Construction method and device of vehicle air spring height adjustment gear matching model

Abstract

The invention relates to a construction method and device of a vehicle air spring height adjustment gear matching model, computer equipment and a storage medium. The method comprises the following steps: acquiring vehicle driving states and vehicle driving pavement grades of a preset number of vehicles; dividing each vehicle driving state and the corresponding vehicle driving road surface grade to generate a training sample set, a verification sample and a test sample set; and generating a trained vehicle air spring height adjustment gear matching model, and outputting a to-be-selected vehicle air spring height standard adjustment gear based on the trained vehicle air spring height adjustment gear matching model. By adopting the method, the gear matching efficiency and the control accuracy can be improved.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a method, device, computer equipment and storage medium for constructing a vehicle air spring height adjustment gear matching model. Background Art

[0002] The automobile air suspension system is an advanced vehicle suspension system that can adjust the height and stiffness of the vehicle by controlling the inflation and deflation of the air springs, thereby improving the vehicle's driving performance and ride comfort.

[0003] However, the current gear matching method for adjusting the height of vehicle air springs has problems such as low gear matching efficiency or low control accuracy. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, computer equipment and storage medium for constructing a vehicle air spring height adjustment gear matching model that can improve gear matching efficiency and control accuracy in response to the above technical problems.

[0005] In a first aspect, a method for constructing a vehicle air spring height adjustment gear matching model is provided, the method comprising:

[0006] Obtaining vehicle driving status and vehicle driving road grade of a preset number of vehicles;

[0007] The driving status of each vehicle and the corresponding vehicle driving road level are divided and processed to generate a training sample set, a verification sample set and a test sample set;

[0008] The initial matching model of the height adjustment gear position of the vehicle air spring is trained according to the training sample set, the initial matching model of the height adjustment gear position of the vehicle air spring is tested according to the test sample set, and the initial matching model of the height adjustment gear position of the vehicle air spring is verified according to the verification sample;

[0009] Based on the test and verification, the air suspension deviation value corresponding to the air spring height adjustment gear position of each vehicle to be selected is obtained, and the model parameters of the vehicle air spring height adjustment gear position initial matching model are adjusted based on the obtained air suspension deviation value, until the air suspension deviation value corresponding to the air spring height adjustment gear position of each vehicle to be selected meets the preset requirements, and a trained vehicle air spring height adjustment gear position matching model is generated;

[0010] Based on the trained vehicle air spring height adjustment gear matching model, the standard adjustment gear of the vehicle air spring height to be selected is output.

[0011] In one of the embodiments, obtaining the vehicle driving status and vehicle driving surface grade of a preset number of vehicles includes: obtaining vehicle driving signal standard data of each vehicle; the vehicle driving signal standard data includes vehicle road spectrum signal standard data, vehicle longitudinal acceleration signal standard data, vehicle lateral acceleration signal standard data, vehicle steering angle signal standard data and vehicle speed signal standard data; determining the corresponding vehicle driving status according to the vehicle longitudinal acceleration signal standard data of each vehicle, the corresponding vehicle lateral acceleration signal standard data, the corresponding vehicle steering angle signal standard data and the corresponding vehicle speed signal standard data, and determining the corresponding vehicle driving surface grade according to the vehicle road spectrum signal standard data of each vehicle.

[0012] In one embodiment, obtaining the standard data of vehicle driving signals of each vehicle includes: obtaining the initial data of vehicle driving signals of each vehicle; the initial data of vehicle driving signals includes initial data of vehicle road spectrum signals, initial data of vehicle longitudinal acceleration signals, initial data of vehicle lateral acceleration signals, initial data of vehicle steering angle signals and initial data of vehicle speed signals; performing synchronous calibration processing, outlier removal processing and missing value supplement processing on the initial data of vehicle road spectrum signals of each vehicle, the corresponding initial data of vehicle longitudinal acceleration signals, the corresponding initial data of vehicle lateral acceleration signals, the corresponding initial data of vehicle steering angle signals and the corresponding initial data of vehicle speed signals, respectively, to obtain the corresponding processed initial data of vehicle road spectrum signals, the corresponding processed initial data of vehicle longitudinal acceleration signals, the corresponding initial data of vehicle lateral acceleration signals, the corresponding initial data of vehicle steering angle signals and the corresponding initial data of vehicle speed signals initial data, the corresponding processed vehicle lateral acceleration signal initial data, the corresponding processed vehicle steering angle signal initial data and the corresponding processed vehicle speed signal initial data; smoothing the processed vehicle longitudinal acceleration signal initial data of each vehicle to obtain the corresponding vehicle longitudinal acceleration signal standard data; determining the processed vehicle road spectrum signal initial data of each vehicle as the corresponding vehicle road spectrum signal standard data, determining the processed vehicle lateral acceleration signal initial data of each vehicle as the corresponding vehicle lateral acceleration signal standard data, determining the processed vehicle steering angle signal initial data of each vehicle as the corresponding vehicle steering angle signal standard data, and determining the processed vehicle speed signal initial data of each vehicle as the corresponding vehicle speed signal standard data.

[0013] In one of the embodiments, the corresponding vehicle driving state is determined according to the vehicle longitudinal acceleration signal standard data, the corresponding vehicle lateral acceleration signal standard data, the corresponding vehicle steering angle signal standard data and the corresponding vehicle speed signal standard data of each vehicle, including: determining the corresponding vehicle motion state according to the vehicle speed signal standard data of each vehicle; the vehicle motion state includes a stationary state or a moving state; in response to the vehicle motion state being a moving state, determining the corresponding vehicle speed change type and the corresponding vehicle speed change level according to the corresponding vehicle longitudinal acceleration signal standard data, determining the corresponding vehicle steering type and the corresponding vehicle steering level according to the corresponding vehicle lateral acceleration signal standard data, and taking the corresponding vehicle speed change type and the corresponding vehicle speed change level, the corresponding vehicle steering type and the corresponding vehicle steering level as the corresponding vehicle driving state; in response to the vehicle motion state being a stationary state, taking the corresponding vehicle motion state as the corresponding vehicle driving state.

[0014] In one of the embodiments, the corresponding vehicle driving surface grade is determined according to the vehicle road spectrum signal standard data of each vehicle, including: determining the corresponding power spectrum density according to the vehicle road spectrum signal standard data of each vehicle; determining the corresponding vehicle driving surface grade according to the power spectrum density of each vehicle.

[0015] In one embodiment, based on the air suspension deviation value corresponding to the air spring height adjustment gear position of each vehicle to be selected and verified, the model parameters of the vehicle air spring height adjustment gear position initial matching model are adjusted until the air suspension deviation value corresponding to the air spring height adjustment gear position of each vehicle to be selected meets the preset requirements, including:

[0016] Based on the test and verification, a corresponding vehicle air spring height adjustment gear for each vehicle to be selected is obtained;

[0017] Outputting corresponding air suspension lifting simulation control instructions to corresponding vehicles according to the selected vehicle air spring height adjustment gear of each vehicle; the air suspension lifting simulation control instructions are used to represent the target air suspension height required by the corresponding vehicle;

[0018] Acquire the actual air suspension simulation height of each vehicle, and determine the corresponding air suspension deviation value according to the difference between the actual air suspension simulation height of each vehicle and the corresponding target air suspension height;

[0019] In response to the existence of a target deviation value for the vehicle, the selected vehicle air spring height adjustment gear of the vehicle corresponding to the target deviation value is determined as the corresponding disabled vehicle air spring height adjustment gear, and the model parameters of the vehicle air spring height adjustment gear initial matching model of the disabled vehicle air spring height adjustment gear corresponding to the target deviation value are adjusted until the air suspension deviation values ​​corresponding to each selected vehicle air spring height adjustment gear are all less than the deviation threshold; the target deviation value is an air suspension deviation value greater than or equal to the deviation threshold.

[0020] In one of the embodiments, the actual air suspension simulation height of each vehicle is obtained, including: obtaining the vehicle suspension height signal standard simulation data of each vehicle; the vehicle suspension height signal standard simulation data includes long-filter vehicle suspension height signal standard simulation data and short-filter vehicle suspension height signal standard simulation data; determining the corresponding actual air suspension simulation height according to the short-filter vehicle suspension height signal standard simulation data of each vehicle.

[0021] In a second aspect, a device for constructing a vehicle air spring height adjustment gear matching model is provided, the device comprising a data acquisition module, a sample set division module and a model construction module.

[0022] Among them, the data acquisition module is used to obtain the vehicle driving status and vehicle driving road surface grade of a preset number of vehicles; the sample set division module is used to divide and process the driving status of each vehicle and the corresponding vehicle driving road surface grade, and generate a training sample set, a verification sample and a test sample set; the model construction module is used to train the vehicle air spring height adjustment gear initial matching model according to the training sample set, test the vehicle air spring height adjustment gear initial matching model according to the test sample set, and verify the vehicle air spring height adjustment gear initial matching model according to the verification sample; the model construction module is also used to obtain the air suspension deviation value corresponding to the selected vehicle air spring height adjustment gear of each vehicle based on the test and verification, and adjust the model parameters of the vehicle air spring height adjustment gear initial matching model based on the obtained air suspension deviation value, until the air suspension deviation value corresponding to the air spring height adjustment gear of each selected vehicle meets the preset requirements, and a trained vehicle air spring height adjustment gear matching model is generated; the model construction module is also used to output the standard adjustment gear of the air spring height of the selected vehicle based on the trained vehicle air spring height adjustment gear matching model. In a third aspect, a computer device is provided. The computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps of any method in the above method embodiments are implemented.

[0023] In a fourth 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 steps of any method in the above method embodiments are implemented.

[0024] The method, device, computer equipment and storage medium for constructing the vehicle air spring height adjustment gear matching model obtain the vehicle driving status and vehicle driving road grade of a preset number of vehicles; then, divide and process the driving status of each vehicle and the corresponding vehicle driving road grade to generate a training sample set, a verification sample and a test sample set; then, train the vehicle air spring height adjustment gear initial matching model according to the training sample set, test the vehicle air spring height adjustment gear initial matching model according to the test sample set, and verify the vehicle air spring height adjustment gear initial matching model according to the verification sample; then, based on the test and verification, obtain the air suspension deviation value corresponding to the selected vehicle air spring height adjustment gear of each vehicle, and based on the obtained air suspension The deviation value adjusts the model parameters of the initial matching model of the vehicle air spring height adjustment gear until the air suspension deviation value corresponding to each air spring height adjustment gear of the selected vehicle meets the preset requirements, thereby generating a trained vehicle air spring height adjustment gear matching model; and, based on the trained vehicle air spring height adjustment gear matching model, the standard adjustment gear of the air spring height of the selected vehicle is output, so that the standard adjustment gear of the air spring height of the selected vehicle that meets the requirements can be obtained through the trained vehicle air spring height adjustment gear matching model, thereby avoiding the situation that the standard adjustment gear of the air spring height of the selected vehicle cannot accurately adjust the air suspension height of the vehicle, thereby improving the gear matching efficiency, the adjustment efficiency and the control accuracy of the air suspension height, and thus improving the vehicle's driving performance and ride comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is an application environment diagram of a method for constructing a vehicle air spring height adjustment gear matching model in one embodiment;

[0026] Figure 2 It is a first flow chart of a method for constructing a vehicle air spring height adjustment gear matching model in one embodiment;

[0027] Figure 3 A schematic diagram of a flow chart of obtaining the vehicle driving status and vehicle driving road surface grade of a preset number of vehicles in one embodiment;

[0028] Figure 4 A schematic diagram of a process for obtaining vehicle driving signal standard data of each vehicle in an embodiment;

[0029] Figure 5A schematic diagram of a flow chart of determining a corresponding vehicle driving state according to vehicle longitudinal acceleration signal standard data, corresponding vehicle lateral acceleration signal standard data, corresponding vehicle steering angle signal standard data and corresponding vehicle speed signal standard data of each vehicle in an embodiment;

[0030] Figure 6 It is a schematic diagram of a process of determining the corresponding vehicle driving road surface grade according to the vehicle road spectrum signal standard data of each vehicle in an embodiment;

[0031] Figure 7 A flow chart of adjusting the model parameters of the initial matching model of the vehicle air spring height adjustment gear position based on the air suspension deviation value corresponding to the air spring height adjustment gear position of each vehicle to be selected obtained through testing and verification in one embodiment until the air suspension deviation value corresponding to the air spring height adjustment gear position of each vehicle to be selected meets the preset requirements;

[0032] Figure 8 It is a structural block diagram of a device for constructing a vehicle air spring height adjustment gear matching model in one embodiment;

[0033] Fig. 9 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0035] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0037] It is understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of this application, a first resistor may be referred to as a second resistor, and similarly, a second resistor may be referred to as a first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.

[0038] It can be understood that the “connection” in the following embodiments should be understood as “electrical connection”, “communication connection”, etc. if the connected circuits, modules, units, etc. have electrical signals or data transmission between each other.

[0039] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" etc. specify the presence of stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0040] The method for constructing a vehicle air spring height adjustment gear matching model provided in this application can be applied to Figure 1 In the application environment shown, the terminal 102 communicates with the server 104 through a network. The terminal 102 may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, and portable wearable devices, and the server 104 may be implemented as an independent server or a server cluster consisting of multiple servers.

[0041] In one embodiment, Figure 2 As shown, a method for constructing a vehicle air spring height adjustment gear matching model is provided, and the method is applied to Figure 1 Taking the server 104 in the example as an example, the following steps are included:

[0042] Step 201, obtaining the vehicle driving status and vehicle driving road surface grade of a preset number of vehicles.

[0043] Specifically, the server 104 obtains the vehicle driving status and vehicle driving road surface grade of a preset number of vehicles.

[0044] In one embodiment, if Figure 3 As shown, obtaining the vehicle driving status and vehicle driving road surface grade of a preset number of vehicles includes steps 301 to 302.

[0045] Step 301, obtaining vehicle driving signal standard data of each vehicle.

[0046] Among them, the vehicle driving signal standard data includes vehicle road spectrum signal standard data, vehicle longitudinal acceleration signal standard data, vehicle lateral acceleration signal standard data, vehicle steering angle signal standard data and vehicle speed signal standard data. The vehicle driving signal standard data is the vehicle driving signal data after data processing. Specifically, the server 104 obtains the vehicle driving signal standard data of each vehicle. It can be understood that the vehicle driving signal standard data is the initial data of the vehicle driving signal after data processing; wherein, the data processing includes one or more of synchronous calibration processing, outlier removal processing, missing value supplementation processing, filtering processing and smoothing processing.

[0047] In one embodiment, if Figure 4 As shown, obtaining the vehicle driving signal standard data of each vehicle includes steps 401 to 404.

[0048] Step 401, obtaining initial data of vehicle driving signals of each vehicle.

[0049] The vehicle driving signal initial data includes vehicle road spectrum signal initial data, vehicle longitudinal acceleration signal initial data, vehicle lateral acceleration signal initial data, vehicle steering angle signal initial data and vehicle speed signal initial data. The server 104 can obtain the vehicle driving signal initial data of each vehicle.

[0050] In a specific example, the initial data of the vehicle driving signal can be obtained from a vehicle historical driving database, or from a vehicle simulation driving database. The above are only specific examples, and in actual applications, they are flexibly set according to user needs and are not limited here.

[0051] Step 402, the vehicle road spectrum signal initial data, the corresponding vehicle longitudinal acceleration signal initial data, the corresponding vehicle lateral acceleration signal initial data, the corresponding vehicle steering angle signal initial data and the corresponding vehicle speed signal initial data of each vehicle are subjected to synchronous calibration processing, outlier removal processing and missing value supplement processing respectively, to obtain the corresponding processed vehicle road spectrum signal initial data, the corresponding processed vehicle longitudinal acceleration signal initial data, the corresponding processed vehicle lateral acceleration signal initial data, the corresponding processed vehicle steering angle signal initial data and the corresponding processed vehicle speed signal initial data.

[0052] Specifically, the server 104 performs synchronization calibration processing, outlier removal processing and missing value supplement processing on the vehicle road spectrum signal initial data of each vehicle, the vehicle longitudinal acceleration signal initial data corresponding to the vehicle road spectrum signal initial data, the vehicle lateral acceleration signal initial data corresponding to the vehicle road spectrum signal initial data, the vehicle steering angle signal initial data corresponding to the vehicle road spectrum signal initial data and the vehicle speed signal initial data corresponding to the vehicle road spectrum signal initial data, respectively, to obtain the corresponding processed vehicle road spectrum signal initial data, the corresponding processed vehicle longitudinal acceleration signal initial data, the corresponding processed vehicle lateral acceleration signal initial data, the corresponding processed vehicle steering angle signal initial data and the corresponding processed vehicle speed signal initial data, thereby achieving synchronization alignment of the data with reference to the GPS timestamp through the synchronization calibration processing of the data, avoiding extreme values ​​or jump values ​​of the thick line beyond a reasonable range through outlier removal processing of the data, avoiding missing values ​​or incomplete values ​​in the data through missing value supplement processing of the data, and improving the accuracy of the data.

[0053] Step 403 , smoothing the processed initial data of the vehicle longitudinal acceleration signal of each vehicle to obtain corresponding standard data of the vehicle longitudinal acceleration signal.

[0054] Specifically, the server 104 smoothes the processed initial data of the vehicle longitudinal acceleration signal of each vehicle, divides the collected processed initial data of the vehicle longitudinal acceleration signal into small segments, each segment of data represents an analysis window, applies a window function to reduce spectrum leakage, performs a fast Fourier transform on each windowed data segment to obtain its frequency domain representation, analyzes the amplitude of each frequency component, and obtains the corresponding vehicle longitudinal acceleration signal standard data, thereby improving the accuracy of the vehicle longitudinal acceleration signal standard data.

[0055] Step 404, determines the processed initial data of the vehicle road spectrum signal of each vehicle as the corresponding vehicle road spectrum signal standard data, determines the processed initial data of the vehicle lateral acceleration signal of each vehicle as the corresponding vehicle lateral acceleration signal standard data, determines the processed initial data of the vehicle steering angle signal of each vehicle as the corresponding vehicle steering angle signal standard data, and determines the processed initial data of the vehicle speed signal of each vehicle as the corresponding vehicle speed signal standard data.

[0056] Specifically, the server 104 determines the processed initial data of the vehicle road spectrum signal of each vehicle as the corresponding vehicle road spectrum signal standard data, determines the processed initial data of the vehicle lateral acceleration signal of each vehicle as the corresponding vehicle lateral acceleration signal standard data, determines the processed initial data of the vehicle steering angle signal of each vehicle as the corresponding vehicle steering angle signal standard data, and determines the processed initial data of the vehicle speed signal of each vehicle as the corresponding vehicle speed signal standard data.

[0057] In this embodiment, the initial data of vehicle driving signals of each vehicle is obtained; the initial data of vehicle driving signals includes initial data of vehicle road spectrum signals, initial data of vehicle longitudinal acceleration signals, initial data of vehicle lateral acceleration signals, initial data of vehicle steering angle signals and initial data of vehicle speed signals; then, the initial data of vehicle road spectrum signals of each vehicle, the corresponding initial data of vehicle longitudinal acceleration signals, the corresponding initial data of vehicle lateral acceleration signals, the corresponding initial data of vehicle steering angle signals and the corresponding initial data of vehicle speed signals are respectively subjected to synchronous calibration processing, outlier removal processing and missing value supplement processing to obtain the corresponding processed initial data of vehicle road spectrum signals, the corresponding processed initial data of vehicle longitudinal acceleration signals, the corresponding processed initial data of vehicle lateral acceleration signals and the corresponding initial data of vehicle steering angle signals. The initial data of the processed vehicle steering angle signal and the corresponding initial data of the processed vehicle speed signal are processed; then, the processed initial data of the vehicle longitudinal acceleration signal of each vehicle is smoothed to obtain the corresponding standard data of the vehicle longitudinal acceleration signal; then, the processed initial data of the vehicle road spectrum signal of each vehicle is determined as the corresponding standard data of the vehicle road spectrum signal, the processed initial data of the vehicle lateral acceleration signal of each vehicle is determined as the corresponding standard data of the vehicle lateral acceleration signal, the processed initial data of the vehicle steering angle signal of each vehicle is determined as the corresponding standard data of the vehicle steering angle signal, and the processed initial data of the vehicle speed signal of each vehicle is determined as the corresponding standard data of the vehicle speed signal, thereby improving the accuracy and acquisition convenience of the above data.

[0058] Step 302, determines the corresponding vehicle driving state according to the vehicle longitudinal acceleration signal standard data of each vehicle, the corresponding vehicle lateral acceleration signal standard data, the corresponding vehicle steering angle signal standard data and the corresponding vehicle speed signal standard data, and determines the corresponding vehicle driving road surface grade according to the vehicle road spectrum signal standard data of each vehicle.

[0059] Specifically, the server 104 determines the corresponding vehicle driving status based on the vehicle longitudinal acceleration signal standard data of each vehicle, the corresponding vehicle lateral acceleration signal standard data, the corresponding vehicle steering angle signal standard data and the corresponding vehicle speed signal standard data, and determines the corresponding vehicle driving surface grade based on the vehicle road spectrum signal standard data of each vehicle, thereby improving the efficiency and accuracy of obtaining the vehicle driving status and vehicle driving surface grade of a preset number of vehicles.

[0060] In one embodiment, if Figure 5 As shown, the corresponding vehicle driving state is determined according to the vehicle longitudinal acceleration signal standard data, the corresponding vehicle lateral acceleration signal standard data, the corresponding vehicle steering angle signal standard data and the corresponding vehicle speed signal standard data of each vehicle, including steps 501 to 503.

[0061] Step 501 : determining the corresponding vehicle motion state according to the vehicle speed signal standard data of each vehicle.

[0062] The vehicle motion state includes a stationary state or a moving state. Specifically, the server 104 determines the corresponding vehicle motion state according to the vehicle speed signal standard data of each vehicle.

[0063] Step 502, in response to the vehicle motion state being a motion state, determine the corresponding vehicle speed change type and the corresponding vehicle speed change level according to the corresponding vehicle longitudinal acceleration signal standard data, determine the corresponding vehicle steering type and the corresponding vehicle steering level according to the corresponding vehicle lateral acceleration signal standard data, and use the corresponding vehicle speed change type and the corresponding vehicle speed change level, the corresponding vehicle steering type and the corresponding vehicle steering level as the corresponding vehicle driving state.

[0064] Specifically, when the server 104 identifies that the vehicle motion state is a motion state, it determines the vehicle speed change type corresponding to the vehicle motion state and the vehicle speed change level corresponding to the vehicle motion state according to the vehicle longitudinal acceleration signal standard data corresponding to the vehicle motion state, determines the vehicle steering type corresponding to the vehicle motion state and the vehicle steering level corresponding to the vehicle motion state according to the vehicle lateral acceleration signal standard data corresponding to the vehicle motion state, and uses the vehicle speed change type corresponding to the vehicle motion state and the vehicle speed change level corresponding to the vehicle motion state, the vehicle steering type corresponding to the vehicle motion state and the vehicle steering level corresponding to the vehicle motion state as the vehicle driving state corresponding to the vehicle motion state, thereby accurately obtaining the vehicle driving state.

[0065] In a specific example, the vehicle speed change type and the vehicle speed change level corresponding to the vehicle motion state are determined based on the vehicle longitudinal acceleration signal standard data corresponding to the vehicle motion state. If the vehicle longitudinal acceleration signal standard data corresponding to the vehicle motion state belongs to (-0.1, 0.1], the vehicle speed change type is a uniform speed type. If the vehicle longitudinal acceleration signal standard data corresponding to the vehicle motion state belongs to (0.1, 0.2], the vehicle speed change type is an acceleration type and the vehicle speed change level is a first-level acceleration. If the vehicle longitudinal acceleration signal standard data corresponding to the vehicle motion state belongs to (0.2, 0.3], the vehicle speed change type is an acceleration type and the vehicle speed change level is a second-level acceleration... If the vehicle longitudinal acceleration signal standard data corresponding to the vehicle motion state belongs to (0.9, 1 .0], then the vehicle speed change type is acceleration type and the speed change level is level 10 acceleration. The vehicle longitudinal acceleration signal standard data corresponding to the vehicle motion state belongs to (-0.2,-0.1], then the vehicle speed change type is deceleration type and the speed change level is level 1 deceleration. The vehicle longitudinal acceleration signal standard data corresponding to the vehicle motion state belongs to (-0.3,-0.2], then the vehicle speed change type is deceleration type and the speed change level is level 2 deceleration... The vehicle longitudinal acceleration signal standard data corresponding to the vehicle motion state belongs to (-1.0,-0.9], then the vehicle speed change type is The deceleration type and the vehicle speed change level are level 10 deceleration. The vehicle steering type and the vehicle steering level corresponding to the vehicle motion state are determined according to the vehicle lateral acceleration signal standard data corresponding to the vehicle motion state. The vehicle lateral acceleration signal standard data corresponding to the vehicle motion state is (0, 0.1], then the vehicle steering type corresponding to the vehicle motion state is steering and the vehicle steering level corresponding to the vehicle motion state is level 1 steering. The vehicle lateral acceleration signal standard data corresponding to the vehicle motion state is (0.1, 0.2], then the vehicle steering type corresponding to the vehicle motion state is steering and the vehicle steering level corresponding to the vehicle motion state is level 2 steering. The vehicle lateral acceleration signal standard data corresponding to the vehicle motion state is (0.2, 0.3], then the vehicle steering type corresponding to the vehicle motion state is steering and the vehicle steering level corresponding to the vehicle motion state is level 3 steering... The vehicle lateral acceleration signal standard data corresponding to the vehicle motion state is (0.9, 1.0], then the vehicle steering type corresponding to the vehicle motion state is steering and the vehicle steering level corresponding to the vehicle motion state is level 10 steering. The above are only specific examples. In actual applications, they are flexibly set according to user needs and are not limited here.

[0066] Step 503: In response to the vehicle motion state being a stationary state, the corresponding vehicle motion state is used as the corresponding vehicle driving state.

[0067] Specifically, when the server 104 recognizes that the vehicle motion state is a stationary state, it uses the vehicle motion state corresponding to the vehicle motion state as the corresponding vehicle driving state, thereby accurately obtaining the vehicle driving state.

[0068] In this embodiment, the corresponding vehicle motion state is determined based on the standard data of the vehicle speed signal of each vehicle; then, the corresponding vehicle motion state is determined based on the standard data of the vehicle speed signal of each vehicle; then, in response to the vehicle motion state being a stationary state, the corresponding vehicle motion state is used as the corresponding vehicle driving state, thereby accurately obtaining the vehicle driving state.

[0069] In one embodiment, if Figure 6 As shown, the corresponding vehicle driving road surface grade is determined according to the vehicle road spectrum signal standard data of each vehicle, including steps 601 to 602.

[0070] Step 601, determining the corresponding power spectrum density according to the vehicle road spectrum signal standard data of each vehicle.

[0071] Step 602: Determine the corresponding vehicle driving road surface grade according to the power spectrum density of each vehicle.

[0072] Specifically, the server 104 determines the corresponding power spectrum density based on the vehicle road spectrum signal standard data of each vehicle; then, determines the corresponding vehicle driving surface grade based on the power spectrum density of each vehicle, thereby improving the efficiency and accuracy of obtaining the vehicle driving surface grade.

[0073] In a specific example, the power spectral density is obtained based on the following expression:

[0074]

[0075] Among them, G q (n) is the power spectrum density, G q0 (n0) is the road roughness coefficient, n0 is the reference spatial frequency, and n is the vehicle road spectrum signal standard data of the vehicle, that is, the spatial frequency. The above is only a specific example. In actual application, it can be flexibly set according to user needs and is not limited here.

[0076] In a specific example, the vehicle driving road grade is determined based on the following table:

[0077]

[0078]

[0079] The above are only specific examples, which can be flexibly configured according to user needs in actual applications and are not limited here.

[0080] In this embodiment, the corresponding power spectrum density is determined based on the vehicle road spectrum signal standard data of each vehicle; then, the corresponding vehicle driving surface grade is determined based on the power spectrum density of each vehicle, thereby improving the efficiency and accuracy of obtaining the vehicle driving surface grade.

[0081] In this embodiment, the vehicle driving signal standard data of each vehicle is obtained; then, the corresponding vehicle driving status is determined according to the vehicle longitudinal acceleration signal standard data of each vehicle, the corresponding vehicle lateral acceleration signal standard data, the corresponding vehicle steering angle signal standard data and the corresponding vehicle speed signal standard data, and the corresponding vehicle driving surface grade is determined according to the vehicle road spectrum signal standard data of each vehicle, thereby improving the efficiency and accuracy of obtaining the vehicle driving status and vehicle driving surface grade of a preset number of vehicles.

[0082] Step 202 , classify and process each vehicle driving state and the corresponding vehicle driving road surface grade to generate a training sample set, a verification sample set and a test sample set.

[0083] Specifically, the server 104 divides and processes each vehicle driving state and the corresponding vehicle driving road surface grade to generate a training sample set, a verification sample set, and a test sample set.

[0084] In a specific example, the division process may be, but is not limited to, a random division process. The vehicle driving state and the corresponding vehicle driving road surface grade are divided according to a preset ratio of 70:15:15 to generate a training sample set, a verification sample set, and a test sample set. The above is only a specific example. In actual applications, it can be flexibly set according to user needs and is not limited here.

[0085] Step 203, training the vehicle air spring height adjustment gear initial matching model according to the training sample set, testing the vehicle air spring height adjustment gear initial matching model according to the test sample set, and verifying the vehicle air spring height adjustment gear initial matching model according to the verification sample;

[0086] Step 204, based on the test and verification, the air suspension deviation value corresponding to the selected vehicle air spring height adjustment gear of each vehicle is obtained, and the model parameters of the vehicle air spring height adjustment gear initial matching model are adjusted based on the obtained air suspension deviation value, until the air suspension deviation value corresponding to the air spring height adjustment gear of each selected vehicle meets the preset requirements, and a trained vehicle air spring height adjustment gear matching model is generated;

[0087] Step 205: outputting a standard adjustment gear for the height of the vehicle air spring to be selected based on the trained vehicle air spring height adjustment gear matching model.

[0088] The air suspension deviation value corresponding to the selected vehicle air spring height adjustment gear of the vehicle is the difference between the actual air suspension simulation height when the corresponding vehicle executes the selected vehicle air spring height adjustment gear and the corresponding target air suspension height. It can be understood that the actual air suspension simulation height is determined according to the vehicle suspension height signal standard data when the corresponding vehicle executes the selected vehicle air spring height adjustment gear.

[0089] In a specific example, the vehicle driving signal standard data of the vehicle also includes the vehicle suspension height signal standard data. Wherein, obtaining the vehicle suspension height signal standard data includes: obtaining the vehicle suspension height signal initial data; performing synchronization calibration processing, outlier removal processing and missing value supplement processing on the vehicle suspension height signal initial data of each vehicle, respectively, to obtain the corresponding processed vehicle suspension height signal initial data; performing filtering processing on the processed vehicle suspension height signal initial data of each vehicle, to obtain the corresponding vehicle suspension height signal standard data; wherein the filtering processing includes short filtering processing and long filtering processing; the vehicle suspension height signal standard data includes long filtering vehicle suspension height signal standard data and short filtering vehicle suspension height signal standard data. The above are only specific examples, which can be flexibly set according to user needs in actual applications and are not limited here.

[0090] Specifically, the server 104 trains the vehicle air spring height adjustment gear initial matching model according to the training sample set, tests the vehicle air spring height adjustment gear initial matching model according to the test sample set, and verifies the vehicle air spring height adjustment gear initial matching model according to the verification sample; then, based on the air suspension deviation value corresponding to the selected vehicle air spring height adjustment gear of each vehicle obtained through the test and verification, the vehicle air spring height is adjusted, and the model parameters of the gear initial matching model are adjusted based on the obtained air suspension deviation value, until the air suspension deviation corresponding to the selected vehicle air spring height adjustment gear is The difference meets the preset requirements and generates a trained vehicle air spring height adjustment gear matching model; then, the standard adjustment gear of the air spring height of the selected vehicle can be output based on the trained vehicle air spring height adjustment gear matching model, and the standard adjustment gear of the air spring height of the selected vehicle that meets the requirements can be obtained through the trained vehicle air spring height adjustment gear matching model, thereby avoiding the situation where the standard adjustment gear of the air spring height of the selected vehicle cannot accurately adjust the vehicle's air suspension height, improving the gear matching efficiency, air suspension height adjustment efficiency and control accuracy, and also improving the vehicle's driving performance and ride comfort.

[0091] Based on this, the method for constructing the above-mentioned vehicle air spring height adjustment gear matching model obtains the vehicle driving status and vehicle driving road grade of a preset number of vehicles; then, the driving status of each vehicle and the corresponding vehicle driving road grade are divided and processed to generate a training sample set, a verification sample and a test sample set; then, the vehicle air spring height adjustment gear initial matching model is trained according to the training sample set, the vehicle air spring height adjustment gear initial matching model is tested according to the test sample set, and the vehicle air spring height adjustment gear initial matching model is verified according to the verification sample; then, based on the test and verification, the air suspension deviation value corresponding to the selected vehicle air spring height adjustment gear of each vehicle is obtained, and the air suspension deviation value is adjusted based on the obtained air suspension deviation value. The model parameters of the initial matching model of the vehicle air spring height adjustment gear position are obtained until the air suspension deviation values ​​corresponding to the air spring height adjustment gear positions of each candidate vehicle meet the preset requirements, thereby generating a trained vehicle air spring height adjustment gear position matching model; and, based on the trained vehicle air spring height adjustment gear position matching model, the standard adjustment gear position of the air spring height of the candidate vehicle is output, so that the standard adjustment gear position of the air spring height of the candidate vehicle that meets the requirements can be obtained through the trained vehicle air spring height adjustment gear position matching model, thereby avoiding the situation that the standard adjustment gear position of the air spring height of the candidate vehicle cannot accurately adjust the air suspension height of the vehicle, thereby improving the gear matching efficiency, the air suspension height adjustment efficiency and the control accuracy, thereby improving the vehicle driving performance and ride comfort.

[0092] In one embodiment, if Figure 7 As shown, based on the air suspension deviation value corresponding to the selected vehicle air spring height adjustment gear of each vehicle obtained through testing and verification, the model parameters of the vehicle air spring height adjustment gear initial matching model are adjusted until the air suspension deviation value corresponding to the selected vehicle air spring height adjustment gear meets the preset requirements, including steps 701 to 704.

[0093] Step 701, based on testing and verification, obtain the corresponding vehicle air spring height adjustment gear to be selected for each vehicle.

[0094] The selected vehicle air spring height adjustment gear includes one or more of the lowest gear, low gear, standard gear, high gear and highest gear. Specifically, the server 104 obtains the selected vehicle air spring height adjustment gear of each vehicle corresponding to the test sample set or the verification sample set based on testing and verification.

[0095] Step 702: outputting corresponding air suspension lifting simulation control instructions to corresponding vehicles according to the selected vehicle air spring height adjustment gear of each vehicle.

[0096] The air suspension lifting simulation control instruction is used to represent the target air suspension height required by the corresponding vehicle. Specifically, the server 104 outputs the corresponding air suspension lifting simulation control instruction to the corresponding vehicle according to the selected vehicle air spring height adjustment gear of each vehicle.

[0097] Step 703 : acquiring the actual air suspension simulation height of each vehicle, and determining the corresponding air suspension deviation value according to the difference between the actual air suspension simulation height of each vehicle and the corresponding target air suspension height.

[0098] Specifically, the server 104 obtains the actual air suspension simulation height of each vehicle, and determines the corresponding air suspension deviation value according to the difference between the actual air suspension simulation height of each vehicle and the corresponding target air suspension height.

[0099] Step 704, in response to the existence of a target deviation value for the vehicle, determines the selected vehicle air spring height adjustment gear of the vehicle corresponding to the target deviation value as the corresponding disabled vehicle air spring height adjustment gear, and adjusts the model parameters of the vehicle air spring height adjustment gear initial matching model of the disabled vehicle air spring height adjustment gear corresponding to the target deviation value until the air suspension deviation values ​​corresponding to each selected vehicle air spring height adjustment gear are all less than the deviation threshold.

[0100] The target deviation value is an air suspension deviation value greater than or equal to the deviation threshold. Specifically, when the server 104 recognizes that the vehicle has a target deviation value, it determines the selected vehicle air spring height adjustment gear corresponding to the target deviation value as the disabled vehicle air spring height adjustment gear corresponding to the target deviation value, and adjusts the model parameters of the vehicle air spring height adjustment gear initial matching model for the disabled vehicle air spring height adjustment gear corresponding to the target deviation value, until the air suspension deviation values ​​corresponding to each selected vehicle air spring height adjustment gear are all less than the deviation threshold, so that the selected vehicle air spring height adjustment gear corresponding to the air suspension deviation value greater than or equal to the deviation threshold is disabled, so that the selected vehicle air spring height adjustment gear that meets the requirements is obtained through the trained vehicle air spring height adjustment gear matching model, so as to avoid the situation that the selected vehicle air spring height standard adjustment gear cannot accurately adjust the vehicle air suspension height, improve the gear matching efficiency, the air suspension height adjustment efficiency and the control accuracy, and also improve the vehicle driving performance and ride comfort.

[0101] In a specific example, in response to the absence of a target deviation value for each vehicle, it is determined that the air suspension deviation values ​​corresponding to the selected vehicle air spring height adjustment gears corresponding to each vehicle meet the preset requirements. The above is only a specific example. In actual applications, it is flexibly set according to user needs and is not limited here.

[0102] In this embodiment, the corresponding selected vehicle air spring height adjustment gear of each vehicle is obtained based on testing and verification; then, the corresponding air suspension lifting simulation control instruction is output to the corresponding vehicle according to the selected vehicle air spring height adjustment gear of each vehicle; then, the actual air suspension simulation height of each vehicle is obtained, and the corresponding air suspension deviation value is determined according to the difference between the actual air suspension simulation height of each vehicle and the corresponding target air suspension height; then, in response to the existence of a target deviation value for the vehicle, the selected vehicle air spring height adjustment gear of the vehicle corresponding to the target deviation value is determined as the corresponding disabled vehicle air spring height adjustment gear, and the disabled vehicle air spring height adjustment gear corresponding to the target deviation value is adjusted The model parameters of the initial matching model of the vehicle air spring height adjustment gear position are adjusted until the air suspension deviation values ​​corresponding to the air spring height adjustment gear positions of each candidate vehicle are less than the deviation threshold, thereby disabling the air spring height adjustment gear positions of the candidate vehicle corresponding to the air suspension deviation values ​​that are greater than or equal to the deviation threshold, thereby achieving the goal of obtaining the standard adjustment gear position of the air spring height of the candidate vehicle that meets the requirements through the trained vehicle air spring height adjustment gear position matching model, thereby avoiding the situation where the standard adjustment gear position of the air spring height of the candidate vehicle cannot accurately adjust the air suspension height of the vehicle, thereby improving the gear matching efficiency, the air suspension height adjustment efficiency and the control accuracy, and thus improving the vehicle's driving performance and ride comfort.

[0103] In one embodiment, obtaining the actual air suspension simulation height of each vehicle includes:

[0104] Obtaining vehicle suspension height signal standard simulation data of each vehicle;

[0105] The corresponding actual air suspension simulation height is determined according to the short-filtered vehicle suspension height signal standard simulation data of each vehicle.

[0106] The vehicle suspension height signal standard simulation data includes long filter vehicle suspension height signal standard simulation data and short filter vehicle suspension height signal standard simulation data. Specifically, the server 104 obtains the vehicle suspension height signal standard simulation data of each vehicle; then, according to the short filter vehicle suspension height signal standard simulation data of each vehicle, the corresponding actual air suspension simulation height is determined, thereby improving the accuracy and efficiency of obtaining the actual air suspension simulation height.

[0107] In this embodiment, the standard simulation data of the vehicle suspension height signal of each vehicle is obtained; then, the corresponding actual air suspension simulation height is determined according to the short-filtered vehicle suspension height signal standard simulation data of each vehicle, thereby improving the accuracy and efficiency of obtaining the actual air suspension simulation height.

[0108] In a specific example, the method further includes: obtaining the current vehicle driving state and the current vehicle driving road grade of the target vehicle; inputting the current vehicle driving state and the current vehicle driving road grade into the trained vehicle air spring height adjustment gear matching model, and outputting the corresponding air spring height standard adjustment gear of the selected vehicle; in response to the selection operation of the air spring height standard adjustment gear of the selected vehicle, determining the air spring height standard adjustment gear of the target selected vehicle, and controlling the lifting and lowering of the air suspension of the target vehicle according to the air spring height standard adjustment gear of the target selected vehicle. The above is only a specific example, and it is flexibly set according to user needs in actual application, and is not limited here.

[0109] It should be understood that although Figure 2-7 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2-7 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0110] Second, as Figure 8 As shown, a device for constructing a vehicle air spring height adjustment gear matching model is provided, and the device includes a data acquisition module 810, a sample set division module 820 and a model construction module 830.

[0111] Among them, the data acquisition module 810 is used to obtain the vehicle driving status and vehicle driving road surface grade of a preset number of vehicles; the sample set division module 820 is used to divide and process the driving status of each vehicle and the corresponding vehicle driving road surface grade, and generate a training sample set, a verification sample and a test sample set; the model construction module 830 is used to train the vehicle air spring height adjustment gear initial matching model according to the training sample set, test the vehicle air spring height adjustment gear initial matching model according to the test sample set, and verify the vehicle air spring height adjustment gear initial matching model according to the verification sample; the model construction module 830 is also used to obtain the air suspension deviation value corresponding to the selected vehicle air spring height adjustment gear of each vehicle based on the test and verification, and adjust the model parameters of the vehicle air spring height adjustment gear initial matching model based on the obtained air suspension deviation value, until the air suspension deviation value corresponding to the air spring height adjustment gear of each selected vehicle meets the preset requirements, and a trained vehicle air spring height adjustment gear matching model is generated; the model construction module 830 is also used to output the selected vehicle air spring height standard adjustment gear based on the trained vehicle air spring height adjustment gear matching model.

[0112] In one embodiment, the data acquisition module 810 includes a data acquisition unit.

[0113] Among them, the data acquisition unit is used to obtain the vehicle driving signal standard data of each vehicle; the vehicle driving signal standard data includes vehicle road spectrum signal standard data, vehicle longitudinal acceleration signal standard data, vehicle lateral acceleration signal standard data, vehicle steering angle signal standard data and vehicle speed signal standard data; the data acquisition unit is used to determine the corresponding vehicle driving state according to the vehicle longitudinal acceleration signal standard data of each vehicle, the corresponding vehicle lateral acceleration signal standard data, the corresponding vehicle steering angle signal standard data and the corresponding vehicle speed signal standard data, and determine the corresponding vehicle driving road surface grade according to the vehicle road spectrum signal standard data of each vehicle.

[0114] In one embodiment, the data acquisition unit includes a data processor.

[0115] Among them, the data processor is used to obtain the initial data of the vehicle driving signal of each vehicle; the initial data of the vehicle driving signal includes the initial data of the vehicle road spectrum signal, the initial data of the vehicle longitudinal acceleration signal, the initial data of the vehicle lateral acceleration signal, the initial data of the vehicle steering angle signal and the initial data of the vehicle speed signal; the data processor is used to perform synchronous calibration processing, outlier removal processing and missing value supplement processing on the initial data of the vehicle road spectrum signal of each vehicle, the corresponding initial data of the vehicle longitudinal acceleration signal, the corresponding initial data of the vehicle lateral acceleration signal, the corresponding initial data of the vehicle steering angle signal and the corresponding initial data of the vehicle speed signal, and obtain the corresponding processed initial data of the vehicle road spectrum signal, the corresponding processed initial data of the vehicle longitudinal acceleration signal, the corresponding processed initial data of the vehicle The data processor is used to smooth the processed vehicle longitudinal acceleration signal initial data of each vehicle to obtain the corresponding vehicle longitudinal acceleration signal standard data; the data processor is used to determine the processed vehicle road spectrum signal initial data of each vehicle as the corresponding vehicle road spectrum signal standard data, determine the processed vehicle lateral acceleration signal initial data of each vehicle as the corresponding vehicle lateral acceleration signal standard data, determine the processed vehicle steering angle signal initial data of each vehicle as the corresponding vehicle steering angle signal standard data, and determine the processed vehicle speed signal initial data of each vehicle as the corresponding vehicle speed signal standard data.

[0116] In one of the embodiments, the data acquisition unit includes a vehicle driving state determiner.

[0117] Among them, the vehicle driving state determiner is used to determine the corresponding vehicle motion state according to the vehicle speed signal standard data of each vehicle; the vehicle motion state includes a stationary state or a moving state; the vehicle driving state determiner is used to determine the corresponding vehicle speed change type and the corresponding vehicle speed change level according to the corresponding vehicle longitudinal acceleration signal standard data in response to the vehicle motion state being a moving state, determine the corresponding vehicle steering type and the corresponding vehicle steering level according to the corresponding vehicle lateral acceleration signal standard data, and use the corresponding vehicle speed change type and the corresponding vehicle speed change level, the corresponding vehicle steering type and the corresponding vehicle steering level as the corresponding vehicle driving state; the vehicle driving state determiner is used to use the corresponding vehicle motion state as the corresponding vehicle driving state in response to the vehicle motion state being a stationary state.

[0118] In one of the embodiments, the data acquisition unit includes a vehicle driving surface grade determiner.

[0119] Among them, the vehicle driving road surface grade determiner is used to determine the corresponding power spectrum density according to the vehicle road spectrum signal standard data of each vehicle; the vehicle driving road surface grade determiner is used to determine the corresponding vehicle driving road surface grade according to the power spectrum density of each vehicle.

[0120] In one embodiment, the model building module 830 includes a model adjustment unit.

[0121] Among them, the model adjustment unit is used to obtain the corresponding selected vehicle air spring height adjustment gear of each vehicle based on testing and verification; the model adjustment unit is used to output the corresponding air suspension lifting simulation control instruction to the corresponding vehicle according to the selected vehicle air spring height adjustment gear of each vehicle; the air suspension lifting simulation control instruction is used to characterize the target air suspension height required by the corresponding vehicle; the model adjustment unit is used to obtain the actual air suspension simulation height of each vehicle, and determine the corresponding air suspension deviation value according to the difference between the actual air suspension simulation height of each vehicle and the corresponding target air suspension height; the model adjustment unit is used to determine the selected vehicle air spring height adjustment gear of the vehicle corresponding to the target deviation value as the corresponding disabled vehicle air spring height adjustment gear in response to the existence of a target deviation value in the vehicle, and adjust the model parameters of the initial matching model of the vehicle air spring height adjustment gear corresponding to the disabled vehicle air spring height adjustment gear corresponding to the target deviation value, until the air suspension deviation values ​​corresponding to the air spring height adjustment gears of each selected vehicle are less than the deviation threshold; the target deviation value is an air suspension deviation value greater than or equal to the deviation threshold.

[0122] In one of the embodiments, the model adjustment unit includes an actual air suspension simulation height acquirer.

[0123] Among them, the actual air suspension simulation height acquirer is used to obtain the standard simulation data of the vehicle suspension height signal of each vehicle; the standard simulation data of the vehicle suspension height signal includes long-filter vehicle suspension height signal standard simulation data and short-filter vehicle suspension height signal standard simulation data; the actual air suspension simulation height acquirer is used to determine the corresponding actual air suspension simulation height according to the short-filter vehicle suspension height signal standard simulation data of each vehicle.

[0124] Regarding the specific limitations on the construction device of the vehicle air spring height adjustment gear matching model, please refer to the limitations on the construction method of the vehicle air spring height adjustment gear matching model mentioned above, which will not be repeated here. Each module in the above-mentioned construction device of the vehicle air spring height adjustment gear matching model can be implemented in whole or in part through software, hardware and a combination thereof. 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 the above-mentioned modules.

[0125] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig. 9 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the vehicle driving status and vehicle driving road surface grade of a preset number of vehicles. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for constructing a vehicle air spring height adjustment gear matching model is implemented.

[0126] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0127] In a third aspect, a computer device is provided. The computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps of any method in the above method embodiments are implemented.

[0128] In a fourth 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 steps of any method in the above method embodiments are implemented.

[0129] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0130] The technical features of the above embodiments may be combined arbitrarily. 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.

[0131] The above-mentioned 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 invention patent. 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 of the present application shall be subject to the attached claims.

Claims

1. A method for constructing a vehicle air spring height adjustment gear matching model, the method comprising: Obtaining vehicle driving status and vehicle driving road grade of a preset number of vehicles; The vehicle driving states and the corresponding vehicle driving road surface grades are divided and processed to generate a training sample set, a verification sample set and a test sample set; Training an initial matching model for a height adjustment gear position of an air spring of a vehicle according to the training sample set, testing the initial matching model for a height adjustment gear position of an air spring of a vehicle according to the test sample set, and verifying the initial matching model for a height adjustment gear position of an air spring of a vehicle according to the verification sample; Based on the test and verification, the air suspension deviation value corresponding to the selected vehicle air spring height adjustment gear position of each of the vehicles is obtained, and the model parameters of the vehicle air spring height adjustment gear position initial matching model are adjusted based on the obtained air suspension deviation value, until the air suspension deviation value corresponding to the selected vehicle air spring height adjustment gear position meets the preset requirements, and a trained vehicle air spring height adjustment gear position matching model is generated; Based on the trained vehicle air spring height adjustment gear matching model, a standard vehicle air spring height adjustment gear to be selected is output.

2. The method according to claim 1, characterized in that The obtaining of the vehicle driving status and vehicle driving road surface grade of a preset number of vehicles includes: Acquire vehicle driving signal standard data of each of the vehicles; the vehicle driving signal standard data includes vehicle road spectrum signal standard data, vehicle longitudinal acceleration signal standard data, vehicle lateral acceleration signal standard data, vehicle steering angle signal standard data and vehicle speed signal standard data; The corresponding vehicle driving state is determined based on the vehicle longitudinal acceleration signal standard data, the corresponding vehicle lateral acceleration signal standard data, the corresponding vehicle steering angle signal standard data and the corresponding vehicle speed signal standard data of each vehicle, and the corresponding vehicle driving surface grade is determined based on the vehicle road spectrum signal standard data of each vehicle.

3. The method according to claim 2, characterized in that The step of obtaining the vehicle driving signal standard data of each vehicle comprises: Acquire the initial data of vehicle driving signals of each of the vehicles; the initial data of vehicle driving signals includes initial data of vehicle road spectrum signals, initial data of vehicle longitudinal acceleration signals, initial data of vehicle lateral acceleration signals, initial data of vehicle steering angle signals and initial data of vehicle speed signals; Performing synchronization calibration processing, outlier removal processing and missing value supplement processing on the vehicle road spectrum signal initial data, the corresponding vehicle longitudinal acceleration signal initial data, the corresponding vehicle lateral acceleration signal initial data, the corresponding vehicle steering angle signal initial data and the corresponding vehicle speed signal initial data of each vehicle, respectively, to obtain the corresponding processed vehicle road spectrum signal initial data, the corresponding processed vehicle longitudinal acceleration signal initial data, the corresponding processed vehicle lateral acceleration signal initial data, the corresponding processed vehicle steering angle signal initial data and the corresponding processed vehicle speed signal initial data; Smoothing the processed initial data of the vehicle longitudinal acceleration signal of each vehicle to obtain corresponding standard data of the vehicle longitudinal acceleration signal; The processed initial data of the vehicle road spectrum signal of each vehicle is determined as the corresponding standard data of the vehicle road spectrum signal, the processed initial data of the vehicle lateral acceleration signal of each vehicle is determined as the corresponding standard data of the vehicle lateral acceleration signal, the processed initial data of the vehicle steering angle signal of each vehicle is determined as the corresponding standard data of the vehicle steering angle signal, and the processed initial data of the vehicle speed signal of each vehicle is determined as the corresponding standard data of the vehicle speed signal.

4. The method according to claim 2, characterized in that: Determining the corresponding vehicle driving state according to the vehicle longitudinal acceleration signal standard data, the corresponding vehicle lateral acceleration signal standard data, the corresponding vehicle steering angle signal standard data and the corresponding vehicle speed signal standard data of each vehicle includes: Determine the corresponding vehicle motion state according to the vehicle speed signal standard data of each vehicle; the vehicle motion state includes a stationary state or a moving state; In response to the vehicle motion state being the motion state, determining a corresponding vehicle speed change type and a corresponding vehicle speed change level according to the corresponding vehicle longitudinal acceleration signal standard data, determining a corresponding vehicle steering type and a corresponding vehicle steering level according to the corresponding vehicle lateral acceleration signal standard data, and using the corresponding vehicle speed change type and the corresponding vehicle speed change level, the corresponding vehicle steering type and the corresponding vehicle steering level as the corresponding vehicle driving state; In response to the vehicle motion state being the stationary state, the corresponding vehicle motion state is used as the corresponding vehicle driving state.

5. The method according to claim 2, characterized in that: The determining the corresponding vehicle driving road surface grade according to the vehicle road spectrum signal standard data of each vehicle includes: Determine the corresponding power spectrum density according to the vehicle road spectrum signal standard data of each of the vehicles; The corresponding vehicle driving road surface grade is determined according to the power spectral density of each of the vehicles.

6. The method according to claim 2, characterized in that The air suspension deviation value corresponding to the air spring height adjustment gear position of each of the vehicles to be selected based on the test and verification is adjusted to obtain the model parameters of the vehicle air spring height adjustment gear position initial matching model until the air suspension deviation value corresponding to the air spring height adjustment gear position of each of the vehicles to be selected meets the preset requirements, including: Based on the test and verification, the selected vehicle air spring height adjustment gear of each corresponding vehicle is obtained; Outputting a corresponding air suspension lifting simulation control instruction to the corresponding vehicle according to the selected vehicle air spring height adjustment gear of each vehicle; the air suspension lifting simulation control instruction is used to represent the target air suspension height required by the corresponding vehicle; Acquiring an actual air suspension simulation height of each of the vehicles, and determining a corresponding air suspension deviation value according to a difference between the actual air suspension simulation height of each of the vehicles and the corresponding target air suspension height; In response to the existence of a target deviation value for the vehicle, the selected vehicle air spring height adjustment gear of the vehicle corresponding to the target deviation value is determined as the corresponding disabled vehicle air spring height adjustment gear, and the model parameters of the vehicle air spring height adjustment gear initial matching model are adjusted for the disabled vehicle air spring height adjustment gear corresponding to the target deviation value until the air suspension deviation values ​​corresponding to each of the selected vehicle air spring height adjustment gears are less than a deviation threshold; the target deviation value is the air suspension deviation value that is greater than or equal to the deviation threshold.

7. The method according to claim 6, characterized in that The obtaining of the actual air suspension simulation height of each of the vehicles comprises: Acquire vehicle suspension height signal standard simulation data of each of the vehicles; the vehicle suspension height signal standard simulation data includes long-filter vehicle suspension height signal standard simulation data and short-filter vehicle suspension height signal standard simulation data; The corresponding actual air suspension simulation height is determined according to the short-filtered vehicle suspension height signal standard simulation data of each vehicle.

8. A device for constructing a vehicle air spring height adjustment gear matching model, characterized in that: The device comprises: A data acquisition module, used to acquire the vehicle driving status and vehicle driving road grade of a preset number of vehicles; A sample set division module is used to divide the vehicle driving states and the corresponding vehicle driving road surface grades to generate training sample sets, verification samples and test sample sets; A model building module is used to train the vehicle air spring height adjustment gear initial matching model according to the training sample set, test the vehicle air spring height adjustment gear initial matching model according to the test sample set, and verify the vehicle air spring height adjustment gear initial matching model according to the verification sample; the model building module is also used to obtain the air suspension deviation value corresponding to the selected vehicle air spring height adjustment gear of each of the vehicles based on the test and verification, and adjust the model parameters of the vehicle air spring height adjustment gear initial matching model based on the obtained air suspension deviation value, until the air suspension deviation value corresponding to each of the selected vehicle air spring height adjustment gear meets the preset requirements, thereby generating a trained vehicle air spring height adjustment gear matching model; the model building module is also used to output the selected vehicle air spring height standard adjustment gear based on the trained vehicle air spring height adjustment gear matching model.

9. 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 computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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