Suspension control method, system, equipment and medium

Abstract

The invention discloses a suspension control method, system and device and a medium. The suspension control method comprises the following steps: obtaining a motor rotor inertia and a motor damping coefficient under a current load, obtaining a torque of a motor according to the motor rotor inertia and the motor damping coefficient under the current load, and obtaining a motor equivalent damping force according to the torque of the motor; the damping force of the shock absorber is obtained according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor; and according to the equivalent damping force of the motor and the damping force of the shock absorber, damping control over the suspension is achieved. According to the embodiment of the invention, a motor power generation structure is introduced into the shock absorber, and the optimal comfort and power generation efficiency are achieved by distributing the damping force required by the suspension. Therefore, the motor absorbs the vibration energy of the suspension while the comfort is not sacrificed, and the energy utilization rate of the automobile is improved.

Description

Technical Field

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

[0002] With the increasing development of new energy vehicles and increasingly fierce competition, higher requirements are placed on the vehicle's endurance and comfort. On the one hand, a highly comfortable riding experience is required, and on the other hand, using the active and passive suspension functions of existing technologies to improve comfort will pose a challenge to endurance. Traditional CDC electromagnetic shock absorbers change the electromagnetic force by supplying power, thereby achieving semi-active control of the damping force and improving the comfort of the suspension. However, the electromagnetic shock absorber needs to be powered all the time, which is not conducive to endurance. Summary of the invention

[0003] Based on this, it is necessary to provide a suspension control method, system, equipment and medium to address the above technical problems. Without sacrificing comfort, the motor can absorb the energy of the suspension vibration to generate electricity and improve the energy utilization of the car.

[0004] In a first aspect, a suspension control method is provided, comprising:

[0005] Obtaining the motor rotor inertia and the motor damping coefficient under the current load, and obtaining the motor torque according to the motor rotor inertia and the motor damping coefficient under the current load, and obtaining the motor equivalent damping force according to the motor torque;

[0006] Obtaining the damping force of the shock absorber according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor;

[0007] The damping of the suspension is controlled according to the equivalent damping force of the motor and the damping force of the shock absorber.

[0008] In some examples, before obtaining the motor equivalent damping force according to the torque of the motor, the method further includes:

[0009] According to the equivalent damping force of the motor when no-loaded, the motor rotor inertia and the motor damping coefficient are selected, and the motor is selected according to the selected motor rotor inertia and the motor damping coefficient.

[0010] In some examples, obtaining the damping force of the shock absorber according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor includes:

[0011] Obtaining a damping compensation value according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor;

[0012] The damping force provided by the shock absorber is obtained according to the damping compensation value.

[0013] In some examples, obtaining the torque of the motor according to the motor rotor inertia and the motor damping coefficient under the current load, and obtaining the motor equivalent damping force according to the motor torque includes:

[0014] According to the motor rotor inertia and the motor damping coefficient, the motor torque is obtained;

[0015] The torque motion of the motor is equivalent to the motion of the shock absorber to obtain the motor equivalent damping force.

[0016] In some examples, when obtaining the damping force of the shock absorber based on the optimal damping curve of the shock absorber and the equivalent damping force of the motor, the equivalent damping slope of the motor is less than the minimum slope of the optimal damping curve.

[0017] In a second aspect, a suspension control system is provided, comprising:

[0018] An acquisition module, used to obtain the motor rotor inertia and the motor damping coefficient under the current load, and obtain the motor torque according to the motor rotor inertia and the motor damping coefficient under the current load, and obtain the motor equivalent damping force according to the motor torque;

[0019] A distribution module, used for obtaining the damping force of the shock absorber according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor;

[0020] A control module is used to control the damping of the suspension according to the equivalent damping force of the motor and the damping force of the shock absorber.

[0021] According to a third aspect, a vehicle is provided, comprising: a suspension control system according to the second aspect.

[0022] In a fourth aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the suspension control method according to the first aspect is implemented.

[0023] In a fifth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the suspension control method according to the first aspect is implemented.

[0024] In a sixth aspect, a computer program product is provided, on which a computer program is stored. When the computer program is executed by a processor, the suspension control method according to the first aspect is implemented.

[0025] By adopting the embodiment of the present application, a motor power generation structure is introduced into the traditional shock absorber, and the optimal comfort and power generation efficiency are achieved by distributing the damping force required by the suspension. One part is provided by the electromagnetic shock absorber, and this part can control the proportion of the damping force by the current size, and also determines the comfort of the suspension. The other part is provided by the motor power generation structure. The damping property of this part does not change much during the suspension vibration process, and its size determines the efficiency of the suspension energy recovery. Therefore, without sacrificing comfort, the motor can absorb the energy of the suspension vibration, generate electricity, and improve the energy utilization rate of the car. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0027] Figure 1 A flow chart of a suspension control method provided in an embodiment of the present application;

[0028] Figure 2 A schematic diagram of the implementation process of the suspension control method provided in the embodiment of the present application;

[0029] Figure 3 A schematic diagram of an equivalent damping curve of a motor according to an embodiment of the present application;

[0030] Figure 4 A structural block diagram of a suspension control system provided in an embodiment of the present application;

[0031] Figure 5 A structural block diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The present application is further described in detail below in conjunction with the embodiments and drawings. It is to be understood that the specific embodiments described herein are only used to explain the relevant application, rather than to limit the application. It is also necessary to explain that, for ease of description, only the parts related to the application are shown in the drawings.

[0033] It should be noted that, in the absence of conflict, the embodiments of the present application, that is, the features of the embodiments, can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0034] The following describes in detail the control method, system, device and medium of the suspension according to the embodiments of the present application in conjunction with the accompanying drawings.

[0035] In the implementation environment of the embodiment of the present application, a computing device, such as a computer, a terminal, etc., can obtain the equivalent damping force of the motor according to the motor rotor inertia and the motor damping coefficient;

[0036] Obtaining the damping force of the shock absorber according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor;

[0037] The damping of the suspension is controlled according to the equivalent damping force of the motor and the damping force of the shock absorber.

[0038] Figure 1 FIG. 1 is a flow chart of a method for controlling a suspension according to an embodiment of the present application. Figure 1 As shown, a suspension control method according to an embodiment of the present application includes the following steps:

[0039] S101: Obtaining the motor rotor inertia and the motor damping coefficient under the current load, and obtaining the motor torque according to the motor rotor inertia and the motor damping coefficient under the current load, and obtaining the motor equivalent damping force according to the motor torque.

[0040] In one embodiment of the present application, the torque of the motor is obtained according to the motor rotor inertia and the motor damping coefficient under the current load, and the motor equivalent damping force is obtained according to the torque of the motor, including: obtaining the torque of the motor according to the motor rotor inertia and the motor damping coefficient; equating the torque motion of the motor to the motion of the shock absorber to obtain the motor equivalent damping force.

[0041] Among them, the motor damping coefficient refers to the resistance encountered by the motor during the loading and unloading rotation, which is one of the main reasons for the motor speed reduction. When the motor speed decreases, due to the existence of the load, the motor needs to provide a larger torque to overcome the load. Therefore, the motor needs to have a larger damping coefficient. The size of the motor damping coefficient is related to factors such as the air gap between the rotor and stator of the motor, the electromagnetic field of the rotor and stator, and the mechanical loss of the motor. Generally speaking, the influence of these factors should be minimized when designing the motor.

[0042] The motor rotor inertia refers to the magnitude of the inertial effect of the motor when it rotates. It is the inertial factor of the motor speed change. When the motor load changes slightly, the motor's rotational inertia can be ignored. When the click load changes greatly, the influence of the rotational inertia becomes significant. The motor's rotational inertia is related to factors such as the motor's mass, the radius of the rotor, and the density of the motor. Generally speaking, in order to ensure the quality and efficiency of the motor, the motor's rotational inertia should be minimized.

[0043] S102: Obtaining the damping force of the shock absorber according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor.

[0044] In a specific application, the damping force of the shock absorber is obtained according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor, including: obtaining a damping compensation value according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor; and obtaining the damping force provided by the shock absorber according to the damping compensation value.

[0045] Wherein, when the damping force of the shock absorber is obtained according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor, the equivalent damping slope of the motor is less than the minimum slope of the optimal damping curve.

[0046] S103: Controlling the damping of the suspension according to the equivalent damping force of the motor and the damping force of the shock absorber.

[0047] In one embodiment of the present application, before obtaining the motor equivalent damping force according to the torque of the motor, it also includes: selecting the motor rotor inertia and the motor damping coefficient according to the motor equivalent damping force when no-load, and selecting the motor according to the selected motor rotor inertia and motor damping coefficient.

[0048] Combination Figure 2 and Figure 3 As shown, the shock absorber takes the CDC shock absorber as an example. In the embodiment of the present application, the CDC shock absorber and the motor vibration reduction structure are combined together to form a new semi-active suspension structure with energy recovery. It mainly utilizes motor power generation technology, and connects the damping force of the motor to the suspension shock absorber through a mechanical amplification structure. However, for passively controlled motors, the equivalent rotational damping ratio of its power generation structure is only related to the motor's moment of inertia and the motor's torsional damping coefficient. The main idea is: first, according to the set optimal damping coefficient of the suspension, first process the motor part structurally, according to the motor torque formula 1:

[0049] T=Jaw+Kaw (1)

[0050] Among them, T is the input torque of the motor, J is the moment of inertia of the motor, aw is the angular acceleration transmitted to the motor, Ka is the damping coefficient of the motor, and w is the angular velocity of the motor.

[0051] Formula 2 can be derived from Formula 1:

[0052] F=Kdv (2)

[0053] Formula 2 converts the torque motion in Formula 1 to the CDC damper structure motion, thereby obtaining the equivalent damping of the motor.

[0054] for Figure 2The damping force distribution rule in the , needs to satisfy the equivalent damping slope of the motor power generation is less than the minimum slope of the target damping curve, so as to ensure the maximum power generation efficiency, and to compensate the damping force through the CDC electronically controlled suspension to improve comfort. Figure 3 The figure shows the equivalent damping curve of the motor.

[0055] According to the control method of the suspension of the embodiment of the present application, a motor power generation structure is introduced into the traditional shock absorber, and the optimal comfort and power generation efficiency are achieved by allocating the damping force required by the suspension. One part is provided by the electromagnetic shock absorber, and this part can control the proportion of the damping force by the current size, and also determines the comfort of the suspension. The other part is provided by the motor power generation structure. The damping property of this part does not change much during the vibration of the suspension, and its size determines the efficiency of the energy recovery of the suspension. Therefore, without sacrificing comfort, the motor can absorb the energy of the suspension vibration, generate electricity, and improve the energy utilization rate of the car.

[0056] Figure 4 FIG. 1 is a structural block diagram of a suspension control system according to an embodiment of the present application. Figure 4 As shown, a control system of a suspension according to an embodiment of the present application includes: an acquisition module 410, a distribution module 420 and a control module 430, wherein:

[0057] An acquisition module 410 is used to obtain the motor rotor inertia and the motor damping coefficient under the current load, and obtain the motor torque according to the motor rotor inertia and the motor damping coefficient under the current load, and obtain the motor equivalent damping force according to the motor torque;

[0058] An allocation module 420, configured to obtain the damping force of the shock absorber according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor;

[0059] The control module 430 is used to control the damping of the suspension according to the equivalent damping force of the motor and the damping force of the shock absorber.

[0060] In one embodiment of the present application, an equivalent damping force of the motor is obtained according to the motor rotor inertia and the motor damping coefficient, including: obtaining the torque of the motor according to the motor rotor inertia and the motor damping coefficient; and equating the torque motion of the motor to the motion of the shock absorber to obtain the equivalent damping force of the motor.

[0061] In a specific application, the damping force of the shock absorber is obtained according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor, including: obtaining a damping compensation value according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor; and obtaining the damping force provided by the shock absorber according to the damping compensation value.

[0062] Wherein, when the damping force of the shock absorber is obtained according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor, the equivalent damping slope of the motor is less than the minimum slope of the optimal damping curve.

[0063] In one embodiment of the present application, before obtaining the motor equivalent damping force according to the motor rotor inertia and the motor damping coefficient, the method further includes: selecting the motor rotor inertia and the motor damping coefficient according to the motor equivalent damping force.

[0064] Combination Figure 2 and Figure 3 As shown, the shock absorber takes the CDC shock absorber as an example. In the embodiment of the present application, the CDC shock absorber and the motor vibration reduction structure are combined together to form a new semi-active suspension structure with energy recovery. It mainly utilizes motor power generation technology, and connects the damping force of the motor to the suspension shock absorber through a mechanical amplification structure. However, for passively controlled motors, the equivalent rotational damping ratio of its power generation structure is only related to the motor's moment of inertia and the motor's torsional damping coefficient. The main idea is: first, according to the set optimal damping coefficient of the suspension, first process the motor part structurally, according to the motor torque formula 1:

[0065] T=Jaw+Kaw (1)

[0066] Among them, T is the input torque of the motor, J is the moment of inertia of the motor, aw is the angular acceleration transmitted to the motor, Ka is the damping coefficient of the motor, and w is the angular velocity of the motor.

[0067] Formula 2 can be derived from Formula 1:

[0068] F=Kdv (2)

[0069] Formula 2 converts the torque motion in Formula 1 to the CDC damper structure motion, thereby obtaining the equivalent damping of the motor.

[0070] for Figure 2 The damping force distribution rule in the , needs to satisfy the equivalent damping slope of the motor power generation is less than the minimum slope of the target damping curve, so as to ensure the maximum power generation efficiency, and to compensate the damping force through the CDC electronically controlled suspension to improve comfort. Figure 3 The figure shows the equivalent damping curve of the motor.

[0071] According to the control system of the suspension of the embodiment of the present application, a motor power generation structure is introduced in the traditional shock absorber, and the optimal comfort and power generation efficiency are achieved by allocating the damping force required by the suspension. One part is provided by the electromagnetic shock absorber, and this part can control the proportion of the damping force by the current size, and also determines the comfort of the suspension. The other part is provided by the motor power generation structure. The damping property of this part does not change much during the vibration of the suspension, and its size determines the efficiency of the energy recovery of the suspension. Therefore, without sacrificing comfort, the motor can absorb the energy of the suspension vibration, generate electricity, and improve the energy utilization rate of the car.

[0072] For the specific definition of the control system of the suspension, please refer to the definition of the control method of the suspension above, which will not be repeated here. Each module of the above-mentioned control system of the suspension can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0073] In addition, a vehicle is provided in an embodiment of the present application, comprising: a control system of the suspension according to any of the above embodiments, wherein a motor power generation structure is introduced into the traditional shock absorber, and the optimal comfort and power generation efficiency are achieved by distributing the damping force required by the suspension. One part is provided by the electromagnetic shock absorber, and this part can control the proportion of the damping force by the current size, and also determines the comfort of the suspension. The other part is provided by the motor power generation structure. The damping property of this part does not change much during the vibration of the suspension, and its size determines the efficiency of the energy recovery of the suspension. Therefore, without sacrificing comfort, the motor can absorb the energy of the suspension vibration, generate electricity, and improve the energy utilization rate of the car.

[0074] In addition, other structures and functions of the vehicle according to the embodiment of the present application are known to ordinary technicians in the field and will not be elaborated here.

[0075] Reference below Figure 5 , Figure 5 A schematic diagram of the structure of a computer device suitable for implementing the embodiments of the present application is shown.

[0076] like Figure 5As shown, the computer system includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage part 1008 into the random access memory (RAM) 1003. In the RAM 1003, various programs and data required for the operation instructions of the system are also stored. The CPU 1001, the ROM 1002, and the RAM 1003 are connected to each other through a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0077] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed, so that a computer program read therefrom is installed into the storage section 1008 as needed.

[0078] In particular, according to an embodiment of the present application, the above reference flow chart Figure 1 The described process can be implemented as a computer-readable storage medium. For example, an embodiment of the present application includes a computer-readable storage medium, which includes a computer program, and the computer program contains program code for executing the method shown in the flowchart, such as executing: according to the motor rotor inertia and the motor damping coefficient, obtaining the motor equivalent damping force;

[0079] Obtaining the damping force of the shock absorber according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor;

[0080] The damping of the suspension is controlled according to the equivalent damping force of the motor and the damping force of the shock absorber.

[0081] In particular, according to an embodiment of the present application, the above reference flow chart Figure 1 The described process may be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart. For example, executing:

[0082] According to the motor rotor inertia and the motor damping coefficient, the motor equivalent damping force is obtained;

[0083] Obtaining the damping force of the shock absorber according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor;

[0084] The damping of the suspension is controlled according to the equivalent damping force of the motor and the damping force of the shock absorber.

[0085] In such an embodiment, the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1009, and / or installed from the removable medium 1011. When the computer program is executed by the central processing unit (CPU) 1001, the above functions defined in the system of the present application are executed.

[0086] It should be noted that the computer-readable medium shown in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium such as a computer-readable storage medium that can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0087] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operating instructions of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the aforementioned module, a program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, the boxes represented by two connections can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operating instruction, or can be implemented with a combination of dedicated hardware and computer instructions.

[0088] The units or modules involved in the embodiments described in the present application may be implemented by software or hardware. The units or modules described may also be arranged in a processor. The names of these units or modules do not, in some cases, constitute limitations on the units or modules themselves.

[0089] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0090] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A suspension control method, characterized in that: include: Obtaining the motor rotor inertia and the motor damping coefficient under the current load, and obtaining the motor torque according to the motor rotor inertia and the motor damping coefficient under the current load, and obtaining the motor equivalent damping force according to the motor torque; Obtaining the damping force of the shock absorber according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor; The damping of the suspension is controlled according to the equivalent damping force of the motor and the damping force of the shock absorber.

2. The suspension control method according to claim 1, characterized in that: Before obtaining the motor equivalent damping force according to the torque of the motor, the method further includes: According to the equivalent damping force of the motor when no-loaded, the motor rotor inertia and the motor damping coefficient are selected, and the motor is selected according to the selected motor rotor inertia and the motor damping coefficient.

3. The suspension control method according to claim 1, characterized in that: The obtaining the damping force of the shock absorber according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor comprises: Obtaining a damping compensation value according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor; The damping force provided by the shock absorber is obtained according to the damping compensation value.

4. The suspension control method according to claim 1, characterized in that: The step of obtaining the torque of the motor according to the motor rotor inertia and the motor damping coefficient under the current load, and obtaining the motor equivalent damping force according to the motor torque, comprises: According to the motor rotor inertia and the motor damping coefficient, the motor torque is obtained; The torque motion of the motor is equivalent to the motion of the shock absorber to obtain the motor equivalent damping force.

5. The suspension control method according to claim 1, characterized in that: When the damping force of the shock absorber is obtained according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor, the equivalent damping slope of the motor is less than the minimum slope of the optimal damping curve.

6. A suspension control system, characterized in that: include: An acquisition module, used to obtain the motor rotor inertia and the motor damping coefficient under the current load, and obtain the motor torque according to the motor rotor inertia and the motor damping coefficient under the current load, and obtain the motor equivalent damping force according to the motor torque; A distribution module, used for obtaining the damping force of the shock absorber according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor; A control module is used to control the damping of the suspension according to the equivalent damping force of the motor and the damping force of the shock absorber.

7. A vehicle, characterized in that: include: A suspension control system according to claim 6.

8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the suspension control method according to any one of claims 1 to 5 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the suspension control method according to any one of claims 1 to 5 is implemented.

10. A computer program product having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the suspension control method according to any one of claims 1 to 5 is implemented.

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