Suspension attitude adjusting method

Abstract

The invention discloses a suspension posture adjusting method. The suspension posture adjusting method is used for adjusting the posture of a suspension of a vehicle and comprises the steps that it is confirmed that the vehicle is in a parking state; confirming that the vehicle meets a triggering condition; and executing suspension posture adjustment. According to the suspension posture adjusting method, the posture of the suspension of the vehicle in the parking state can be adjusted to the posture needed by a user, and convenience is provided for actions such as getting on and off of the vehicle of the user.

Description

Technical Field

[0001] The present invention mainly relates to the field of vehicle technology, and in particular to a suspension posture adjustment method. Background Art

[0002] In the prior art, when a vehicle is parked on an inclined road, or one of the wheels rolls over a shoulder of the road, the vehicle body is in an inclined state, making it inconvenient for the vehicle user to get on and off the vehicle. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a suspension posture adjustment method, which can adjust the suspension posture of a vehicle in a parked state to a posture required by a user, providing convenience for the user's actions such as getting on and off the vehicle.

[0004] According to the suspension posture adjustment method of the embodiment of the present invention, the suspension posture adjustment method is used to adjust the posture of the suspension of a vehicle and includes: confirming that the vehicle is in a parking state; confirming that the vehicle meets a trigger condition; and executing the suspension posture adjustment.

[0005] According to the suspension posture adjustment method of the embodiment of the present invention, first confirm that the vehicle is in a parking state to avoid the vehicle moving during the suspension posture adjustment process to avoid danger; then confirm that the vehicle meets the triggering conditions; and finally perform the suspension posture adjustment. The suspension posture of the vehicle in the parking state can be adjusted to the posture required by the user, providing convenience for the user's actions such as getting on and off the vehicle.

[0006] In some embodiments of the present invention, confirming that the vehicle meets the trigger condition includes: obtaining the vehicle body inclination angle; and confirming that the vehicle body inclination angle is greater than or equal to a set angle.

[0007] In some embodiments of the present invention, obtaining the vehicle body inclination angle includes: calculating the vehicle body inclination angle through a three-axis acceleration sensor in an IMU inertial measurement unit; or, calculating the vehicle body inclination angle through suspension travel information detected by suspension travel sensors located at the four corners.

[0008] In some embodiments of the present invention, the set angle is 3°.

[0009] In some embodiments of the present invention, confirming that the vehicle meets the trigger conditions also includes: collecting switch signals of all doors, hood and trunk lid of the vehicle; and confirming that at least one of the switch signals of all doors, hood and trunk lid of the vehicle is in an open state.

[0010] In some embodiments of the present invention, confirming that the vehicle meets the trigger condition also includes: confirming that the surrounding environment of the vehicle is safe.

[0011] In some embodiments of the present invention, confirming that the surrounding environment of the vehicle is safe includes: acquiring a signal of the surrounding environment of the vehicle; and confirming that there is an allowable space for suspension adjustment around the vehicle.

[0012] In some embodiments of the present invention, confirming that the suspension adjustment around the vehicle has an allowable space includes: confirming that the suspension adjustment allowable space around the vehicle meets the safety range required for posture adjustment; confirming that the number and frequency of surrounding moving targets do not affect the suspension adjustment allowable space around the vehicle.

[0013] In some embodiments of the present invention, the performing of suspension posture adjustment includes: acquiring a specified suspension posture adjustment mode; and adjusting the suspension posture to a specified state.

[0014] In some embodiments of the present invention, the suspension posture adjustment mode includes: a default mode, adjusting the vehicle body to the horizontal or adjusting it in the horizontal direction of the vehicle body to the maximum allowable suspension stroke; a setting mode, adjusting the vehicle body to the set state or adjusting it in the direction of the set state of the vehicle body to the maximum allowable suspension stroke.

[0015] In some embodiments of the present invention, the suspension posture is adjusted to a specified state including: calculating the heights by which the four corners of the intelligent suspension need to be lifted or lowered respectively when the vehicle body is adjusted according to the inclination angle of the vehicle body; obtaining the rotation angle / displacement instructions of the four actuators of the intelligent suspension; and controlling the actuation of the actuators.

[0016] In some embodiments of the present invention, adjusting the suspension posture to a specified state further comprises: calculating the vehicle body inclination angle in real time when the control actuator is actuated.

[0017] In some embodiments of the present invention, the adjusting of the suspension posture to a specified state further includes: confirming that the actuator reaches a target position; and prompting a user that the suspension posture adjustment is completed.

[0018] In some embodiments of the present invention, the suspension attitude adjustment method further includes: confirming that the switch signals of all doors, hood and trunk lid of the vehicle are all in a closed state; and resetting the suspension attitude.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] Figure 1 is a flow chart of a suspension posture adjustment method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0024] Reference below Figure 1 A suspension posture adjustment method according to an embodiment of the present invention is described.

[0025] like Figure 1 As shown, the suspension posture adjustment method according to an embodiment of the present invention is used to adjust the suspension posture of a vehicle.

[0026] Specifically, the suspension posture adjustment method includes confirming that the vehicle is in a parking state. The vehicle's current speed and gear position signals can be collected. When and only when it is detected that the vehicle speed is zero and the car is in P gear (parking) state, the vehicle is in a parking state. At this time, it is safer to adjust the suspension posture, thereby increasing the safety of the suspension posture adjustment.

[0027] Confirm that the vehicle meets the trigger conditions, for example, confirm that there are no other obstacles around the vehicle, etc., to facilitate suspension posture adjustment.

[0028] By performing suspension posture adjustment, the suspension posture of a parked vehicle can be adjusted to the posture required by the user, providing convenience for the user's actions such as getting on and off the vehicle.

[0029] According to the suspension posture adjustment method of the embodiment of the present invention, first confirm that the vehicle is in a parking state to avoid the vehicle moving during the suspension posture adjustment process to avoid danger; then confirm that the vehicle meets the triggering conditions; and finally perform the suspension posture adjustment. The suspension posture of the vehicle in the parking state can be adjusted to the posture required by the user, providing convenience for the user's actions such as getting on and off the vehicle.

[0030] In some embodiments of the present invention, Figure 1 As shown, confirming that the vehicle meets the trigger conditions includes: obtaining the vehicle's body inclination angle, so as to obtain the degree of inclination of the vehicle and to facilitate different responses to subsequent operations of the vehicle; confirming that the body inclination angle is greater than or equal to the set angle. It can be understood that when the body inclination angle is less than the set angle, the body remains horizontal or the degree of inclination of the body is small, and the user's needs for getting on and off the vehicle do not need to be adjusted; when the body inclination angle is greater than or equal to the set angle, the body inclination angle is large, and then the suspension posture adjustment needs to be performed. The suspension posture of the vehicle in the parked state can be adjusted to the posture required by the user, thereby providing convenience for the user's getting on and off the vehicle.

[0031] Further, obtaining the vehicle's body inclination angle includes: calculating the body inclination angle through the three-axis acceleration sensor in the IMU (Inertial Measurement Unit); or calculating the body inclination angle through the suspension travel information detected by the suspension travel sensors located at the four corners. It can be understood that the body inclination angle can be calculated through the three-axis acceleration sensor in the IMU inertial measurement unit. In a static parking environment, the acceleration sensor mainly measures the components of gravity acceleration on three axes. A more accurate body inclination angle can be obtained through an accurate calculation formula. The body inclination angle is small in size, light in weight, and has rich interfaces, which is easy to integrate with other electronic devices and systems. It helps to realize a multifunctional and intelligent vehicle control system; the body inclination angle can be calculated through the suspension travel information detected by the suspension travel sensors located at the four corners, which can more accurately reflect the inclination of the body under different road conditions. At the same time, the installation and maintenance of the suspension travel sensor are relatively simple and convenient, which reduces the cost and time of vehicle maintenance.

[0032] In some embodiments of the present invention, the angle is set to 3°. It can be understood that when the inclination angle of the vehicle body is less than 3°, the vehicle body remains horizontal or the inclination degree of the vehicle body is small, and the user's needs for getting on and off the vehicle, etc. can be met without adjusting the suspension posture; when the inclination angle of the vehicle body is greater than or equal to 3°, the inclination angle of the vehicle body is larger, and then the suspension posture adjustment needs to be performed. The suspension posture of the vehicle in the parked state can be adjusted to the posture required by the user, thereby providing convenience for the user's actions such as getting on and off the vehicle.

[0033] In some embodiments of the present invention, Figure 1As shown, confirming that the vehicle meets the trigger conditions also includes: collecting switch signals of all doors, hood and trunk lid of the vehicle; confirming that at least one of the switch signals of all doors, hood and trunk lid of the vehicle is in the open state. At this time, the user is more likely to get on and off the vehicle, take items in the trunk, etc., and the suspension posture adjustment should be performed. The suspension posture can be adjusted to the posture required by the user, providing convenience for the user's actions such as getting on and off the vehicle, taking items in the trunk, etc.

[0034] In some embodiments of the present invention, Figure 1 As shown, confirming that the vehicle meets the triggering conditions also includes: confirming that the surrounding environment of the vehicle is safe. It is understandable that the suspension posture adjustment should be performed when the surrounding environment of the vehicle is safe, which can increase the safety of the user's behavior such as getting on and off the vehicle. In addition, while confirming that the surrounding environment of the vehicle is safe, the user can be reminded whether the surrounding environment is safe, thereby increasing the user's safety.

[0035] Furthermore, if Figure 1 As shown, confirming the safety of the surrounding environment of the vehicle includes: obtaining signals of the surrounding environment of the vehicle; confirming that the suspension adjustment around the vehicle has an allowable space. It is understandable that the vehicle surrounding environment signals are obtained according to the camera, laser radar, millimeter wave radar or ultrasonic radar equipped on the vehicle, and the vehicle surrounding information is obtained through signal fusion, so as to confirm that the suspension adjustment around the vehicle has an allowable space and to confirm the safety of the surrounding environment of the vehicle.

[0036] Furthermore, if Figure 1 As shown, confirming that the suspension adjustment around the vehicle has an allowable space includes: confirming that the suspension adjustment allowable space around the vehicle meets the safety range required for posture adjustment; confirming that the number and frequency of surrounding moving targets do not affect the suspension adjustment allowable space around the vehicle. When the allowable space around the vehicle body meets the space safety range required for suspension posture adjustment, and the number and frequency of surrounding moving targets do not affect the posture adjustment allowable space, it is determined that the environmental safety condition is met; otherwise, the environmental safety condition is not met.

[0037] In some embodiments of the present invention, Figure 1 As shown, executing the suspension attitude adjustment includes: obtaining a specified suspension attitude adjustment mode; adjusting the suspension attitude to a specified state. The suspension attitude can be adjusted to a specified state according to the suspension attitude adjustment mode specified by the user to meet different usage requirements of the user.

[0038] Furthermore, the suspension posture adjustment modes include: default mode, adjusting the vehicle body to horizontal or to the maximum allowable suspension travel in the horizontal direction of the vehicle body. After adjustment, the vehicle body is roughly level with the horizontal plane or closer to the horizontal plane, which is convenient for users to get on and off the vehicle; setting mode, adjusting the vehicle body to the set state or to the maximum allowable suspension travel in the direction of the set state of the vehicle body, for example, the vehicle body is tilted X degrees toward the driving side. Users can also customize a variety of target posture options. Usually, users can choose one of the modes as the default mode, which automatically "triggers" the execution of posture adjustment when opening the door. Users can also set it to manually select the adjustment mode. In manual mode, users need to select the adjustment mode on the vehicle computer before the posture adjustment can be triggered to meet the different needs of users.

[0039] It is understandable that the allowable adjustment stroke of the suspension is limited. During the suspension adjustment process, it may not be possible to adjust to the position indicated by the suspension posture adjustment mode. By setting the maximum value of the allowable suspension stroke, excessive adjustment during suspension posture adjustment can be avoided, thereby avoiding affecting the balance of the vehicle and the reliability of the suspension.

[0040] Furthermore, if Figure 1 As shown, adjusting the suspension posture to a specified state includes: calculating the heights by which the four corners of the intelligent suspension need to be lifted or lowered respectively when the vehicle body is adjusted according to the inclination angle of the vehicle body; obtaining the rotation angle / displacement instructions of the four actuators of the intelligent suspension; and controlling the actuation of the actuators.

[0041] For example, the user selects the "default mode" and calculates the heights that the four corners of the intelligent suspension need to lift or lower to adjust the body to a horizontal state based on the body inclination angle detected above (there are countless solutions within the suspension travel range, and the user can customize the preferred boarding and exiting heights in advance or define the implementation height preference in combination with the intelligent suspension height adjustment function). After calculation, it is converted into the angle / displacement instructions of the four actuators of the intelligent suspension to control the actuation of the actuator. When the body inclination angle is less than 3° (or other calibrated angles), it is judged that the current body has been adjusted to a horizontal state, and the actuator maintains the current angle position.

[0042] Furthermore, adjusting the suspension posture to a specified state also includes: calculating the inclination angle of the vehicle body in real time when the control actuator is actuated, so as to detect the inclination degree of the vehicle body in real time and obtain the position where the actuator stops actuating.

[0043] Furthermore, if Figure 1 As shown, adjusting the suspension posture to a specified state also includes: confirming that the actuator reaches the target position; and prompting the user that the suspension posture adjustment is completed. After receiving the prompt that the suspension posture adjustment is completed, the user can perform operations such as getting on and off the vehicle, thereby meeting the user's usage needs.

[0044] In some embodiments of the present invention, Figure 1As shown, the suspension posture adjustment method also includes: confirming that the switch signals of all doors, hood and trunk lid of the vehicle are all in the closed state, that is, the user has completed all operations; resetting the suspension posture, and returning the vehicle to its original position, avoiding problems such as suspension distortion and deformation caused by long-term adjustment of the suspension posture by the actuator, thereby increasing the safety of the suspension.

[0045] Other structures and operations of the suspension posture adjustment method according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0046] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0047] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A suspension attitude adjustment method, characterized in that: The suspension attitude adjustment method is used to adjust the attitude of a suspension of a vehicle and comprises: Make sure the vehicle is in parking state; Confirm that the vehicle meets the trigger conditions; Perform suspension attitude adjustment.

2. The suspension attitude adjustment method according to claim 1, characterized in that: The confirming that the vehicle meets the triggering condition includes: Obtain the vehicle's body inclination angle; Confirm that the vehicle body inclination angle is greater than or equal to the set angle.

3. The suspension attitude adjustment method according to claim 2, characterized in that: The step of obtaining the vehicle body inclination angle comprises: The vehicle body inclination angle is calculated by the three-axis acceleration sensor in the IMU inertial measurement unit; Alternatively, the vehicle body inclination angle is calculated using suspension stroke information detected by suspension stroke sensors located at the four corners.

4. The suspension attitude adjustment method according to claim 2, characterized in that: The setting angle is 3°.

5. The suspension attitude adjustment method according to claim 2, characterized in that: The confirming that the vehicle meets the triggering condition also includes: Collect the switch signals of all doors, hood and trunk lid of the vehicle; Confirm that at least one of the switch signals of all the vehicle's doors, hood, and trunk lid is in the open state.

6. The suspension attitude adjustment method according to any one of claims 2 to 5, characterized in that: The confirming that the vehicle meets the triggering condition also includes: Make sure the vehicle's surroundings are safe.

7. The suspension attitude adjustment method according to claim 6, characterized in that: The confirmation of the safety of the surrounding environment of the vehicle includes: Acquire vehicle surrounding environment signals; Verify that there is room for suspension adjustment around the vehicle.

8. The suspension attitude adjustment method according to claim 7, characterized in that: The confirming that the suspension adjustment around the vehicle has an allowable space includes: Confirm that the allowable space for suspension adjustment around the vehicle meets the safety range required for posture adjustment; Confirm that the number and frequency of surrounding moving objects do not affect the allowable space for suspension adjustment around the vehicle.

9. The suspension attitude adjustment method according to claim 1, characterized in that: The execution of suspension posture adjustment comprises: Get the specified suspension attitude adjustment mode; The suspension posture is adjusted to the specified state.

10. The suspension attitude adjustment method according to claim 9, characterized in that: The suspension attitude adjustment mode includes: In the default mode, the vehicle body is adjusted to be horizontal or adjusted in the horizontal direction to the maximum allowable suspension travel; In the setting mode, the vehicle body is adjusted to the setting state or in the direction of the setting state to the maximum allowable suspension travel.

11. The suspension attitude adjustment method according to claim 9, characterized in that: The adjusting of the suspension posture to a specified state includes: According to the body inclination angle, calculate the height that the four corners of the intelligent suspension need to be lifted or lowered when the body is adjusted; Obtain the rotation angle / displacement instructions of the four actuators of the intelligent suspension; Control the actuator movement.

12. The suspension attitude adjustment method according to claim 11, characterized in that: The adjusting the suspension posture to a specified state further includes: The vehicle body inclination angle is calculated in real time when the control actuator is actuated.

13. The suspension attitude adjustment method according to claim 11, characterized in that: The adjusting the suspension posture to a specified state further includes: Confirm that the actuator reaches the target position; Prompts the user that the suspension posture adjustment is completed.

14. The suspension attitude adjustment method according to claim 5, characterized in that: Also includes: Confirm that the switch signals of all doors, hood and trunk lid of the vehicle are all in the closed state; Suspension posture reset.

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