Suspension control methods, systems, devices, and media

Abstract

The application discloses a suspension control method, system, device and medium. The suspension control method comprises the following steps: obtaining motor rotor inertia and motor damping coefficient under a current load, obtaining a motor torque 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 motor torque; obtaining a shock absorber damping force according to an optimal damping curve of the shock absorber and the motor equivalent damping force; and realizing control of suspension damping according to the motor equivalent damping force and the shock absorber damping force. In the shock absorber, a motor power generation structure is introduced, the required damping force of the suspension is distributed, and optimal comfort and power generation efficiency are achieved. Therefore, the energy of the suspension vibration is absorbed by the motor without sacrificing the comfort, and the utilization rate of the energy of the automobile is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a suspension control method, system, device and medium. BACKGROUND

[0002] With the increasing development of new energy vehicles, the competition is becoming more and more fierce, and higher requirements are put forward for the endurance and comfort of the vehicle. On the one hand, high comfort riding experience is needed, and on the other hand, the use of existing technology active and passive suspension function to improve comfort will challenge endurance. The traditional CDC electromagnetic shock absorber changes the electromagnetic force by power supply to realize semi-active control of damping force, thereby improving the comfort of the suspension, but the electromagnetic shock absorber needs to be powered at all times, which is not conducive to endurance. SUMMARY

[0003] Therefore, it is necessary to provide a suspension control method, system, device and medium to solve the above technical problems without sacrificing comfort, and the motor can absorb the energy of the suspension vibration to generate electricity and improve the energy utilization rate of the vehicle.

[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 motor equivalent damping force;

[0007] According to the motor equivalent damping force and the damping force of the shock absorber, the control of the damping of the suspension is realized.

[0008] In some examples, before obtaining the motor equivalent damping force according to the motor torque, it further comprises:

[0009] According to the motor equivalent damping force when the motor is empty, the motor rotor inertia and the motor damping coefficient are selected, and the motor is selected according to the selected motor rotor inertia and motor damping coefficient.

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

[0011] According to the optimal damping curve of the shock absorber and the motor equivalent damping force, a damping compensation value is obtained;

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

[0013] In some examples, the 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, comprises:

[0014] obtaining the motor torque according to the motor rotor inertia and the motor damping coefficient;

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

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

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

[0018] an obtaining module, configured 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 distributing module, configured to obtain the shock absorber damping force according to the optimal damping curve of the shock absorber and the motor equivalent damping force;

[0020] a control module, configured to realize the control of the suspension damping according to the motor equivalent damping force and the shock absorber damping force.

[0021] In a third aspect, a vehicle is provided, comprising the control system of the suspension 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, when the processor executes the program, realizing the control method of the suspension according to the first aspect.

[0023] In a fifth aspect, a computer readable storage medium is provided, having a computer program stored thereon, when the processor executes the program, realizing the control method of the suspension according to the first aspect.

[0024] In a sixth aspect, a computer program product is provided, having a computer program stored thereon, when the processor executes the program, realizing the control method of the suspension according to the first aspect.

[0025] In the traditional shock absorber, a motor power generation structure is introduced, and the optimal comfort and power generation efficiency are achieved by distributing the required damping force of the suspension. A part of the damping force is provided by the electromagnetic shock absorber, and the proportion of the damping force can be controlled by the current, which also determines the comfort of the suspension. Another part of the damping force is provided by the motor power generation structure, and the damping property of this part changes little during the suspension vibration process, and the size determines the efficiency of the suspension energy recovery. Thus, without sacrificing comfort, the motor can absorb the energy of the suspension vibration to generate electricity and improve the utilization rate of the energy of the automobile. BRIEF DESCRIPTION OF DRAWINGS

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

[0027] Figure 1 Flow chart of the control method of the suspension provided by the embodiment of the application;

[0028] Figure 2 Process schematic diagram of the control method of the suspension provided by the embodiment of the application;

[0029] Figure 3 Schematic diagram of the equivalent damping curve of the motor of the embodiment of the application;

[0030] Figure 4 Structure block diagram of the control system of the suspension provided by the embodiment of the application;

[0031] Figure 5 Structure block diagram of the computer device provided by the embodiment of the application. DETAILED DESCRIPTION

[0032] The application will be further described in detail below with reference to the embodiments and the accompanying drawings. It can be understood that the specific embodiments described herein are only used to explain the related application, and not to limit the application. In addition, it should be noted that, for the convenience of description, only the parts related to the application are shown in the drawings.

[0033] It should be noted that the features of the embodiments in the application, i.e., the features of the embodiments, can be combined with each other without conflict. The application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0034] The control method, system, device and medium of the suspension according to the embodiments of the application are described in detail below with reference to the accompanying drawings.

[0035] The implementation environment of the embodiments of the application can be obtained by a computing device, such as a computer, a terminal, etc., according to the motor rotor inertia and the motor damping coefficient, to obtain the equivalent damping force of the motor;

[0036] According to the optimal damping curve of the shock absorber and the equivalent damping force of the motor, the damping force of the shock absorber is obtained.

[0037] According to the equivalent damping force of the motor and the damping force of the shock absorber, the damping control of the suspension is realized.

[0038] Figure 1 It is a flow chart of the control method of the suspension according to an embodiment of the present application. As shown in the figure, the control method of the suspension according to an embodiment of the present application comprises the following steps: Figure 1

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

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

[0041] The motor damping coefficient refers to the resistance of the motor in the process of starting and stopping rotation, which is one of the main reasons for the decrease of the motor speed. When the motor speed decreases, the motor needs to provide greater torque to overcome the action of the load, so the motor needs to have greater damping coefficient. The size of the motor damping coefficient is related to the air gap between the rotor and the stator of the motor, the electromagnetic field of the stator and the rotor, and the mechanical loss of the motor, etc. Generally speaking, these factors should be minimized in the design of the motor.

[0042] The motor rotor inertia refers to the size of the inertia of the motor in rotation, which is the inertia factor of the change of the motor speed. When the motor load changes slightly, the rotational inertia of the motor can be ignored, and when the motor load changes greatly, the influence of the rotational inertia becomes significant. The rotational inertia of the motor is related to the mass of the motor, the radius of the rotor, the density of the motor, etc. Generally speaking, in order to ensure the quality and efficiency of the motor, the rotational inertia of the motor should be minimized.

[0043] S102: According to the optimal damping curve of the shock absorber and the equivalent damping force of the motor, the damping force of the shock absorber is obtained.

[0044] ​In one 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] In the process of 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 equivalent damping slope of the motor is less than the minimum slope of the optimal damping curve.

[0046] S103: Control 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 equivalent damping force of the motor according to the torque of the motor, the motor rotor inertia and the motor damping coefficient are selected according to the equivalent damping force of the motor when it is idle, and the motor is selected according to the selected motor rotor inertia and motor damping coefficient.

[0048] In combination with Figure 2 and Figure 3 As shown in the figures, the shock absorber is taken as an example of a CDC shock absorber, and in the embodiments of the present application, the CDC shock absorber and the motor damping structure are combined together to form a new semi-active suspension structure, and it has energy recovery function. Mainly using motor power generation technology, through mechanical amplification structure, the damping force of the motor is connected to the suspension shock absorber. However, for the passive control motor, the equivalent rotational damping ratio of the power generation structure is only related to the rotational inertia of the motor and the motor torsional damping coefficient. The main idea is: first, according to the set optimal damping coefficient of the suspension, first process the motor part from the structure, according to the motor torque formula 1:

[0049] T = J aw + K aw (1)

[0050] Where T is the input torque of the motor, J is the rotational 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] From formula 1, formula 2 can be derived:

[0052] F = K dv (2)

[0053] In formula 2, the torque motion in formula 1 is equivalent to the motion of the CDC shock absorber structure, so as to obtain the equivalent damping of the motor.

[0054] For Figure 2The rule of the damping force distribution in the motor needs to satisfy that the equivalent damping slope of the motor is less than the minimum slope of the target damping curve, so as to ensure the maximum power generation efficiency and compensate the damping force through the CDC electric control suspension to improve the comfort. As shown in FIG. 8, it is the equivalent damping curve of the motor. Figure 3

[0055] According to the control method of the suspension provided in the embodiments of the present application, a motor power generation structure is introduced in the traditional shock absorber, the optimal comfort and power generation efficiency are achieved by distributing the required damping force of the suspension. Part of the damping force is provided by the electromagnetic shock absorber, the proportion of the damping force controlled by the current size determines the comfort of the suspension, and the other part of the damping force is provided by the motor power generation structure, the damping property of this part changes little in the process of the suspension vibration, and the size determines the efficiency of the energy recovery of the suspension. Thus, the motor can absorb the energy of the suspension vibration to generate power and improve the utilization rate of the energy of the automobile without sacrificing the comfort.

[0056] Figure 4 FIG. 7 is a structural block diagram of the control system of the suspension according to an embodiment of the present application. As shown in FIG. 7, the control system of the suspension according to an embodiment of the present application comprises an acquisition module 410, a distribution module 420 and a control module 430, wherein: Figure 4 The acquisition module 410 is configured to obtain the motor rotor inertia and the motor damping coefficient under the current load, obtain the torque of the motor according to the motor rotor inertia and the motor damping coefficient under the current load, and obtain the equivalent damping force of the motor according to the torque of the motor.

[0057] The distribution module 420 is 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.

[0058] The control module 430 is configured to realize the control of the damping of the suspension according to the equivalent damping force of the motor and the damping force of the shock absorber.

[0059] In an embodiment of the present application, the equivalent damping force of the motor is obtained according to the motor rotor inertia and the motor damping coefficient, which comprises: obtaining the torque of the motor according to the motor rotor inertia and the motor damping coefficient; and equivalent motion of the torque of the motor to the motion of the shock absorber to obtain the equivalent damping force of the motor.

[0060] 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, which comprises: 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.

[0061] In an embodiment of the present application, the equivalent damping force of the motor is obtained according to the motor rotor inertia and the motor damping coefficient, which comprises: obtaining the torque of the motor according to the motor rotor inertia and the motor damping coefficient; and equivalent motion of the torque of the motor to the motion of the shock absorber to obtain the equivalent damping force of the motor.​

[0062] Wherein, when the damper force of the damper is obtained according to the optimal damping curve of the damper 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 an embodiment of the present application, before the equivalent damping force of the motor is obtained according to the motor rotor inertia and the motor damping coefficient, the motor rotor inertia and the motor damping coefficient are selected according to the equivalent damping force of the motor.

[0064] In combination with Figure 2 and Figure 3 As shown in the figures, the damper is taken as an example of a CDC damper, in the embodiment of the present application, the CDC damper and the motor damping structure are combined together to form a new semi-active suspension structure, and the structure has energy recovery. The motor power generation technology is mainly used, and the damping force of the motor is connected to the suspension damper through a mechanical amplification structure. However, for the passive control motor, the equivalent rotational damping ratio of the power generation structure is only related to the rotational inertia of the motor and the motor torsional damping coefficient. The main idea is: first, according to the set optimal damping coefficient of the suspension, first process the motor part from the structure, according to the motor torque formula 1:

[0065] T = J aw + K aw (1)

[0066] Wherein, T is the input torque of the motor, J is the rotational 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] From formula 1, formula 2 can be derived:

[0068] F = K dv (2)

[0069] In formula 2, the torque motion in formula 1 is equivalent to the motion of the CDC damper structure, so as to obtain the equivalent damping of the motor.

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

[0071] According to the control system of the suspension provided in the embodiments of the present application, a motor power generation structure is introduced in a traditional shock absorber, and the optimal comfort and power generation efficiency are achieved by distributing the damping force required by the suspension. A part of the damping force is provided by the electromagnetic shock absorber, and the proportion of the damping force controlled by the current size determines the comfort of the suspension. Another part of the damping force is provided by the motor power generation structure, and the damping property of the part does not change much in the suspension vibration process, and the size determines the energy recovery efficiency of the suspension. Thus, the motor can absorb the energy of the suspension vibration to generate power and improve the energy utilization rate of the automobile without sacrificing the comfort.

[0072] The specific limitation of the control system of the suspension can be referred to the limitation of the control method of the suspension in the above, and will not be described here. The modules of the control system of the suspension can be realized by software, hardware and combinations thereof. The modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory of the computer device in the form of software, so as to be called and executed by the processor.

[0073] In addition, the embodiments of the present application provide a vehicle, which comprises the control system of the suspension according to any one of the above embodiments. The vehicle introduces a motor power generation structure in a traditional shock absorber, and the optimal comfort and power generation efficiency are achieved by distributing the damping force required by the suspension. A part of the damping force is provided by the electromagnetic shock absorber, and the proportion of the damping force controlled by the current size determines the comfort of the suspension. Another part of the damping force is provided by the motor power generation structure, and the damping property of the part does not change much in the suspension vibration process, and the size determines the energy recovery efficiency of the suspension. Thus, the motor can absorb the energy of the suspension vibration to generate power and improve the energy utilization rate of the automobile without sacrificing the comfort.

[0074] In addition, other configurations and effects of the vehicle according to the embodiments of the present application are known to those skilled in the art, and will not be described here.

[0075] The following refers to Figure 5 , Figure 5 The structure of the computer device suitable for implementing the embodiments of the present application is shown.

[0076] As Figure 5As shown, the computer system includes a central processing unit (CPU) 1001 which can perform various appropriate actions and processes according to programs stored in a read only memory (ROM) 1002 or loaded into a random access memory (RAM) 1003 from a storage section 1008. In the RAM 1003, various programs and data required for the operation 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] Connected to the I / O interface 1005 are an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including a display device such as 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 necessary. A removable recording medium 1011 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 1010 as necessary, so that a computer program read out therefrom is installed in the storage section 1008 as necessary.

[0078] In particular, according to embodiments of the present application, the above-described processes can be implemented as a computer program. For example, an embodiment of the present application includes a computer program product comprising a computer program which contains program code for performing the methods illustrated in the flowcharts, for example, for performing: Figure 1

[0079] obtaining a 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] implementing control of damping of the suspension according to the equivalent damping force of the motor and the damping force of the shock absorber.

[0081] In particular, according to embodiments of the present application, the above-described processes can be implemented as a computer program. For example, an embodiment of the present application includes a computer program product comprising a computer program which contains program code for performing the methods illustrated in the flowcharts, for example, for performing: Figure 1

[0082] obtaining a damping force of the shock absorber according to the optimal damping curve of the shock absorber and the equivalent damping force of the motor;

[0083] ​​According to the optimal damping curve of the shock absorber and the equivalent damping force of the motor, the damping force of the shock absorber is obtained;

[0084] According to the equivalent damping force of the motor and the damping force of the shock absorber, the damping control of the suspension is realized.

[0085] In such an embodiment, the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network by the communication section 1009, and / or installed from the detachable medium 1011. When the computer program is executed by the central processing unit (CPU) 1001, the above-described 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 can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples of computer readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, 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, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or apparatus. In the present application, the computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer readable program code. Such a propagated data signal can take many forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer readable signal medium can also be any computer readable medium that can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or apparatus. The program code contained on the computer readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0087] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flow diagrams and / or block diagrams.

[0088] The units or modules described in the embodiments of the present application can be implemented by software, or by hardware. The units or modules described can also be implemented by a combination of software and hardware. In some cases, some units or modules can be implemented by hardware, and other units or modules can be implemented by software. In some cases, some units or modules can be implemented by hardware, and other units or modules can be implemented by hardware.

[0089] The technical features of the above embodiments can be combined in any manner. For the sake of brevity, not all possible combinations of the technical features described in the above embodiments are described, however, it should be understood that any combination of the technical features is within the scope of the present application.

[0090] The above embodiments only express several implementation manners of the present application, and the description is specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be pointed out that, for those skilled in the art, some modifications and improvements can be made without departing from the concept of the present application, and these are within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A control method of a suspension, characterized by, The method comprises: 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 motor equivalent damping force; controlling the damping of the suspension according to the motor equivalent damping force and the damping force of the shock absorber; The method comprises: obtaining the motor torque according to the motor rotor inertia and the motor damping coefficient; equivalent movement of the motor torque to the movement of the shock absorber to obtain the motor equivalent damping force.

2. The control method of a suspension according to claim 1, characterized by, Before obtaining the motor equivalent damping force according to the motor torque, the method further comprises: selecting the motor rotor inertia and the motor damping coefficient according to the motor equivalent damping force under no load, and selecting the motor according to the selected motor rotor inertia and the motor damping coefficient.

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

4. The control method of a suspension according to claim 1, characterized by, When obtaining the damping force of the shock absorber according to the optimal damping curve of the shock absorber and the motor equivalent damping force, the equivalent damping slope of the motor is less than the minimum slope of the optimal damping curve.

5. A control system for a suspension, characterized by The method comprises: an acquisition module, configured 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, configured to obtain the damping force of the shock absorber according to the optimal damping curve of the shock absorber and the motor equivalent damping force; a control module, configured to control the damping of the suspension according to the motor equivalent damping force and the damping force of the shock absorber. The method comprises: obtaining the motor torque according to the motor rotor inertia and the motor damping coefficient; equivalent movement of the motor torque to the movement of the shock absorber to obtain the motor equivalent damping force.

6. A vehicle characterized by comprising: The method comprises: The control system of the suspension according to claim 5.

7. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the control method of the suspension according to any one of claims 1-4.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the control method of the suspension according to any one of claims 1-4.

9. A computer program product having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the control method of the suspension according to any one of claims 1-4. The computer program is executed by the processor to implement the control method of the suspension according to any one of claims 1-4.

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