Suspension control method, device, apparatus, storage medium, program product and vehicle

Abstract

The present application relates to a suspension control method, device, equipment, storage medium, program product and vehicle. The method is applied to a vehicle, and the method includes: determining the bead unseating of the blown tire in response to the blown tire state of the vehicle; and controlling the suspension of the vehicle according to the bead unseating of the blown tire. When the tire blows when the vehicle is in a driving state, the suspension of the vehicle is controlled according to the bead unseating of the blown tire to avoid the vehicle body from tilting and deviating easily, which deteriorates the handling stability of the vehicle and improves driving safety.

Description

Technical Field

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

[0002] With the rapid development of automobiles, automobiles have become an indispensable part of people's lives; currently various vehicles generally use pneumatic tires.

[0003] However, in the related art, when a tire bursts while the vehicle is in motion, the vehicle body is prone to tilt and deviate, and the vehicle's handling stability deteriorates, resulting in reduced driving safety. Summary of the invention

[0004] An embodiment of the present application provides a suspension control method, which can control the suspension of the vehicle according to the bead unseating situation of the tire blowout when the vehicle is in motion, so as to avoid the vehicle body from tilting and running off the track, which will deteriorate the vehicle's handling stability, improve driving safety, and at least partially solve the above-mentioned technical problems.

[0005] In order to achieve the above object, according to a first aspect of the present application, a suspension control method is provided, the method is applied to a vehicle, and the method comprises:

[0006] In response to a tire blowout condition of the vehicle, determining a bead unseating condition of the blowout tire;

[0007] The suspension of the vehicle is controlled according to the bead unseating condition of the blown tire.

[0008] Optionally, in response to a tire blowout state of the vehicle, determining a bead unseating condition of the blowout tire comprises:

[0009] In response to a tire blowout state of the vehicle, a bead unseating condition of the tire blowout is determined based on a tire image of the tire blowout.

[0010] Optionally, controlling the suspension of the vehicle according to the bead unseating condition of the flat tire comprises:

[0011] If the blown tire is in a bead-out state, determining an actual height of the suspension corresponding to the bead-out tire;

[0012] The suspension of the vehicle is controlled according to the actual height of the suspension corresponding to the bead-off tire.

[0013] Optionally, controlling the suspension of the vehicle according to an actual height of the suspension corresponding to the bead-off tire comprises:

[0014] Determining a target height of the suspension corresponding to the bead-stripped tire according to an actual height of the suspension corresponding to the bead-stripped tire and a height of the suspension corresponding to the non-bead-stripped tire;

[0015] controlling the suspension corresponding to the bead-out tire according to a target height of the suspension corresponding to the bead-out tire;

[0016] or,

[0017] Determining a target height of the suspension corresponding to the tire that has not been unbonded according to an actual height of the suspension corresponding to the tire that has not been unbonded and a height of the suspension corresponding to the tire that has not been unbonded;

[0018] The suspension corresponding to the tire that has not lost its bead is controlled according to the target height of the suspension corresponding to the tire that has not lost its bead.

[0019] Optionally, controlling the suspension of the vehicle according to the bead unseating condition of the flat tire comprises:

[0020] If the flat tire is in a bead-out state, obtaining the suspension height fluctuation data of the vehicle;

[0021] If the suspension height fluctuation data of the vehicle meets a preset condition, the suspension of the vehicle is controlled.

[0022] Optionally, the suspension height fluctuation data includes a suspension height fluctuation frequency and a suspension height fluctuation amplitude; and the method further includes:

[0023] If the suspension height fluctuation frequency is greater than a preset frequency, and the suspension height fluctuation amplitude is greater than a preset amplitude, it is determined that the suspension height fluctuation data meets a preset condition.

[0024] Optionally, if the suspension height fluctuation data of the vehicle meets a preset condition, controlling the suspension of the vehicle includes:

[0025] If the suspension height fluctuation data of the vehicle meets a preset condition, the suspension is controlled according to the suspension height fluctuation data and the expected suspension height fluctuation data so that the suspension height fluctuation data of the vehicle is reduced to the expected suspension height fluctuation data.

[0026] Optionally, controlling the suspension according to the suspension height fluctuation data and the expected suspension height fluctuation data comprises:

[0027] determining a control parameter of the suspension according to the suspension height fluctuation data and the expected suspension height fluctuation data, wherein the expected suspension height fluctuation data is determined based on at least one of a vehicle speed, a road surface condition, and a load corresponding to the vehicle;

[0028] The suspension is controlled according to the control parameter so that the suspension height fluctuation data of the vehicle is reduced to the expected suspension height fluctuation data.

[0029] Optionally, determining the control parameters of the suspension according to the suspension height fluctuation data and the expected suspension height fluctuation data includes:

[0030] A preset mapping relationship is queried based on the difference between the suspension height fluctuation data and the expected suspension height fluctuation data corresponding to the bead unseating state, and the query result is used as the control parameter of the suspension; the preset mapping relationship is the relationship between the difference between the suspension height fluctuation data and the expected suspension height fluctuation data and the control parameter.

[0031] Optionally, the suspension height fluctuation data includes a suspension height fluctuation frequency and a suspension height fluctuation amplitude, the expected suspension height fluctuation data includes an expected suspension height fluctuation frequency and an expected suspension height fluctuation amplitude, and the step of querying a preset mapping relationship based on a difference between the suspension height fluctuation data and the expected suspension height fluctuation data corresponding to the bead-out state, and using the query result as a control parameter of the suspension, includes:

[0032] According to the difference between the suspension height fluctuation frequency and the expected suspension height fluctuation frequency, query a first preset mapping relationship, and use the obtained first query result as a suspension height fluctuation frequency control parameter;

[0033] According to the difference between the suspension height fluctuation amplitude and the expected suspension height fluctuation amplitude, a second preset mapping relationship is queried, and the obtained second query result is used as a suspension height fluctuation amplitude control parameter.

[0034] Optionally, the method further comprises:

[0035] The tire blowout status of the vehicle tire is determined according to the tire pressure data of the vehicle.

[0036] Optionally, the tire pressure data includes a tire pressure change rate, and determining the tire blowout state of the vehicle tire according to the tire pressure data of the vehicle includes:

[0037] The tire burst state of the vehicle tire is determined according to the tire pressure change rate and a preset change rate.

[0038] Optionally, determining the tire blowout state of the tire according to the tire pressure change rate and a preset change rate includes:

[0039] When the tire pressure change rate is greater than or equal to a preset change rate, determining that the vehicle tire is in a tire blowout state;

[0040] When the tire pressure change rate is less than a preset change rate, it is determined that the vehicle tire is not in a tire blowout state.

[0041] According to a second aspect of the present application, an embodiment of the present application further provides a suspension control device, the suspension control device comprising:

[0042] a determination unit, for determining a bead unseating condition of the blown tire in response to a blown tire condition of the vehicle;

[0043] A control unit is used to control the suspension of the vehicle according to the unbending condition of the tire with a puncture.

[0044] According to the third aspect of the present application, an embodiment of the present application also provides an electronic device, which includes: one or more processors and a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor in any one of the steps of the suspension control method provided in the embodiment of the present application.

[0045] According to the fourth aspect of the present application, an embodiment of the present application also provides a computer-readable storage medium, which stores multiple computer programs. The computer programs are suitable for loading by a processor to execute the steps of any suspension control method provided in the embodiment of the present application.

[0046] According to the fifth aspect of the present application, an embodiment of the present application also provides a computer program product, including a computer program, which implements the steps of any suspension control method provided in the embodiment of the present application when the computer program is executed by a processor.

[0047] According to the sixth aspect of the present application, an embodiment of the present application also provides a vehicle, which includes the electronic device provided by the embodiment of the present application, or the suspension control device provided by the embodiment of the present application, or executes the steps of any suspension control method provided by the embodiment of the present application.

[0048] The suspension control method of the embodiment of the present application determines the bead-out condition of the tire with the blown tire in response to the blown tire state of the vehicle; and controls the suspension of the vehicle according to the bead-out condition of the blown tire. When the tire blows while the vehicle is in a driving state, the suspension of the vehicle is controlled according to the bead-out condition of the blown tire to prevent the vehicle body from tilting and deviating easily, which deteriorates the handling stability of the vehicle and improves driving safety.

[0049] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0051] Figure 1A schematic flow chart of a first embodiment of a suspension control method provided in an embodiment of the present application;

[0052] Figure 2 A schematic flow chart of a second embodiment of the suspension control method provided in the embodiment of the present application;

[0053] Figure 3 A schematic flow chart of a third embodiment of a suspension control method provided in an embodiment of the present application;

[0054] Figure 4 A schematic flow chart of a fourth embodiment of a suspension control method provided in an embodiment of the present application;

[0055] Figure 5 A schematic flow chart of a fifth embodiment of a suspension control method provided in an embodiment of the present application;

[0056] Figure 6 A schematic diagram of the structure of a suspension control device provided in an embodiment of the present application;

[0057] Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0059] Embodiments of the present application provide a suspension control method, device, equipment, storage medium, program product, and vehicle.

[0060] The control method provided in the embodiment of the present application can be applied to a vehicle, which may be a fuel vehicle, a plug-in hybrid vehicle, a new energy vehicle, etc., and the present disclosure does not make any specific limitations on this.

[0061] The following is a detailed description of the embodiments in conjunction with the accompanying drawings. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments. Although the logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different from that shown in the accompanying drawings.

[0062] In order to facilitate understanding of the implementation scheme provided in the embodiment of the present application, the relevant application background of vehicle tire blowout is first described. When a tire blowout occurs in a vehicle while the vehicle is in motion, the vehicle body is prone to tilt and deviate, and the vehicle's handling stability deteriorates, resulting in reduced driving safety. In the related art, when a vehicle tire blows out, the vehicle actively controls the suspension to rise or fall according to preset parameters to maintain the balance of the vehicle.

[0063] However, since the working conditions of a vehicle when a tire blows out are complex and changeable, controlling the suspension according to a single preset parameter to maintain the balance of the vehicle when a tire blows out has great limitations. Therefore, the embodiment of the present application further provides a suspension control method, which can control the suspension of the vehicle according to the bead unseating of the blown tire to adapt to different working conditions when a tire blows out. For details, please refer to Figure 1 , Figure 1 A schematic flow chart of a first embodiment of a suspension control method provided in an embodiment of the present application. The method is applied to a vehicle, and the method includes:

[0064] Step 101, in response to a tire blowout state of the vehicle, determining a bead unseating condition of the blowout tire;

[0065] In this step, the vehicle detects the condition of the tires of the vehicle in real time while driving, and when it is detected that the tire is in a blowout state, the bead unseating condition of the blowout tire is determined. It should be noted that the tire state includes a normal state and a blowout state, and the blowout state includes a non-bead unseating state and a bead unseating state, and the bead unseating state refers to the state in which the rim of the tire is separated from the tire skin. The vehicle obtains the tire pressure data of each tire in real time, and only after determining that the tire is in a blowout state based on the tire pressure data, the bead unseating condition of the blowout tire is determined.

[0066] Specifically, step 101 includes:

[0067] Step 1011, in response to the tire blowout state of the vehicle, determining the bead unseating state of the tire blowout according to the tire image of the tire blowout.

[0068] In this step, after determining that the tire is in a blown state, the vehicle determines the blown tire, collects a tire image corresponding to the blown tire, and then determines the bead unseating condition of the blown tire based on the tire image of the blown tire.

[0069] Specifically, a vehicle generally includes four tires, namely, a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel. When one or more tires of the vehicle are in a blown state, a tire image of the corresponding blown tire is collected by a shooting device, and the bead unseating condition of the blown tire is determined based on the tire image of the blown tire. The shooting device is a surround view camera, which is installed at the front and rear bumpers of the vehicle. The surround view camera at the front bumper collects tire images of the left front wheel and the right front wheel, and the surround view camera at the rear bumper collects tire images of the left rear wheel and the right rear wheel.

[0070] Step 102: Control the suspension of the vehicle according to the unbending condition of the blown tire.

[0071] In this step, when the vehicle determines that the tire is in a blown state, it further obtains a tire image of the blown tire to determine whether the blown tire is unbonded. If it is determined that the blown tire is not unbonded, the suspension of the vehicle is controlled according to a preset first strategy; if it is determined that the blown tire is unbonded, the suspension of the vehicle is controlled according to a preset second strategy.

[0072] Exemplarily, the preset first strategy includes: controlling the suspension corresponding to a punctured tire that has a blowout and has not come off the bead to raise to a target height; controlling the suspension corresponding to tires other than the punctured tire that has a blowout and has not come off the bead to lower to a target height; controlling the suspension corresponding to the punctured tire that has a blowout and has not come off the bead to raise to a target height, and then controlling the suspension height fluctuation data of the suspension corresponding to the punctured tire to be reduced to the expected suspension height fluctuation data corresponding to the state of not coming off the bead; controlling the suspension corresponding to tires other than the punctured tire that has a blowout and has not come off the bead to lower to a target height, and then controlling the suspension height fluctuation data of the suspension corresponding to the punctured tire to be reduced to the expected suspension height fluctuation data corresponding to the state of not coming off the bead. The preset second strategy includes: controlling the suspension corresponding to the punctured tire that has punctured and debonded to raise the target height; controlling the suspension corresponding to other tires other than the punctured tire that has punctured and debonded to lower the target height; controlling the suspension corresponding to the punctured tire that has punctured and debonded to raise the target height, and then controlling the suspension height fluctuation data of the suspension corresponding to the punctured tire to be reduced to the expected suspension height fluctuation data corresponding to the state of not debonding; controlling the suspension corresponding to other tires other than the punctured tire that has punctured and debonded to lower the target height, and then controlling the suspension height fluctuation data of the suspension corresponding to the punctured tire to be reduced to the expected suspension height fluctuation data corresponding to the state of not debonding. Among them, the target height under the first strategy is less than the target height under the second strategy, and the expected suspension height fluctuation data under the first strategy is greater than the expected suspension height fluctuation data under the second strategy.

[0073] The vehicle of this embodiment determines the bead unseating of the blown tire in response to the blown tire state of the vehicle; and controls the suspension of the vehicle according to the bead unseating of the blown tire. When a blown tire occurs while the vehicle is in a driving state, the suspension of the vehicle is controlled according to the bead unseating of the blown tire to prevent the vehicle body from tilting and deviating easily, which deteriorates the handling stability of the vehicle and improves driving safety.

[0074] Please refer to Figure 2 , Figure 2 A schematic flow chart of a second embodiment of the suspension control method provided in the embodiment of the present application. The method of controlling the suspension of the vehicle according to the unbending condition of the tire having a flat tire comprises:

[0075] Step 201, if the blown tire is in a bead-out state, determining an actual height of the suspension corresponding to the bead-out tire;

[0076] In this step, if the vehicle determines that the flat tire is in a bead-out state according to the tire image of the flat tire, the actual height of the suspension corresponding to the bead-out tire is determined. Specifically, each tire of the vehicle corresponds to a suspension, and each suspension is equipped with a height sensor. The vehicle reads the data of the height sensor on the suspension corresponding to the bead-out tire, and then determines the actual height of the suspension corresponding to the bead-out tire.

[0077] Step 202: Control the suspension of the vehicle according to the actual height of the suspension corresponding to the bead-off tire.

[0078] In this step, the vehicle controls the suspension of the vehicle according to the actual height of the suspension corresponding to the tire that has fallen out of the bead. Specifically, the vehicle obtains the suspension height corresponding to the tire that has not fallen out of the bead or the preset height of the vehicle suspension, and controls the suspension of the vehicle according to the actual height and the suspension height corresponding to the tire that has not fallen out of the bead, or controls the suspension of the vehicle according to the actual height and the preset height.

[0079] Optionally, step 202 includes:

[0080] Step a1, determining a target height of the suspension corresponding to the bead-stripped tire according to an actual height of the suspension corresponding to the bead-stripped tire and a height of the suspension corresponding to the tire that has not been bead-stripped;

[0081] In this step, the vehicle determines the target height of the suspension corresponding to the tire that has fallen out of the bead according to the actual height of the suspension corresponding to the tire that has fallen out of the bead and the height of the suspension corresponding to the tire that has not fallen out of the bead. Specifically, when the tire is in the state of not falling out of the bead, the height of the suspension corresponding to the tire is determined to be the first height, and when the tire is in the state of falling out of the bead, the actual height of the suspension corresponding to the tire is determined to be the second height, and the difference between the first height and the second height is calculated to determine the target height of the suspension corresponding to the tire that has fallen out of the bead. It can be understood that the bead-out state is the state in which the rim and the tire skin are separated after the tire bursts, and therefore, the second height in the bead-out state is less than the first height in the state of not falling out of the bead.

[0082] Step a2, controlling the suspension corresponding to the bead-out tire according to the target height of the suspension corresponding to the bead-out tire;

[0083] In this step, the vehicle controls the suspension corresponding to the bead-out tire according to the target height of the suspension corresponding to the bead-out tire. Specifically, when the tire is in the bead-out state, the vehicle controls the suspension corresponding to the bead-out tire to raise the target height. It can be understood that after the vehicle controls the suspension corresponding to the bead-out tire to raise the target height, the suspension corresponding to each tire of the vehicle is kept at the same height, avoiding the vehicle from tilting, running off the track, and other hazards when the tire bursts, which can improve driving safety.

[0084] Optionally, step 202 includes:

[0085] Step b1, determining a target height of the suspension corresponding to the tire that has not been unbonded according to an actual height of the suspension corresponding to the tire that has been unbonded and a height of the suspension corresponding to the tire that has not been unbonded;

[0086] In this step, the vehicle determines the target height of the suspension corresponding to the tire that has fallen out of the bead according to the actual height of the suspension corresponding to the tire that has fallen out of the bead and the height of the suspension corresponding to the tire that has not fallen out of the bead. Specifically, when the tire is in the state of not falling out of the bead, the height of the suspension corresponding to the tire is determined to be the first height, and when the tire is in the state of falling out of the bead, the actual height of the suspension corresponding to the tire is determined to be the second height, and the difference between the first height and the second height is calculated to determine the target height of the suspension corresponding to the tire that has fallen out of the bead. It can be understood that the bead-out state is the state in which the rim and the tire skin are separated after the tire bursts, and therefore, the second height in the bead-out state is less than the first height in the state of not falling out of the bead.

[0087] Step b2, controlling the suspension corresponding to the tire that has not lost its bead according to the target height of the suspension corresponding to the tire that has not lost its bead.

[0088] In this step, the vehicle controls the suspension corresponding to the tire that has not fallen out of the bead according to the target height of the suspension corresponding to the tire that has fallen out of the bead. Specifically, when the tire is in the bead-off state, the vehicle controls the suspension corresponding to the tire that has not fallen out of the bead to drop to the target height. It can be understood that after the vehicle controls the suspension corresponding to the tire that has not fallen out of the bead to drop to the target height, the suspension corresponding to each tire of the vehicle is kept at the same height, avoiding the vehicle from tilting, running off the track, and other hazards when the tire bursts, which can improve driving safety.

[0089] For the vehicle of this embodiment, if the flat tire is in a bead-out state, the actual height of the suspension corresponding to the bead-out tire is determined; based on the actual height of the suspension corresponding to the bead-out tire, the suspension of the vehicle is controlled so that the suspension corresponding to each tire of the vehicle is kept at the same height, thereby avoiding hazards such as the vehicle tilting or running off the track when the tire bursts, thereby improving driving safety.

[0090] Please refer to Figure 3 , Figure 3 A schematic flow chart of a third embodiment of the suspension control method provided in the embodiment of the present application. The method of controlling the suspension of the vehicle according to the unbending condition of the tire having a flat tire comprises:

[0091] Step 301, if the flat tire is in a bead-out state, obtaining the suspension height fluctuation data of the vehicle;

[0092] In this step, when the vehicle determines that the flat tire is in a bead-out state, the vehicle obtains the suspension height fluctuation data of the vehicle. Preferably, the vehicle includes a plurality of tires, each tire corresponds to a suspension, and the suspension is an active suspension, and the vehicle obtains the suspension height fluctuation data corresponding to the flat tire in the bead-out state. Optionally, the vehicle has only one suspension, and each tire is connected to the suspension, and when the vehicle determines that the flat tire is in a bead-out state, the vehicle obtains the suspension height fluctuation data.

[0093] Step 302: If the suspension height fluctuation data of the vehicle meets a preset condition, the suspension of the vehicle is controlled.

[0094] In this step, after obtaining the suspension height fluctuation data, the vehicle determines whether the suspension height fluctuation data meets the preset conditions. If it is determined that the suspension height fluctuation data meets the preset conditions, the suspension of the vehicle is controlled.

[0095] Specifically, step 302 includes:

[0096] Step 3021: If the suspension height fluctuation frequency is greater than a preset frequency, and the suspension height fluctuation amplitude is greater than a preset amplitude, it is determined that the suspension height fluctuation data meets a preset condition.

[0097] In this step, the suspension height fluctuation data includes the suspension height fluctuation frequency and the suspension height fluctuation amplitude. The vehicle compares the suspension height fluctuation frequency with the preset frequency, and compares the suspension height fluctuation amplitude with the preset amplitude. If it is determined that the suspension height fluctuation frequency is greater than the preset frequency, and the suspension height fluctuation amplitude is greater than the preset amplitude, it is determined that the suspension height fluctuation data meets the preset conditions, and the suspension of the vehicle is controlled according to the bead-out state. If it is determined that the suspension height fluctuation frequency is not greater than the preset frequency, or the suspension height fluctuation amplitude is not greater than the preset amplitude, it is determined that the suspension height fluctuation data does not meet the preset conditions, and the suspension does not need to be controlled.

[0098] In the vehicle of this embodiment, if it is determined that the flat tire is in a bead-off state, the suspension height fluctuation data of the vehicle is obtained; if the suspension height fluctuation data of the vehicle meets the preset conditions, the suspension is controlled in response to the tire state. By judging whether suspension control is required based on the suspension height fluctuation data of the vehicle, it is possible to avoid adjusting the suspension when the suspension height fluctuation is small, causing unnecessary adjustments, and helping to improve the accuracy of controlling the suspension.

[0099] Please refer to Figure 4 , Figure 4 A fourth embodiment of the suspension control method provided in the present application is a flow chart of the fourth embodiment. If the suspension height fluctuation data of the vehicle meets the preset conditions, the suspension of the vehicle is controlled, including:

[0100] Step 401, if the suspension height fluctuation data of the vehicle meets the preset conditions, the suspension is controlled according to the suspension height fluctuation data and the expected suspension height fluctuation data to reduce the suspension height fluctuation data of the vehicle to the expected suspension height fluctuation data.

[0101] In this step, the vehicle controls the suspension according to the suspension height fluctuation data and the expected suspension height fluctuation data after determining that the suspension height fluctuation data meets the preset conditions, so that the suspension height fluctuation data of the vehicle is reduced to the expected suspension height fluctuation data. Preferably, the vehicle includes a plurality of tires, each tire corresponds to a suspension, and the suspension is an active suspension. The vehicle controls the suspension height fluctuation data of the suspension corresponding to the flat tire in the bead-out state to be reduced to the expected suspension height fluctuation data according to the suspension height fluctuation data and the expected suspension height fluctuation data. Optionally, the vehicle has only one suspension, and each tire is connected to the suspension accordingly. The vehicle controls the suspension height fluctuation data of the suspension to be reduced to the expected suspension height fluctuation data according to the suspension height fluctuation data and the expected suspension height fluctuation data.

[0102] Specifically, step 401 includes:

[0103] Step 4011, determining a control parameter of the suspension according to the suspension height fluctuation data and the expected suspension height fluctuation data, wherein the expected suspension height fluctuation data is determined based on at least one of a vehicle speed, a road surface condition, and a load corresponding to the vehicle;

[0104] In this step, the vehicle determines the control parameters of the suspension according to the suspension height fluctuation data and the expected suspension height fluctuation data. Optionally, the expected suspension height fluctuation data corresponding to the bead-out state is set in advance, and the expected suspension height fluctuation data includes an expected suspension height fluctuation frequency and an expected suspension height fluctuation amplitude.

[0105] Optionally, the expected suspension height fluctuation data corresponding to the bead-out state is determined based on at least one of the vehicle speed, road surface state, and load corresponding to the vehicle when the tire is in the bead-out state, and the expected suspension height fluctuation data includes an expected suspension height fluctuation frequency and an expected suspension height fluctuation amplitude. Exemplarily, a vehicle dynamics model is pre-set in the vehicle, and the vehicle dynamics model is established based on the mass of the vehicle, the parameters of the suspension system (stiffness, damping, etc.), tire characteristics, etc., and the model includes dynamic response characteristics under different speeds, load changes, and road surface conditions; when the vehicle detects that the tire is in the bead-out state, it obtains at least one of the current vehicle speed, road surface state, and load, and the vehicle performs dynamic analysis in combination with the vehicle dynamics model and at least one of the vehicle speed, road surface state, and load, and calculates the expected suspension height fluctuation frequency and the expected suspension height fluctuation amplitude corresponding to the bead-out state. It can be understood that when the vehicle detects that the tire is in a bead-off state, it determines the expected suspension height fluctuation frequency and expected suspension height fluctuation amplitude corresponding to the bead-off state based on at least one of the current vehicle speed, road condition, and load in combination with the vehicle dynamics model, which can improve the accuracy of the determined expected suspension height fluctuation data, thereby helping to improve the accuracy of controlling the suspension.

[0106] Step 4012: Control the suspension according to the control parameter to reduce the suspension height fluctuation data of the vehicle to the expected suspension height fluctuation data.

[0107] In this step, after determining the control parameters, the vehicle controls the suspension according to the control parameters so that the suspension height fluctuation of the vehicle is reduced to the expected suspension height fluctuation. The suspension height fluctuation includes the suspension height fluctuation frequency and the suspension height fluctuation amplitude, and the expected suspension height fluctuation includes the expected suspension height fluctuation frequency and the expected suspension height fluctuation amplitude. When the suspension is controlled using the control parameters, the suspension height fluctuation frequency of the vehicle is reduced to the expected suspension height fluctuation frequency, and the suspension height fluctuation amplitude of the vehicle is reduced to the expected suspension height fluctuation amplitude.

[0108] Specifically, step 4011 includes:

[0109] Step 40111, query the preset mapping relationship according to the difference between the suspension height fluctuation data and the expected suspension height fluctuation data corresponding to the bead unseating state, and use the query result as the control parameter of the suspension; the preset mapping relationship is the relationship between the difference between the suspension height fluctuation data and the expected suspension height fluctuation data and the control parameter.

[0110] In this step, the vehicle queries the preset mapping relationship according to the difference between the suspension height fluctuation data and the expected suspension height fluctuation data corresponding to the bead-off state, and uses the query result as the control parameter of the suspension; the preset mapping relationship is the relationship between the difference between the suspension height fluctuation data and the expected suspension height fluctuation data and the control parameter. Specifically, the suspension height fluctuation data includes the suspension height fluctuation frequency and the suspension height fluctuation amplitude, and the expected suspension height fluctuation data includes the expected suspension height fluctuation frequency and the expected suspension height fluctuation amplitude. The vehicle calculates the first difference between the suspension height fluctuation frequency and the expected suspension height fluctuation frequency, calculates the second difference between the suspension height fluctuation amplitude and the expected suspension height fluctuation amplitude, determines the first control parameter based on the relationship between the first difference and the control parameter, and determines the second control parameter based on the relationship between the second difference and the control parameter, and the first control parameter and the second control parameter constitute the final control parameter.

[0111] Specifically, step 40111 includes:

[0112] Step 401111, querying a first preset mapping relationship according to the difference between the suspension height fluctuation frequency and the expected suspension height fluctuation frequency, and using the obtained first query result as a suspension height fluctuation frequency control parameter;

[0113] Step 401112: query a second preset mapping relationship according to the difference between the suspension height fluctuation amplitude and the expected suspension height fluctuation amplitude, and use the obtained second query result as the suspension height fluctuation amplitude control parameter.

[0114] In steps 401111 to 401112, the vehicle queries a first preset mapping relationship according to the difference between the suspension height fluctuation frequency and the expected suspension height fluctuation frequency, and uses the first query result as the suspension height fluctuation frequency control parameter; wherein the first preset mapping relationship is the relationship between the difference between the suspension height fluctuation frequency and the expected suspension height fluctuation frequency and the height fluctuation frequency control parameter. The vehicle queries a second preset mapping relationship according to the difference between the suspension height fluctuation amplitude and the expected suspension height fluctuation amplitude, and uses the second query result as the suspension height fluctuation amplitude control parameter; wherein the second preset mapping relationship is the relationship between the difference between the suspension height fluctuation amplitude and the expected suspension height fluctuation amplitude and the height fluctuation amplitude control parameter.

[0115] The vehicle of this embodiment determines the control parameters of the suspension according to the suspension height fluctuation data and the expected suspension height fluctuation data corresponding to the bead-out state; and controls the suspension according to the control parameters so that the suspension height fluctuation data of the vehicle is reduced to the expected suspension height fluctuation data. The control parameters can be determined by the deviation between the suspension height fluctuation data and the expected suspension height fluctuation data, thereby improving the accuracy of determining the control parameters and thus improving the accuracy of controlling the suspension.

[0116] Please refer to Figure 5 , Figure 5 A fifth embodiment of the suspension control method provided in the present application is shown in the flowchart. The method further includes:

[0117] Step 501, determining the tire blowout status of the vehicle tire according to the tire pressure data of the vehicle.

[0118] In this step, the vehicle obtains tire pressure data corresponding to each tire, analyzes the tire pressure data corresponding to each tire, and determines the tire blowout state of the vehicle tire. Exemplarily, the vehicle determines the tire pressure value or tire pressure change rate based on the tire pressure data, and determines the tire blowout state based on the tire pressure value or tire pressure change rate.

[0119] Specifically, the tire pressure data includes a tire pressure change rate, and determining the tire blowout state of the vehicle tire according to the tire pressure data of the vehicle includes:

[0120] Step 5011, determining the tire blowout state of the vehicle tire according to the tire pressure change rate and the preset change rate.

[0121] In this step, the tire pressure data includes the tire pressure change rate. For each tire, the vehicle obtains the tire pressure change rate in the tire pressure data corresponding to the tire, and then compares the tire pressure change rate with the preset change rate. Based on the comparison result, the tire blowout status is determined.

[0122] Specifically, step 5011 includes:

[0123] Step 50111, when the tire pressure change rate is greater than or equal to a preset change rate, determining that the vehicle tire is in a tire blowout state;

[0124] Step 50112: When the tire pressure change rate is less than a preset change rate, it is determined that the vehicle tire is not in a blowout state.

[0125] In step 50111 to step 50112, for each tire, the vehicle obtains the tire pressure change rate in the tire pressure data corresponding to the tire, and then compares the tire pressure change rate with the preset change rate. According to the comparison result, if the tire pressure change rate is greater than or equal to the preset change rate, it is determined that the tire is in a blowout state. If the tire pressure change rate is less than the preset change rate, it is determined that the tire is not in a blowout state.

[0126] Exemplarily, the tire pressure change rate is used to indicate the change in tire pressure within 1 second, and the preset change rate is 10%. The unit of tire pressure is bar: this is the unit used in the International System of Units (SI), and 1 bar is approximately equal to 100,000 Pascals (Pa), which is close to the earth's atmospheric pressure. Usually, tire pressure is expressed in "bar". Assuming that the tire pressure is 2.3bar under normal conditions, if the vehicle detects that the tire pressure drops to 1bar within 1 second, the tire pressure change rate is 56.5%, and the tire pressure change rate is greater than the preset change rate, it is determined that the tire is in a blowout state. If the vehicle detects that the tire pressure drops to 2.2bar within 1 second, the tire pressure change rate is 4%, and the tire pressure change rate is less than the preset change rate, it is determined that the tire is not in a blowout state.

[0127] During the specific implementation process, when the vehicle determines that the tire is in a state of being flat but not untied, the first height of the suspension corresponding to the flat tire when the vehicle is unloaded is obtained, and the second height of the suspension corresponding to the flat tire before the flat is obtained when the vehicle is carrying passengers, the difference between the first height and the second height is calculated, and the target height is determined according to the difference, and then the suspension corresponding to the flat tire is controlled to be raised to the target height, so that the actual height of the suspension corresponding to the flat tire is raised to be basically the same as that of other tires that have not been flat, thereby reducing the problem of vehicle tilt and deviation caused by tire flat and improving driving safety.

[0128] Exemplarily, the first height of the four-wheel end suspension when the vehicle is unloaded is: left front wheel d1, right front wheel d2, left rear wheel d3, right rear wheel d4. The second height of the four-wheel end suspension when the vehicle is carrying passengers is: left front wheel d1', right front wheel d2', left rear wheel d3', right rear wheel d4'. When a tire of a wheel of the vehicle is blown while the vehicle is driving, the target height of the wheel end suspension is dt = d-d', that is, when the left front wheel has a tire blown, the target height of the suspension corresponding to the left front wheel is dt = d1-d1'; when the right front wheel has a tire blown, the target height of the suspension corresponding to the right front wheel is dt = d2-d2'; when the left rear wheel has a tire blown, the target height of the suspension corresponding to the left rear wheel is dt = d3-d3'; when the right rear wheel has a tire blown, the target height of the suspension corresponding to the right rear wheel is dt = d4-d4'.

[0129] The vehicle of this embodiment determines the tire blowout state of the vehicle tire according to the tire pressure data of the vehicle. By determining that the vehicle tire is in the tire blowout state based on the tire pressure data, the efficiency of determining that the tire is in the tire blowout state can be improved, thereby helping to improve the efficiency of controlling the suspension.

[0130] In the specific implementation process, the steps of determining the bead unseating condition of the blown tire include the following:

[0131] Step S1, determining a first state of a tire in the vehicle according to the tire image;

[0132] In this step, the vehicle obtains a tire image corresponding to each tire, analyzes the tire image corresponding to each tire, and determines the first state of the tire. Exemplarily, an image recognition model is pre-set in the vehicle, and the tire image is input into the image recognition model to determine the first state of the tire, and the first state of the tire includes a normal state, a flat tire state, a bead-off state, etc.

[0133] Step S2, determining a second state of a tire in the vehicle according to the tire pressure data;

[0134] In this step, the vehicle obtains tire pressure data corresponding to each tire, analyzes the tire pressure data corresponding to each tire, and determines the second state of the tire. Exemplarily, the vehicle determines the tire pressure value or tire pressure change rate according to the tire pressure data, and determines the second state of the tire according to the tire pressure value or tire pressure change rate. The second state of the tire includes a normal state, a blown tire state, a bead-off state, etc.

[0135] It should be noted that when a tire is in a bead-out state, the tire pressure quickly drops to 0 (referring to the uninflated state, standard atmospheric pressure), which is considered a tire blowout. However, when a tire blows out, it is not necessarily in a bead-out state. The bead-out state refers to the state where the tire rim and the tire skin are separated.

[0136] Specifically, the tire pressure data includes a tire pressure change rate; and determining the second state of the tire in the vehicle according to the tire pressure data includes:

[0137] Step S21, determining a second state of the tire according to the tire pressure change rate and a preset change rate.

[0138] In this step, the tire pressure data includes the tire pressure change rate. For each tire, the vehicle obtains the tire pressure change rate in the tire pressure data corresponding to the tire, and then compares the tire pressure change rate with the preset change rate. Based on the comparison result, the second state of the tire is determined.

[0139] Specifically, step S21 includes:

[0140] Step S211: If the tire pressure change rate is greater than or equal to a preset change rate, it is determined that the tire is in a bead-off state.

[0141] Step S212: If the tire pressure change rate is less than the preset change rate, it is determined that the second state of the tire is a non-bead-off state.

[0142] In step S211 to step S212, for each tire, the vehicle obtains the tire pressure change rate in the tire pressure data corresponding to the tire, and then compares the tire pressure change rate with the preset change rate. According to the comparison result, if the tire pressure change rate is greater than or equal to the preset change rate, it is determined that the tire is in a bead-out state. If the tire pressure change rate is less than the preset change rate, it is determined that the second state of the tire is a non-bead-out state. The non-bead-out state is a normal state or a blowout state.

[0143] Exemplarily, the tire pressure change rate is used to indicate the change in tire pressure within 1 second, and the preset change rate is 10%. The unit of tire pressure is bar: this is the unit used in the International System of Units (SI), and 1 bar is approximately equal to 100,000 Pascals (Pa), which is close to the earth's atmospheric pressure. Usually, tire pressure is expressed in "bar". Assuming that the tire pressure is 2.3bar under normal conditions, if the vehicle detects that the tire pressure drops to 1bar within 1 second, the tire pressure change rate is 56.5%, and the tire pressure change rate is greater than the preset change rate, it is determined that the tire is in a bead-off state. If the vehicle detects that the tire pressure drops to 2.2bar within 1 second, the tire pressure change rate is 4%, and the tire pressure change rate is not greater than the preset change rate, it is determined that the tire is in a normal state or a blowout state.

[0144] Step S3: determining, based on the first state and the second state, that the tire of the vehicle is in a bead-off state.

[0145] In this step, for each tire, the vehicle determines that the tire is in a bead-off state based on the first state and the second state corresponding to the tire. Optionally, for each tire, the vehicle first analyzes the tire image corresponding to the tire to determine the first state of the tire, and then analyzes the tire pressure data corresponding to the tire to determine the second state of the tire. If the first state and the second state are the same and both are bead-off states, the tire is determined to be in a bead-off state. Optionally, for each tire, the vehicle first analyzes the tire pressure data corresponding to the tire to determine the second state of the tire, and then analyzes the tire image corresponding to the tire to determine the first state of the tire. If the first state and the second state are the same and both are bead-off states, the tire is determined to be in a bead-off state.

[0146] It should be noted that if the first state and the second state are different, the vehicle can determine that there is a misjudgment of the tire state of the vehicle and issue an alarm, so that the driver can actively determine the tire state of the vehicle.

[0147] Specifically, step S3 includes:

[0148] Step S31: If both the first state and the second state indicate that the tire is in a bead-off state, determining that the tire state of the vehicle is in the bead-off state.

[0149] In this step, for each tire, if the vehicle determines that the first state and the second state corresponding to the tire both indicate that the tire is in a bead-off state, then the tire state of the tire is determined to be a bead-off state. It can be understood that if the vehicle determines that the first state and the second state corresponding to the tire both indicate that the tire is in a normal state, then the tire state of the tire is determined to be a normal state; if the vehicle determines that the first state and the second state corresponding to the tire both indicate that the tire is in a flat tire state, then the tire state of the tire is determined to be a flat tire state.

[0150] The vehicle of this embodiment determines the first state of the tire in the vehicle according to the tire image; determines the second state of the tire in the vehicle according to the tire pressure data; and determines that the tire of the vehicle is in a bead-out state according to the first state and the second state. By combining the tire image and the tire pressure data to jointly determine that the tire of the vehicle is in a bead-out state, the accuracy of determining that the tire of the vehicle is in a bead-out state can be improved, thereby helping to improve the accuracy of controlling the suspension.

[0151] Accordingly, reference Figure 6 , an embodiment of the present application further provides a suspension control device, the suspension control device comprising:

[0152] The determining unit 1001 is used to determine the bead unseating condition of the tire with the blown tire in response to the tire blowout state of the vehicle;

[0153] The control unit 1002 is used to control the suspension of the vehicle according to the unbending condition of the tire with a flat tire. Optionally, the determination unit is also used to:

[0154] In response to a tire blowout state of the vehicle, a bead unseating condition of the tire blowout is determined based on a tire image of the tire blowout.

[0155] Optionally, the control unit is further configured to:

[0156] If the blown tire is in a bead-out state, determining an actual height of the suspension corresponding to the bead-out tire;

[0157] The suspension of the vehicle is controlled according to the actual height of the suspension corresponding to the bead-off tire.

[0158] Optionally, the control unit is further configured to:

[0159] Determining a target height of the suspension corresponding to the bead-stripped tire according to an actual height of the suspension corresponding to the bead-stripped tire and a height of the suspension corresponding to the non-bead-stripped tire;

[0160] controlling the suspension corresponding to the bead-out tire according to a target height of the suspension corresponding to the bead-out tire;

[0161] or,

[0162] Determining a target height of the suspension corresponding to the tire that has not been unbonded according to an actual height of the suspension corresponding to the tire that has not been unbonded and a height of the suspension corresponding to the tire that has not been unbonded;

[0163] The suspension corresponding to the tire that has not lost its bead is controlled according to the target height of the suspension corresponding to the tire that has not lost its bead.

[0164] Optionally, the control unit is further configured to:

[0165] If the flat tire is in a bead-out state, obtaining the suspension height fluctuation data of the vehicle;

[0166] If the suspension height fluctuation data of the vehicle meets a preset condition, the suspension of the vehicle is controlled.

[0167] Optionally, the determination unit is further configured to:

[0168] If the suspension height fluctuation frequency is greater than a preset frequency, and the suspension height fluctuation amplitude is greater than a preset amplitude, it is determined that the suspension height fluctuation data meets a preset condition.

[0169] Optionally, the control unit is further configured to:

[0170] If the suspension height fluctuation data of the vehicle meets a preset condition, the suspension is controlled according to the suspension height fluctuation data and the expected suspension height fluctuation data so that the suspension height fluctuation data of the vehicle is reduced to the expected suspension height fluctuation data.

[0171] Optionally, the control unit is further configured to:

[0172] determining a control parameter of the suspension according to the suspension height fluctuation data and the expected suspension height fluctuation data, wherein the expected suspension height fluctuation data is determined based on at least one of a vehicle speed, a road surface condition, and a load corresponding to the vehicle;

[0173] The suspension is controlled according to the control parameter so that the suspension height fluctuation data of the vehicle is reduced to the expected suspension height fluctuation data.

[0174] Optionally, the control unit is further configured to:

[0175] A preset mapping relationship is queried based on the difference between the suspension height fluctuation data and the expected suspension height fluctuation data corresponding to the bead unseating state, and the query result is used as the control parameter of the suspension; the preset mapping relationship is the relationship between the difference between the suspension height fluctuation data and the expected suspension height fluctuation data and the control parameter.

[0176] Optionally, the control unit is further configured to:

[0177] According to the difference between the suspension height fluctuation frequency and the expected suspension height fluctuation frequency, query a first preset mapping relationship, and use the obtained first query result as a suspension height fluctuation frequency control parameter;

[0178] According to the difference between the suspension height fluctuation amplitude and the expected suspension height fluctuation amplitude, a second preset mapping relationship is queried, and the obtained second query result is used as a suspension height fluctuation amplitude control parameter.

[0179] Optionally, the determination unit is further configured to:

[0180] The tire blowout status of the vehicle tire is determined according to the tire pressure data of the vehicle.

[0181] Optionally, the determination unit is further configured to:

[0182] The tire burst state of the vehicle tire is determined according to the tire pressure change rate and a preset change rate.

[0183] Optionally, the determination unit is further configured to:

[0184] When the tire pressure change rate is greater than or equal to a preset change rate, determining that the vehicle tire is in a tire blowout state;

[0185] When the tire pressure change rate is less than a preset change rate, it is determined that the vehicle tire is not in a tire blowout state.

[0186] The suspension control device of this embodiment determines the bead-out condition of the tire with the blown tire in response to the blown tire state of the vehicle; and controls the suspension of the vehicle according to the bead-out condition of the tire with the blown tire. When the tire blows while the vehicle is in a driving state, the suspension of the vehicle is controlled according to the bead-out condition of the blown tire to prevent the vehicle body from tilting and deviating easily, which deteriorates the handling stability of the vehicle and improves driving safety.

[0187] Accordingly, the embodiment of the present application also provides a vehicle, such as Figure 7 As shown, Figure 7A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle 1100 includes a processor 1101 having one or more processing cores, a memory 1102 having one or more computer-readable storage media, and a computer program stored in the memory 1102 and executable on the processor. The processor 1101 is electrically connected to the memory 1102. It will be understood by those skilled in the art that the vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0188] The processor 1101 is the control center of the vehicle 1100, and uses various interfaces and lines to connect various parts of the entire vehicle 1100. By running or loading software programs and / or units stored in the memory 1102, and calling data stored in the memory 1102, it executes various functions of the vehicle 1100 and processes data, thereby monitoring the vehicle 1100 as a whole. The processor 1101 can be a processor CPU, a graphics processor GPU, a network processor (Network Processor, NP), etc., and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0189] In an embodiment of the present application, the processor 1101 in the vehicle 1100 will load the computer program corresponding to the process of one or more applications into the memory 1102 according to the following steps, and the processor 1101 will run the application stored in the memory 1102 to execute the control method.

[0190] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0191] Optional, such as Figure 7 As shown, the vehicle 1100 further includes: a touch screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. The processor 1101 is electrically connected to the touch screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107, respectively. Those skilled in the art will appreciate that Figure 7 The vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0192] The touch display screen 1103 can be used to display a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. The touch display screen 1103 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the vehicle, which can be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD, Liquid Crystal Display), an organic light-emitting diode (OLED, Organic Light-Emitting Diode), etc. The touch panel can be used to collect user touch operations on or near it (such as operations performed by users using fingers, styluses, or any other suitable objects or accessories on or near the touch panel), and generate corresponding operation instructions, and the operation instructions execute corresponding programs. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor 1101, and can receive the command sent by the processor 1101 and execute it. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 1101 to determine the type of touch event, and then the processor 1101 provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present application, the touch panel and the display panel can be integrated into the touch display screen 1103 to realize the input and output functions. However, in some embodiments, the touch panel can be used as two independent components to realize the input and output functions. That is, the touch display screen 1103 can also be used as a part of the input unit 1106 to realize the input function.

[0193] The RF circuit 1104 may be used to send and receive RF signals to establish wireless communication with network devices or other vehicles through wireless communication, and to send and receive signals with network devices or other vehicles.

[0194] The audio circuit 1105 can be used to provide an audio interface between the user and the vehicle through a speaker and a microphone. The audio circuit 1105 can transmit the electrical signal converted from the received audio data to the speaker, which is converted into a sound signal for output; on the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 1105 and converted into audio data, and then the audio data is output to the processor 1101 for processing, and then sent to another vehicle through the radio frequency circuit 1104, or the audio data is output to the memory 1102 for further processing. The audio circuit 1105 may also include an earphone jack to provide communication between an external headset and the vehicle.

[0195] The input unit 1106 may be configured to receive input numbers, character information, or user feature information (such as fingerprint, iris, facial information, etc.), and generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function control.

[0196] The power supply 1107 is used to supply power to various components of the vehicle 1100. Optionally, the power supply 1107 can be logically connected to the processor 1101 through a power management device, so that the power management device can manage charging, discharging, and power consumption. The power supply 1107 can also include one or more DC or AC power supplies, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0197] although Figure 7 Not shown, the vehicle 1100 may also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0198] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0199] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0200] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0201] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0202] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0203] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A suspension control method, characterized in that: The method is applied to a vehicle, and comprises: In response to a tire blowout condition of the vehicle, determining a bead unseating condition of the blowout tire; Controlling the suspension of the vehicle according to the unbending condition of the tire with a puncture; Wherein, controlling the suspension of the vehicle according to the unbending condition of the tire with a blown tire comprises: If the flat tire is in a bead-out state, obtaining the suspension height fluctuation data of the vehicle; If the suspension height fluctuation data of the vehicle meets a preset condition, the suspension is controlled according to the suspension height fluctuation data and the expected suspension height fluctuation data to reduce the suspension height fluctuation data of the vehicle to the expected suspension height fluctuation data.

2. The method according to claim 1, characterized in that In response to a tire blowout state of the vehicle, determining a bead unseating condition of the blowout tire comprises: In response to a tire blowout state of the vehicle, a bead unseating condition of the tire blowout is determined based on a tire image of the tire blowout.

3. The method according to claim 1, characterized in that The method of controlling the suspension of the vehicle according to the bead unseating condition of the blown tire comprises: If the blown tire is in a bead-out state, determining an actual height of the suspension corresponding to the bead-out tire; The suspension of the vehicle is controlled according to the actual height of the suspension corresponding to the bead-off tire.

4. The method according to claim 3, characterized in that The controlling the suspension of the vehicle according to the actual height of the suspension corresponding to the bead-off tire comprises: Determining a target height of the suspension corresponding to the bead-stripped tire according to an actual height of the suspension corresponding to the bead-stripped tire and a height of the suspension corresponding to the non-bead-stripped tire; controlling the suspension corresponding to the bead-out tire according to a target height of the suspension corresponding to the bead-out tire; or, Determining a target height of the suspension corresponding to the tire that has not been unbonded according to an actual height of the suspension corresponding to the tire that has not been unbonded and a height of the suspension corresponding to the tire that has not been unbonded; The suspension corresponding to the tire that has not lost its bead is controlled according to the target height of the suspension corresponding to the tire that has not lost its bead.

5. The method according to claim 1, characterized in that The suspension height fluctuation data includes a suspension height fluctuation frequency and a suspension height fluctuation amplitude; the method further includes: If the suspension height fluctuation frequency is greater than a preset frequency, and the suspension height fluctuation amplitude is greater than a preset amplitude, it is determined that the suspension height fluctuation data meets a preset condition.

6. The method according to claim 1, characterized in that The controlling the suspension according to the suspension height fluctuation data and the expected suspension height fluctuation data comprises: determining a control parameter of the suspension according to the suspension height fluctuation data and the expected suspension height fluctuation data, wherein the expected suspension height fluctuation data is determined based on at least one of a vehicle speed, a road surface condition, and a load corresponding to the vehicle; The suspension is controlled according to the control parameter so that the suspension height fluctuation data of the vehicle is reduced to the expected suspension height fluctuation data.

7. The method according to claim 6, characterized in that The step of determining the control parameters of the suspension according to the suspension height fluctuation data and the expected suspension height fluctuation data comprises: A preset mapping relationship is queried based on the difference between the suspension height fluctuation data and the expected suspension height fluctuation data corresponding to the bead unseating state, and the query result is used as the control parameter of the suspension; the preset mapping relationship is the relationship between the difference between the suspension height fluctuation data and the expected suspension height fluctuation data and the control parameter.

8. The method according to claim 7, characterized in that The suspension height fluctuation data includes a suspension height fluctuation frequency and a suspension height fluctuation amplitude, the expected suspension height fluctuation data includes an expected suspension height fluctuation frequency and an expected suspension height fluctuation amplitude, and the preset mapping relationship is queried according to the difference between the suspension height fluctuation data and the expected suspension height fluctuation data corresponding to the bead-out state, and the query result is used as the control parameter of the suspension, including: According to the difference between the suspension height fluctuation frequency and the expected suspension height fluctuation frequency, query a first preset mapping relationship, and use the obtained first query result as a suspension height fluctuation frequency control parameter; According to the difference between the suspension height fluctuation amplitude and the expected suspension height fluctuation amplitude, a second preset mapping relationship is queried, and the obtained second query result is used as a suspension height fluctuation amplitude control parameter.

9. The method according to claim 1, characterized in that: The method further comprises: The tire blowout status of the vehicle tire is determined according to the tire pressure data of the vehicle.

10. The method according to claim 9, characterized in that The tire pressure data includes a tire pressure change rate, and determining the tire blowout state of the vehicle tire according to the tire pressure data of the vehicle includes: The tire burst state of the vehicle tire is determined according to the tire pressure change rate and a preset change rate.

11. The method according to claim 10, characterized in that The step of determining the tire blowout state of the tire according to the tire pressure change rate and a preset change rate includes: When the tire pressure change rate is greater than or equal to a preset change rate, determining that the vehicle tire is in a tire blowout state; When the tire pressure change rate is less than a preset change rate, it is determined that the vehicle tire is not in a tire blowout state.

12. A suspension control device, characterized in that: The suspension control device comprises: a determination unit, for determining a bead unseating condition of the blown tire in response to a blown tire condition of the vehicle; A control unit, used for controlling the suspension of the vehicle according to the unbending condition of the tire with a puncture; The control unit is further configured to obtain the suspension height fluctuation data of the vehicle if the flat tire is in a bead-out state; If the suspension height fluctuation data of the vehicle meets a preset condition, the suspension is controlled according to the suspension height fluctuation data and the expected suspension height fluctuation data to reduce the suspension height fluctuation data of the vehicle to the expected suspension height fluctuation data.

13. An electronic device, characterized in that: It comprises a processor; and a memory for storing processor executable instructions; wherein the processor is configured to execute the steps of the suspension control method described in any one of claims 1 to 11 above.

14. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in the suspension control method according to any one of claims 1 to 11.

15. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program product executes the steps in the suspension control method according to any one of claims 1 to 11.

16. A vehicle, characterized in that: Comprising the suspension control device as claimed in claim 12, or, the electronic device as claimed in claim 13.

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