showing the electronically controlled suspension controller controlling the electronically controlled suspension to brake at the suspension stiffness determined in step S1102 is shown;

[0054] Fig.15 is a structural block diagram of an electronically controlled suspension control device according to an embodiment of the present invention;

[0055] Fig.16 is a structural block diagram of a vehicle according to an embodiment of the present invention;

[0056] Fig.17 Schematic diagram of the hardware structure of the electronically controlled suspension controller according to an embodiment of the present invention. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0058] In the related technology, when the vehicle needs to turn in the automatic driving state, the driving computer sends a request for the target steering torque to the EPS (Electric Power Steering, steering system controller). After receiving the request for the target steering torque, the EPS can control the steering motor to steer. At this time, the electronically controlled suspension controller can adjust the suspension stiffness according to the angular velocity signal sent by the EPS. In the entire control link, the EPS needs to calculate and transmit information. The adjustment of the suspension stiffness has a lag of 300ms to 400ms, and the suspension stiffness adjustment cannot achieve good performance matching the vehicle steering process.

[0059] In order to solve or partially solve the above problems, the present invention provides an electronically controlled suspension control method, device, vehicle and electronically controlled suspension controller of the vehicle.

[0060] In order to better illustrate the electronically controlled suspension control method of the embodiment of the present invention, Figure 1 The application scenario of the electronically controlled suspension control method according to the embodiment of the present invention is briefly described. Figure 1 As shown, the electronically controlled suspension control method of the embodiment of the present invention involves an automatic driving controller 101, an electronically controlled suspension controller 102, a left front suspension 103, a right front suspension 104, a left rear suspension 105, and a right rear suspension 106. During driving, the automatic driving controller 101 can directly output the steering torque required for steering, the braking torque required for braking, or the driving torque required for driving to the electronically controlled suspension controller 102 according to the driving trajectory of the vehicle. The electronically controlled suspension controller 102 can calculate and adjust the suspension stiffness of the left front suspension 103, the right front suspension 104, the left rear suspension 105, and the right rear suspension 106 according to the received steering torque, braking torque, or driving torque.

[0061] According to an embodiment of the present invention, an embodiment of an electronically controlled suspension control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0062] In this embodiment, an electronically controlled suspension control method is provided, which can be used for autonomous driving vehicle control. Figure 2 is a flow chart of an electronically controlled suspension control method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0063] Step S201, receiving the control torque of the vehicle.

[0064] In an optional implementation, the control torque may include steering torque, braking torque and driving torque.

[0065] In an optional embodiment, the above step S201 can be implemented by receiving the control torque determined by the automatic driving controller according to the driving trajectory from the automatic driving controller of the vehicle through the vehicle's electronically controlled suspension controller.

[0066] Specifically, the vehicle's automatic driving controller can also determine the timing when the vehicle needs to perform operations such as steering, braking, starting or accelerating, as well as the steering angle, braking torque or driving torque, etc. based on the driving trajectory. The present invention does not specifically limit the specific calculation method for determining parameters such as steering angle, braking torque or driving torque based on the formal trajectory. Among them, both starting and accelerating operations require adjusting the suspension stiffness of the vehicle's electronically controlled suspension based on the driving torque.

[0067] In some optional implementations, the autonomous driving controller may determine the control torque according to the driving trajectory by the following operations:

[0068] In step a1, the automatic driving controller obtains map information including at least the target driving range of the vehicle.

[0069] Step a2, determining the control torque according to the driving trajectory and map information.

[0070] For example, the autonomous driving controller combines the vehicle's driving trajectory with the navigation map, and adjusts the electronically controlled suspension when the road conditions ahead are known, thereby achieving true beyond-visual-range control. The specific combination of the driving trajectory and the navigation map can be set according to actual needs. For example, the navigation can be used as the target driving trajectory, and the real-time driving trajectory determined by the vehicle's real-time position can be adjusted based on the set rules and the target driving trajectory.

[0071] The electronically controlled suspension control method of the embodiment of the present invention obtains map information including at least the target driving range of the vehicle, and determines the control torque according to the driving trajectory and the map information. Thus, the road conditions ahead are predicted based on the map information, and the suspension stiffness of the electronically controlled suspension is adjusted in advance, thereby realizing beyond-visual-range control, significantly improving the timeliness of suspension stiffness control, and effectively improving the stability and safety of the vehicle.

[0072] In addition, the vehicle's automatic driving controller can directly send a steering request instruction carrying steering torque, a braking instruction carrying braking torque, or an acceleration instruction carrying driving torque to the electronically controlled suspension controller when steering, braking, or acceleration is required.

[0073] In the electronically controlled suspension control method of the embodiment of the present invention, the electronically controlled suspension controller of the vehicle directly receives the control torque determined by the automatic driving controller according to the driving trajectory from the automatic driving controller of the vehicle, without receiving parameters for adjusting the electronically controlled suspension from the steering controller or the brake controller, etc. The electronically controlled suspension can determine the suspension stiffness of the electronically controlled suspension in advance, so that the suspension response is more timely.

[0074] Step S202, determining the suspension stiffness of the electronically controlled suspension of the vehicle that matches the control torque.

[0075] In an optional embodiment, the suspension stiffness may include at least one of a left front suspension stiffness, a right front suspension stiffness, a left rear suspension stiffness, and a right rear suspension stiffness.

[0076] For details, please refer to Figure 1 The vehicle usually has a left front suspension, a right front suspension, a left rear suspension and a right rear suspension. Reasonable adjustment of the suspension stiffness is an important factor in ensuring the stability of the vehicle. Under different operating conditions of the vehicle, the suspension stiffness of the left front suspension, the right front suspension, the left rear suspension and the right rear suspension needs to be adaptively adjusted. Therefore, to determine the suspension stiffness of the electronically controlled suspension of the vehicle that matches the control torque, it is necessary to determine the left front suspension stiffness, the right front suspension stiffness, the left rear suspension stiffness and the right rear suspension stiffness respectively.

[0077] In an optional implementation, step S202 may include:

[0078] Step S2021, when the control torque is greater than a set threshold, obtain the current speed of the vehicle.

[0079] In some optional embodiments of the present invention, a suspension stiffness table for characterizing the mapping relationship between corresponding suspension stiffnesses when the vehicle runs at different speeds and torques may be determined in advance based on experience or multiple tests.

[0080] When the vehicle is in the automatic driving state, the vehicle's electronic suspension controller will adjust the left front suspension stiffness, right front suspension stiffness, left rear suspension stiffness and right rear suspension stiffness in real time according to the control torque. In order to increase the stability of vehicle control, the suspension stiffness is adjusted only when the control torque is greater than the set threshold. Because the suspension stiffness corresponding to each control torque in the suspension stiffness table needs to be determined in combination with the vehicle's speed, the current speed of the vehicle needs to be obtained here.

[0081] Furthermore, the set threshold value of the control torque here can be determined according to actual needs. The present invention does not specifically limit the specific value of the set threshold value. It should be noted that the set threshold value can be set for the steering torque, driving torque and braking torque respectively.

[0082] Step S2022: Obtain the suspension stiffness that matches the current speed and control torque from a pre-configured suspension stiffness table.

[0083] Here, the suspension stiffness tables can be configured separately for steering torque, driving torque and braking torque.

[0084] First, according to whether the type of the received control torque is steering torque, driving torque or braking torque, the corresponding suspension stiffness table is selected according to the determined type of the control torque, and the suspension stiffness matching the control torque is further obtained by looking up the table. Here, the suspension stiffness can also configure the corresponding left front suspension stiffness, right front suspension stiffness, left rear suspension stiffness and right rear suspension stiffness for each control torque and vehicle speed.

[0085] In the electronically controlled suspension control method of the embodiment of the present invention, the pre-configured suspension stiffness table may be a mapping relationship determined based on experience or multiple tests for characterizing the corresponding suspension stiffness when the vehicle is running at different speeds and torques. Thus, when the control torque is greater than a set threshold, the current speed of the vehicle is obtained, and the suspension stiffness matching the current speed and control torque is obtained from the pre-configured suspension stiffness table. The suspension stiffness matching the control torque is determined by quickly looking up the table, and the suspension stiffness is adjusted in a timely and effective manner, thereby effectively ensuring the stability and safety of the vehicle.

[0086] Step S203: controlling the electronically controlled suspension based on the suspension stiffness.

[0087] In an optional implementation, step S203 may include:

[0088] Step S2031, determining the control amount output to the stiffness adjustment component of the electronically controlled suspension according to the suspension stiffness.

[0089] In an optional embodiment, the stiffness adjustment component includes at least one of a shock absorber and an air spring.

[0090] The suspension stiffness and the control amount of the stiffness adjustment component have a certain correlation. The specific correlation needs to be determined based on factors such as the type and material of the stiffness adjustment component of the vehicle, and the correlation can be set based on experiments and experience. The stiffness adjustment component types can include stiffness adjustment components implemented by shock absorbers alone, stiffness adjustment components implemented by air springs alone, and stiffness condition components that use both shock absorbers and air springs. In addition, the stiffness adjustment component can also use other suitable materials and equipment.

[0091] Step S2032, sending the control amount to the stiffness adjustment component.

[0092] For different stiffness adjustment components, the suspension stiffness adjustment of the stiffness adjustment component can be achieved by directly sending the corresponding control amount to the stiffness adjustment component.

[0093] The electronically controlled suspension control method of the embodiment of the present invention receives the control torque of the vehicle, determines the suspension stiffness of the electronically controlled suspension of the vehicle that matches the control torque, and controls the electronically controlled suspension based on the determined suspension stiffness. The suspension stiffness is determined timely based on the control torque of the vehicle, and the problem of suspension stiffness adjustment operation lag caused by adjusting the suspension stiffness based on operations such as steering or braking is effectively avoided. The timeliness of the response of the electronically controlled suspension to the change of the vehicle control torque is significantly improved, thereby effectively improving the driving stability and safety of the vehicle and significantly improving the user experience.

[0094] In the electronically controlled suspension control method of the embodiment of the present invention, the control torque includes steering torque, and the electronically controlled suspension is controlled based on the suspension stiffness of the electronically controlled suspension of the vehicle that matches the steering torque, so that the vehicle is more stable and safe during turning. The control torque includes braking torque, and the electronically controlled suspension is controlled based on the suspension stiffness of the electronically controlled suspension of the vehicle that matches the braking torque, so that the nodding amount of the vehicle during deceleration can be better suppressed. The control torque includes driving torque, and the electronically controlled suspension is controlled based on the suspension stiffness of the electronically controlled suspension of the vehicle that matches the driving torque, so that the head-up phenomenon during acceleration of the vehicle can be better suppressed.

[0095] In this embodiment, an electronically controlled suspension control method is provided, which can be used for autonomous driving vehicle control. Figure 3 is a flow chart of an electronically controlled suspension control method according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0096] Step S301: The electronically controlled suspension controller receives the steering torque determined based on the driving trajectory and sent by the automatic driving controller.

[0097] Figure 4 A schematic diagram showing a self-driving controller sending a steering request instruction carrying a steering angle torque according to a driving trajectory.

[0098] In step S302 , the electronically controlled suspension controller determines the suspension stiffness of the electronically controlled suspension of the vehicle that matches the steering torque.

[0099] Figure 5 A schematic diagram showing the electronically controlled suspension controller calculating the suspension stiffness based on the corner torque.

[0100] In step S303 , the electronically controlled suspension controller controls the electronically controlled suspension to turn with the suspension stiffness determined in step S302 .

[0101] Figure 6FIG. 2 shows a schematic diagram of the electronically controlled suspension controller controlling the electronically controlled suspension to turn at the suspension stiffness determined in step S302. Figure 6 As shown, the vehicle turns smoothly with the suspension stiffness adjusted in advance.

[0102] For example, before the vehicle enters a curve, the autonomous driving controller determines and sends the steering torque to the electronically controlled suspension controller according to the pre-planned driving trajectory. The steering torque includes the steering torque value Target_SteeringWheelTorque and the steering direction Steering_Direction. The steering direction can represent whether the vehicle is turning left or right. If the steering direction shows that the vehicle is turning left, the four suspension stiffnesses of the electronically controlled suspension can be determined by checking the suspension stiffness table, namely, the left front suspension stiffness FL_SuspensionStiffness, the left rear suspension stiffness RL_SuspensionStiffness, the right front suspension stiffness FR_SuspensionStiffness, and the right rear suspension stiffness RR_SuspensionStiffness. When the vehicle turns left, the values ​​of the left front suspension stiffness and the left rear suspension stiffness can be equal, and the values ​​of the right front suspension stiffness and the right rear suspension stiffness can be equal. It should be noted that in actual applications, the judgment condition for the values ​​of two parameters to be equal can be set to the difference between the two being less than or equal to the set difference threshold. Here, the left front suspension stiffness and the left rear suspension stiffness are collectively referred to as the left suspension stiffness, and the right front suspension stiffness and the right rear suspension stiffness are collectively referred to as the right suspension stiffness. When turning left, the left suspension stiffness is smaller than the right suspension stiffness. The vehicle turns with the four suspension stiffnesses obtained by the above calculation and table lookup, which can effectively ensure the stability of the vehicle posture, and before the vehicle exits the curve, the electronic suspension controller can control the suspension stiffness on both sides to return to the normal straight state as the steering torque changes in real time.

[0103] Figure 3-Figure 6 For other detailed implementation details of the illustrated embodiment, see Figure 2 Steps S201 to S203 of the illustrated embodiment are not described in detail here.

[0104] In this embodiment, an electronically controlled suspension control method is provided, which can be used for autonomous driving vehicle control. Figure 7 is a flow chart of an electronically controlled suspension control method according to an embodiment of the present invention. Figure 7 As shown, the process includes the following steps:

[0105] Step S701: The electronically controlled suspension controller receives a driving torque acceleration request instruction sent by the automatic driving controller.

[0106] Figure 8The schematic diagram of the self-driving controller sending an acceleration request command with driving torque is shown. At this time, the vehicle automatic driving controller controls the vehicle to accelerate at full speed.

[0107] Step S702 : The electronically controlled suspension controller determines the suspension stiffness of the electronically controlled suspension of the vehicle that matches the driving torque.

[0108] Fig. 9 A schematic diagram showing an electronically controlled suspension controller calculating and adjusting the suspension stiffness of the front and rear axles according to the driving torque.

[0109] In step S703 , the electronically controlled suspension controller controls the electronically controlled suspension to accelerate at the suspension stiffness determined in step S702 .

[0110] Fig.10 FIG. 4 is a schematic diagram showing the electronically controlled suspension controller controlling the electronically controlled suspension to accelerate at the suspension stiffness determined in step S702. Fig.10 As shown, the vehicle's electronically controlled suspension maintains a relatively stable posture during acceleration, significantly reducing the amount of head lift.

[0111] Figure 7-10 For other detailed implementation details of the illustrated embodiment, see Figure 2 Steps S201 to S203 of the illustrated embodiment are not described in detail here.

[0112] In this embodiment, an electronically controlled suspension control method is provided, which can be used for autonomous driving vehicle control. Fig.11 is a flow chart of an electronically controlled suspension control method according to an embodiment of the present invention. Fig.11 As shown, the process includes the following steps:

[0113] Step S1101, the electronically controlled suspension controller receives a braking request instruction carrying braking torque sent by the automatic driving controller.

[0114] Fig.12 The schematic diagram of the self-driving controller sending a driving torque acceleration request instruction is shown. At this time, the vehicle automatic driving controller controls the vehicle to decelerate at full speed.

[0115] In step S1102 , the electronically controlled suspension controller determines the suspension stiffness of the electronically controlled suspension of the vehicle that matches the braking torque.

[0116] Fig.13 A schematic diagram showing an electronically controlled suspension controller calculating and adjusting the suspension stiffness of the front and rear axles according to the braking torque.

[0117] In step S1103 , the electronically controlled suspension controller controls the electronically controlled suspension to brake at the suspension stiffness determined in step S1102 .

[0118] Fig.14FIG. 2 shows a schematic diagram of the electronically controlled suspension controller controlling the electronically controlled suspension to brake at the suspension stiffness determined in step S1102. Fig.14 As shown, the vehicle's electronically controlled suspension maintains a relatively stable braking posture, significantly reducing the amount of nodding.

[0119] Figure 11-Figure 14 For other detailed implementation details of the illustrated embodiment, see Figure 2 Steps S201 to S203 of the illustrated embodiment are not described in detail here.

[0120] It should be noted that Figure 4-Figure 6 , Figure 8-Figure 10 , Figure 12-14 The self-driving controller shown in is the automatic driving controller described above, and the suspension controller is the electronically controlled suspension controller described above.

[0121] In this embodiment, an electronically controlled suspension control device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0122] This embodiment provides a computing platform, such as Fig.15 As shown, the computing platform includes an automatic driving controller 101 and an electronically controlled suspension controller 102:

[0123] The automatic driving controller 101 is used to send the control torque of the vehicle to the electronically controlled suspension controller 102;

[0124] The electronically controlled suspension controller communicates with the autopilot controller and is used to:

[0125] Receiving a control torque of the vehicle sent by the automatic driving controller;

[0126] determining a suspension stiffness of an electronically controlled suspension of a vehicle that matches a control torque;

[0127] The electronically controlled suspension is controlled based on the suspension stiffness.

[0128] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0129] The electronically controlled suspension control device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0130] The embodiment of the present invention also provides a vehicle, see Fig.16 , Fig.16 is a schematic diagram of the structure of a vehicle provided by an optional embodiment of the present invention, such as Fig.16 As shown, the vehicle includes:

[0131] Electronically controlled suspension 1601;

[0132] The automatic driving controller 101 is connected to the electronically controlled suspension controller 102;

[0133] The electronically controlled suspension controller 102 is connected to the automatic driving controller 101, and receives the control torque of the vehicle from the automatic driving controller 101, thereby executing the electronically controlled suspension control method of the first aspect or any corresponding embodiment thereof.

[0134] The embodiment of the present invention also provides an electronically controlled suspension controller having the above Fig.17 Electronically controlled suspension controls shown.

[0135] See also Fig.17 , Fig.17 is a schematic diagram of the structure of an electronically controlled suspension controller provided by an optional embodiment of the present invention, such as Fig.17 As shown, the electronically controlled suspension controller includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed in the electronically controlled suspension controller, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronically controlled suspension controllers can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig.17 A processor 10 is taken as an example.

[0136] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0137] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0138] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store data created according to the use of the electronically controlled suspension controller, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the electronically controlled suspension controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0139] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0140] The electronically controlled suspension controller further comprises a communication interface 30 for the electronically controlled suspension controller to communicate with other devices or a communication network.

[0141] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0142] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0143] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An electronically controlled suspension control method, characterized in that: The method comprises: receiving a control torque of a vehicle; determining a suspension stiffness of an electronically controlled suspension of the vehicle that matches the control torque; The electronically controlled suspension is controlled based on the suspension stiffness.

2. The method according to claim 1, characterized in that: The receiving the control torque of the vehicle comprises: The electronically controlled suspension controller of the vehicle receives a control torque determined by the automatic driving controller according to a driving trajectory from the automatic driving controller of the vehicle.

3. The method according to claim 2, characterized in that The automatic driving controller determines the control torque according to the driving trajectory by the following operation: The automatic driving controller acquires map information including at least a target driving range of the vehicle; The control torque is determined according to the driving trajectory and the map information.

4. The method according to claim 1, characterized in that: The determining of the suspension stiffness of the electronically controlled suspension of the vehicle that matches the control torque comprises: When the control torque is greater than a set threshold, obtaining a current speed of the vehicle; A suspension stiffness matching the current speed and the control torque is obtained from a preconfigured suspension stiffness table.

5. The method according to claim 1, characterized in that: The controlling the electronically controlled suspension based on the suspension stiffness comprises: determining a control amount output to a stiffness adjustment component of an electronically controlled suspension according to the suspension stiffness; The control amount is sent to the stiffness adjustment component.

6. The method according to any one of claims 1 to 5, characterized in that The control torque includes at least one of the following: steering torque, braking torque and driving torque.

7. The method according to any one of claims 1 to 5, characterized in that The suspension stiffness includes at least one of the following: a left front suspension stiffness, a right front suspension stiffness, a left rear suspension stiffness, and a right rear suspension stiffness.

8. A computing platform, characterized in that: The computing platform includes an autonomous driving controller and an electronically controlled suspension controller; The automatic driving controller is used to send the control torque of the vehicle to the electronically controlled suspension controller; The electronically controlled suspension controller is connected in communication with the automatic driving controller and is used to: Receiving a control torque of the vehicle sent by the automatic driving controller; determining a suspension stiffness of an electronically controlled suspension of the vehicle that matches the control torque; The electronically controlled suspension is controlled based on the suspension stiffness.

9. A vehicle, characterized in that: include: Electronically controlled suspension; An automatic driving controller connected to the electronically controlled suspension controller; The electronically controlled suspension controller is connected to the automatic driving controller, and receives the control torque of the vehicle from the automatic driving controller, thereby executing the electronically controlled suspension control method according to any one of claims 1 to 7.

10. An electronically controlled suspension controller for a vehicle, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the electronically controlled suspension control method according to any one of claims 1 to 7 by executing the computer instructions.

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